Coating apparatus, information processing apparatus, coating method, and non-transitory recording medium

Abstract

A coating device includes a coating head configured to discharge a liquid onto an object to coat the object, a moving mechanism configured to move the coating head, a detector configured to detect the object and output three-dimensional position information about three-dimensional positions of three or more feature points on the object, and a controller configured to obtain object shape information about a shape of the object, calculate a difference between the shape of the object obtained from the object shape information and the shape of the object obtained from the three-dimensional position information output by the detector to generate difference information, generate control information based on the difference information, and control at least one of the coating head to discharge the liquid or the moving mechanism to move the coating head in accordance with the control information.

Description

Technical Field

[0001] This embodiment relates to a coating apparatus, an information processing apparatus, a coating method, and a program. Background Technology

[0002] The coating apparatus uses liquid discharged from the coating head to coat the object.

[0003] In addition, in order to perform coating at a constant distance between the coating bell attached to the distal end of the moving mechanism (e.g., a robotic arm) and the vehicle body, there is a technique that uses a distance sensor attached to the distal end of the moving mechanism to correct the offline-taught scan path data according to the shape of the vehicle body's entry position (e.g., see Patent Document 1). Summary of the Invention

[0004] [Technical Issues]

[0005] In coating apparatuses, three-dimensional alignment between the object and the coating head is required. However, due to individual differences in object shape, the accuracy of the three-dimensional alignment between the object and the coating head may be reduced.

[0006] The purpose of this embodiment is to improve the three-dimensional alignment accuracy between the object and the coating head.

[0007] [Solution to the problem]

[0008] In one aspect of this disclosure, a coating apparatus includes: a coating head configured to discharge liquid onto an object to coat the object; a moving mechanism configured to move the coating head; a detector configured to detect the object and output three-dimensional position information relating to the three-dimensional positions of three or more feature points on the object; and a controller configured to: obtain object shape information relating to the shape of the object; calculate a difference between the shape of the object obtained from the object shape information and the shape of the object obtained from the three-dimensional position information output by the detector to generate difference information; generate control information based on the difference information; and control at least one of the following according to the control information: the coating head discharges liquid; or the moving mechanism moves the coating head.

[0009] In another aspect of this disclosure, an information processing apparatus includes: a controller capable of communicating with a coating apparatus configured to coat an object using liquid discharged from a coating head, the coating head being moved by a moving mechanism, and the controller being configured to: obtain from the coating apparatus three-dimensional position information regarding the three-dimensional positions of three or more feature points on the object; and obtain object shape information regarding the shape of the object; calculate a difference between the object shape obtained from the object shape information and the object shape obtained from the three-dimensional position information to generate difference information; generate control information based on the difference information; and control at least one of the following according to the control information: the coating head discharging liquid; or the moving mechanism moving the coating head.

[0010] In another aspect of this disclosure, a coating method includes: discharging liquid from a coating head onto an object to coat the object; moving the coating head via a moving mechanism; detecting the object and outputting three-dimensional position information about the three-dimensional positions of three or more feature points on the object; obtaining object shape information about the shape of the object; calculating a difference between the shape of the object obtained from the object shape information and the shape of the object obtained from the three-dimensional position information to generate difference information; generating control information based on the difference information; and controlling at least one of the following according to the control information: discharging liquid from the coating head; or moving the coating head via the moving mechanism.

[0011] [Beneficial effects of the invention]

[0012] According to this embodiment, the three-dimensional alignment accuracy between the object and the coating head can be improved. Attached Figure Description

[0013] A more complete understanding of the embodiments of this disclosure and its many accompanying advantages and features can be readily obtained and understood from the following detailed description with reference to the accompanying drawings.

[0014] [ Figure 1 ]

[0015] Figure 1 This is a view showing the overall arrangement of the coating apparatus according to the first embodiment.

[0016] [ Figure 2 ]

[0017] Figure 2 This is a block diagram showing the overall arrangement of the coating apparatus according to the first embodiment.

[0018] [ Figure 3 ]

[0019] Figure 3 This is a diagram showing the configuration of the supply mechanism included in the coating apparatus according to the first embodiment.

[0020] [ Figure 4 ]

[0021] Figure 4 This is a perspective view showing the configuration of the head included in the coating apparatus according to the first embodiment.

[0022] [ Figure 5 ]

[0023] Figure 5 It is along Figure 4 A sectional view of the head taken from plane S1.

[0024] [ Figure 6 ]

[0025] Figure 6 This is a block diagram illustrating the functional configuration of the controller included in the coating apparatus according to the first embodiment.

[0026] [ Figure 7A ]

[0027] Figure 7A This is a flowchart illustrating a first example of the coating operation of the coating apparatus according to the first embodiment.

[0028] [ Figure 7B ]

[0029] Figure 7B This is a flowchart illustrating a second example of the coating operation of the coating apparatus according to the first embodiment.

[0030] [ Figure 7C ]

[0031] Figure 7C This is a flowchart illustrating a third example of the coating operation of the coating apparatus according to the first embodiment.

[0032] [ Figure 7D ]

[0033] Figure 7D This is a flowchart illustrating a fourth example of the coating operation of the coating apparatus according to the first embodiment.

[0034] [ Figure 7E ]

[0035] Figure 7E This is a flowchart illustrating a fifth example of the coating operation of the coating apparatus according to the first embodiment.

[0036] [ Figure 8A ]

[0037] Figure 8A This is a flowchart illustrating the calculation process of the shape, position, and tilt deviation of an object performed by a controller included in the coating apparatus according to the first embodiment.

[0038] [ Figure 8B ]

[0039] Figure 8B This is a diagram illustrating a method for calculating object shape deviations by a corrector, included in the coating apparatus according to the first embodiment.

[0040] [ Figure 9 ]

[0041] Figure 9 This refers to a diagram depicting feature points in the coating apparatus according to the first embodiment.

[0042] [ Figure 10 ]

[0043] Figure 10 yes Figure 9 A magnified view of region X in the image.

[0044] [ Figure 11 ]

[0045] Figure 11 yes Figure 9 An enlarged view of region XI in the image.

[0046] [ Figure 12 ]

[0047] Figure 12 yes Figure 9 A magnified view of region XII in the image.

[0048] [ Figure 13 ]

[0049] Figure 13 yes Figure 9 A magnified view of region XIII in the image.

[0050] [ Figure 14A ]

[0051] Figure 14A This is a first diagram illustrating a method for processing the coordinates of feature points in a coating apparatus according to a first embodiment.

[0052] [ Figure 14B ]

[0053] Figure 14B This is a second diagram illustrating a method for processing the coordinates of feature points in a coating apparatus according to a first embodiment.

[0054] [ Figure 15 ]

[0055] Figure 15 This is a diagram illustrating the correction results of the relative movement path information in the coating apparatus according to the first embodiment.

[0056] [ Figure 16 ]

[0057] Figure 16 This is a diagram showing relative movement path information in the coating apparatus according to the first embodiment.

[0058] [ Figure 17 ]

[0059] Figure 17 This is a diagram showing the corrected path information in the coating apparatus according to the first embodiment.

[0060] [ Figure 18 ]

[0061] Figure 18 This is a diagram illustrating an example of expansion and contraction in the main scan direction.

[0062] [ Figures 19A to 19C ]

[0063] Figures 19A to 19C This is a diagram illustrating an example of expansion and contraction in the sub-scanning direction.

[0064] [ Figures 20A to 20C ]

[0065] Figure 20 to Figure 20C This is a schematic diagram illustrating the correction of image data under conditions of shape expansion and contraction.

[0066] [ Figure 21 ]

[0067] Figure 21 This is a block diagram illustrating the functional configuration of the controller included in the coating apparatus according to the second embodiment of this embodiment.

[0068] [ Figure 22 ]

[0069] Figure 22 This is a flowchart illustrating the detection process of the tilt amount of the roof side relative to the roof of the vehicle by the controller included in the coating apparatus according to the second embodiment.

[0070] [ Figure 23 ]

[0071] Figure 23 It is a diagram depicting the rear roof-shaped recess of a car.

[0072] [ Figure 24 ]

[0073] Figure 24 yes Figure 23 A magnified view of region XXIV.

[0074] [ Figure 25]

[0075] Figure 25 It is along Figure 24 A sectional view taken from line XXV-XXV.

[0076] [ Figure 26 ]

[0077] Figure 26 It is a diagram depicting the front roof-shaped recess of a car.

[0078] [ Figure 27 ]

[0079] Figure 27 It is a diagram describing the relative movement path information of the side of the roof.

[0080] [ Figure 28 ]

[0081] Figure 28 It is a diagram describing the corrected path information of the side of the roof.

[0082] The accompanying drawings are intended to depict embodiments of this disclosure and should not be construed as limiting its scope. Unless explicitly stated otherwise, the drawings are not considered to be drawn to scale. Furthermore, in various views, the same or similar reference numerals denote the same or similar parts. Detailed Implementation

[0083] In describing the embodiments shown in the accompanying drawings, specific terminology has been used for clarity. However, the disclosure of this specification is not intended to be limited to the specific terminology chosen so far, and it should be understood that each specific element includes all technical equivalents that have similar functionality, operate in a similar manner, and achieve similar results.

[0084] Embodiments of this disclosure will now be described with reference to the accompanying drawings. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0085] The coating apparatus, information processing apparatus, coating method, and procedure of this embodiment will be described in detail with reference to the accompanying drawings. However, the following embodiments illustrate the coating apparatus, information processing apparatus, coating method, and procedure used to concretize the technical concept of this embodiment, and are not limited to the following. Furthermore, unless otherwise specified, the dimensions, materials, shapes, relative arrangements, etc., of the components described in the embodiments are not intended to limit the scope of this embodiment to those dimensions, materials, shapes, relative arrangements, etc., but are merely illustrative examples. The dimensions, positional relationships, etc., of the components shown in the accompanying drawings may be enlarged to clarify the description. In the following description, the same names and reference numerals denote the same or similar components, and therefore their detailed descriptions will be appropriately omitted.

[0086] In the following figures, mutually orthogonal X-axis, Y-axis, and Z-axis are sometimes used to represent directions. The direction along the X-axis is called the X-direction, the direction along the Y-axis is called the Y-direction, and the direction along the Z-axis is called the Z-direction.

[0087] First Implementation Method

[0088] According to the configuration of the coating apparatus in the first embodiment

[0089] Overall layout

[0090] Reference Figure 1 and Figure 2 The overall arrangement of the coating apparatus according to the first embodiment is described. Figure 1 This is a view showing an example of the overall arrangement of the coating apparatus 100 according to the first embodiment. Figure 2 This is a block diagram illustrating an example of the overall arrangement of the coating apparatus 100 according to the first embodiment.

[0091] The coating apparatus 100 includes: a head 11 (e.g., an inkjet head or a bell head) that discharges liquid onto an object 200; a detector 12 that outputs three-dimensional position information E relating to the three-dimensional positions of three or more feature points on the object 200; and a movement mechanism 13 that moves the head 11 relative to the object 200. This head is also referred to as a "coating head". The coating apparatus 100 also includes a controller 20 that controls the liquid discharge from the head 11 and the operation of the movement mechanism 13. The coating apparatus 100 coats the object 200 with the liquid discharged from the head 11. The object 200 is, for example, the body of a vehicle, aircraft, ship, etc. A vehicle may be, for example, a car, truck, or train. The surface of the object 200 being coated is not limited to a plane and may also be curved.

[0092] Here, each object 200 may have individual differences in shape. For example, when object 200 is a vehicle, due to assembly errors of various vehicle components, individual differences in the shape of object 200 may occur. The shape of object 200 refers to its three-dimensional shape and includes its dimensions. When there are individual differences in the shape of object 200, the accuracy of the three-dimensional alignment between object 200 and head 11 decreases, potentially leading to coating omissions or uneven coating. Coating omissions refer to the failure to coat parts of object 200. Uneven coating refers to uneven coating thickness, or uneven color, concentration, etc.

[0093] When the object 200 is conveyed to the coating position by the coating device 100 and coating is performed when the object 200 stops, the position and tilt of the object 200 can vary for each conveyed object 200 depending on the conveying error of the conveyor. When the position and tilt of the object 200 fluctuate, the accuracy of the three-dimensional alignment between the object 200 and the head 11 decreases, and coating omissions and uneven coating may occur.

[0094] In the coating apparatus 100 according to the first embodiment, the controller 20 generates control information based on the difference information X of the shape of the object 200 obtained from object shape information D and three-dimensional position information E related to the shape of the object 200, and controls at least one of the operation of the liquid discharge or movement mechanism 13 according to the control information. The three-dimensional position information E in a vehicle can, for example, be obtained based on the position of the edge portions of the window frames and the roof molding recesses of the vehicle.

[0095] In the coating apparatus 100, the controller 20 controls the position and tilt of the object 200 based on corresponding deviations from information about the object 200, which is obtained from information about the object 200 and three-dimensional position information E of three or more feature points output from the detector 12. In addition to correcting for individual differences in the shape of the object 200, the coating apparatus 100 also acquires and corrects deviations in the position and tilt of the object 200 relative to the object shape information D, thereby further enhancing the accuracy of the three-dimensional alignment between the object 200 and the head 11.

[0096] The object shape information D is, for example, the design data of object 200, which includes information on the dimensions and arrangement of object 200. The design data is, for example, computer-aided design (CAD) data. By using the design data of object 200 as the object shape information D, the object shape information D can be obtained more easily than by measuring the shape of object 200, and the coating time of the coating apparatus can be shortened and the coating productivity can be improved.

[0097] The object shape information D is not limited to design data. For example, the object shape information D can be the three-dimensional position information E of three or more feature points on an object 200 used as a reference, detected by detector 12, or corrected design data obtained by correcting predetermined design data (CAD data) based on the three-dimensional position information E. Furthermore, the object shape information D can be information obtained by measuring the shape of an object (shape measurement data). For example, point cloud data obtained by measuring the object 200 in advance with a three-dimensional measuring instrument can be set as the object shape information D. Additionally, shape measurement data can be prepared by performing a three-dimensional measurement of the object in advance or at the beginning of the coating process.

[0098] Similarly, in this case, compared to obtaining object shape information D by measuring the shape of each object 200, no time is needed to measure the shape of subsequent objects 200, and therefore no time is needed for shape measurement. As a result, the number of coating steps is reduced, and coating productivity can be improved.

[0099] like Figure 1 As shown, the coating apparatus 100 includes four heads 11, four detectors 12, four moving mechanisms 13, a supply mechanism 14, a maintenance mechanism 15, and a controller 20. Under the control of the controller 20, the coating apparatus 100 drives the moving mechanisms 13 that hold the four heads 11 based on information about the object 200 output from each of the four detectors 12 and three-dimensional position information E of three or more feature points. The coating apparatus 100 changes the mutual alignment and relative tilt of the four heads 11 with the object 200 by driving the four moving mechanisms 13, and discharges liquid from each of the four heads 11 to the object 200.

[0100] The four heads 11 include heads 11-1 to 11-4. The corresponding configurations of the four heads 11 may be the same or different. Figure 1 The configuration of the four heads 11 shown is identical. The number of heads 11 included in the coating apparatus 100 is not limited to four and can be appropriately varied according to the size, shape, etc. of the object 200. Each of the heads 11 includes a nozzle surface with a plurality of nozzles, each nozzle discharging liquid, and each of the heads 11 is configured such that the nozzle surface faces the surface of the object 200 to be coated.

[0101] Four heads 11 discharge liquid of approximately the same color. Each of the four heads 11 can discharge liquid of a different color from each other. Each of the four heads 11 discharges liquid into different areas of the object 200. By discharging liquid into different areas of the object 200 through each of the four heads 11, coating can be performed in a short time, even when the object 200 is large. The liquid discharged from each of the four heads 11 can be discharged into partially overlapping areas.

[0102] The four detectors 12 include detectors 12-1 to 12-4. The configurations of the four detectors 12 can be the same or different. Figure 1 The configuration of the four detectors 12 shown is identical. The number of detectors 12 included in the coating apparatus 100 is not limited to four and can be appropriately varied depending on the number of heads 11, etc.

[0103] Each of the four detectors 12 includes, for example, a stereo camera. The stereo camera comprises multiple cameras and obtains a distance image of the object 200 using triangulation based on the parallax between the individual images captured by the multiple cameras. The stereo camera outputs the distance image as three-dimensional position information E of three or more feature points on the object to the controller 20. A distance image is an image that includes distance information in each of the multiple pixels constituting the image. Because the detectors 12 include stereo cameras, the coating apparatus 100 can obtain feature point information of the object 200 with a simple configuration. The detectors 12 can use configurations other than stereo cameras, such as monocular cameras, as long as they can obtain and output feature point information of the object 200.

[0104] Detector 12 detects feature points from different regions of object 200 and outputs feature point information. Each of the four detectors 12 detects feature points from different regions of object 200, enabling feature point detection in a short time even when the object 200 is large. For example, a stereo camera included in detector 12 acquires distance images of different regions of object 200 and outputs these distance images as feature point information. The feature point information output from each of the four detectors 12 can partially overlap.

[0105] The four moving mechanisms 13 include moving mechanisms 13-1 to 13-4. Moving mechanism 13 is, for example, a robotic arm. The robotic arm supports the head 11 and moves the head 11 relative to the object 200 by moving the head 11. Moving mechanism 13 is not limited to a robotic arm; it can be a linear motion mechanism, a rotary mechanism, or a combination of one or more linear motion mechanisms and one or more rotary mechanisms. Moving mechanism 13 is not limited to a moving mechanism that only moves the head 11; it can be any moving mechanism that moves at least one of the head 11 and the object 200.

[0106] The configurations of the four moving mechanisms 13 can be the same or different. Figure 1 The four moving mechanisms 13 shown are configured identically. The number of moving mechanisms 13 included in the coating apparatus 100 is not limited to four, and can be appropriately changed according to the number of heads 11, etc.

[0107] exist Figure 1 In the example shown, four moving mechanisms 13 are each arranged near and around the object 200. Each of the four moving mechanisms 13 holds the head 11 and the detector 12, such that the head 11 and the detector 12 move relative to the object 200.

[0108] exist Figure 2In this system, the supply mechanism 14 supplies liquid to each of the four heads 11. The maintenance mechanism 15 maintains the liquid discharge state of each of the four heads 11. The maintenance mechanism 15 includes a wiper for wiping the nozzle surface of each of the four heads 11, a suction pump for drawing liquid from the interior of each of the four heads 11, etc. The maintenance mechanism 15 uses the wiper, suction pump, etc. to remove thickened fluid, foreign matter, etc., adhering to the nozzle surface, or present inside the heads 11. By removing thickened fluid, foreign matter, etc., the maintenance mechanism 15 reduces discharge abnormalities such as non-discharge, discharge bends, and discharge speed variations of each of the four heads 11, and maintains the discharge state of each of the four heads 11 in a normal state.

[0109] The controller 20 includes, for example, a processor or circuitry mounted on a circuit board. The controller 20 is connected to each of the four heads 11, four detectors 12, and four moving mechanisms 13, enabling communication with them via wired or wireless means. The controller 20 receives detection signals from the four detectors 12 and sends control signals to the four heads 11 and four moving mechanisms 13. The arrangement of the circuit board on which the controller 20 is mounted is arbitrary, and the circuit board can be positioned away from the heads 11, etc.

[0110] like Figure 2 As shown, controller 20 includes a central processing unit (CPU) 31, read-only memory (ROM) 32, random access memory (RAM) 33, hard disk drive (HDD) / solid-state drive (SSD) 34, device connection interface (I / F) 35, and communication I / F 36. These controller components are electrically connected to each other via system bus S.

[0111] The CPU 31 uses RAM 33 as its working area and controls the overall operation of the controller 20 by executing processes defined in a program stored in ROM 32. ROM 32 is a non-volatile memory that stores programs for controlling operations such as recording operations in the CPU 31, as well as other protected data. RAM 33 is a volatile memory that temporarily stores various data used for liquid discharge from the head 11, driving of the moving mechanism 13, detection results from the detector 12, etc. HDD / SSD 34 is a volatile memory that temporarily stores shape data of the object 200, coating data as coating information (coating position, range, etc.) of the object 200, and image data such as drawings and text drawn on the object 200 (hereinafter, it will be described as image data including coating data). Device connection I / F 35 is an interface that can communicate with the head 11, detector 12, moving mechanism 13, supply mechanism 14, and maintenance mechanism 15. Communication I / F 36 is an interface for communicatively connecting external devices, such as a main personal computer (PC), to controller 20.

[0112] In addition to the above, the coating apparatus 100 may also include a display screen that shows the conditions for liquid coating performed by the coating apparatus 100, an operation unit that serves as an operation input device for receiving operations from the coating apparatus 100, and the operation input device may be, for example, a touch panel, a keyboard and a mouse.

[0113] Configuration of supply unit 14

[0114] Figure 3 This is a diagram illustrating an example configuration of the supply mechanism 14. The supply mechanism 14 includes a liquid tank 330 as a sealed container, which stores liquid 325 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 pipe 333, through which liquid flows.

[0115] Liquid tank 330 is connected to compressor 230 via pipe 331 including air conditioner 332, and compressor 230 supplies pressurized air. Pressurized liquid 325 is then supplied to the injection port of head 11, and coating device 100 discharges liquid 325 from nozzle of head 11. The supply mechanism 14 may also include liquid tank 330, etc., for each color in cases where multiple heads 11 discharge liquids of different colors.

[0116] Head 11 configuration

[0117] Figure 4 and Figure 5 This is a diagram showing an example of the configuration of header 11. Figure 4 It's a 3D image. Figure 5 It is along Figure 4 A cross-sectional view of the head 11 taken from plane S1.

[0118] The head 11 has a plurality of discharge modules 340 arranged in one or more rows within the housing 110. The head 11 includes a supply port 111 and a collection port 112. The supply port 111 supplies pressurized liquid from the outside to the discharge module 340, and the collection port 112 discharges liquid that has not yet been discharged to the outside. The housing 110 includes a connector 113.

[0119] The discharge module 340 includes: a nozzle plate 321, which includes a nozzle 311 for discharging liquid; a channel 322 that communicates with the nozzle 311 and supplies pressurized liquid; and a piezoelectric element 324 that drives a needle valve body of the nozzle 311 to open and close.

[0120] Nozzle plate 321 engages with housing 110. Furthermore, channel 322 is a shared channel for multiple discharge modules 340 within housing 110. Coating apparatus 100 supplies pressurized liquid through channel 322 from supply port 111 and discharges liquid from collection port 112. During the period when liquid is discharged onto object 200, liquid does not need to be temporarily discharged from collection port 112 to avoid reducing the discharge efficiency of liquid from nozzle 311.

[0121] Example of controller 20's functional configuration

[0122] Figure 6 This is a block diagram illustrating an example of the functional configuration of controller 20. Controller 20 includes an input unit 21, a generator 22, a corrector 23, a discharge controller 24, a supply controller 25, a maintenance controller 26, a movement controller 27, and an output unit 28. Controller 20 corresponds to an information processing apparatus according to an embodiment.

[0123] The functions of input unit 21 and output unit 28 are determined by Figure 2 The device connection I / F 35, communication I / F 36, etc., are implemented. Each function of the generator 22, corrector 23, discharge controller 24, supply controller 25, maintenance controller 26, and movement controller 27 is implemented by the CPU 31 expanding the program stored in the ROM 32 in the RAM 33 and executing the processing defined in the program. Components other than controller 20, such as head 11, may have at least some of the functions of controller 20. Furthermore, at least some functions of controller 20 can be implemented through distributed processing between controller 20 and components other than controller 20.

[0124] Input unit 21 inputs object shape information D from an external device by controlling communication with the external device. The external device is, for example, an external personal computer (PC). Input unit 21 inputs three-dimensional position information E of three or more feature points of object 200 from detector 12 by controlling communication with detector 12.

[0125] Generator 22 generates relative movement path information T1 based on the object shape information D input from an external device via input unit 21. This relative movement path information T1 is information about the relative movement path of the moving mechanism 13 causing the head 11 to move relative to the object 200. Generator 22 outputs the generated relative movement path information T1 to corrector 23.

[0126] The relative movement path refers to the path that head 11 travels on object 200 while changing its mutual alignment with object 200. Head 11 can change its relative tilt with respect to object 200 for each mutual alignment, depending on the shape of object 200. When the relative tilt of head 11 relative to object 200 changes, the relative movement path refers to the path that head 11 travels on object 200 while changing both its mutual alignment and relative tilt.

[0127] The corrector 23 corrects the relative movement path information T1 generated by the generator 22 based on the three-dimensional position information E input from the multiple detectors 12 via the input unit 21. The corrector 23 outputs the corrected relative movement path information, i.e., the corrected path information T2, to the motion controller 27.

[0128] Based on the three-dimensional position information E, the corrector 23 calculates the three-dimensional deviations of the shape, position, and tilt of the transmitted object 200 relative to the object shape information D. Based on the calculation results of these three-dimensional deviations, the corrector 23 corrects the relative movement path information T1 to obtain corrected path information T2. ​​The corrector 23 outputs the obtained corrected path information T2 to the movement controller 27. For example, the corrector 23 outputs corrected image data G2, obtained by correcting image data G1 based on the calculation results of the deviation of the shape of the object 200 relative to the object shape information D in the corrected path information T2, to the discharge controller 24. Each of the movement path information T1 and the corrected path information T2 corresponds to an example of control information.

[0129] The coating apparatus 100 moves the head 11 relative to the object 200 according to the corrected path information T2. ​​Therefore, the coating apparatus 100 performs coating by aligning the object 200 and the nozzle in the head 11 in three dimensions.

[0130] From another perspective, controller 20 controls the operation of the liquid discharge and movement mechanism 13 of head 11 based on corrected image data G2. Controller 20 also controls the relative movement path information T1 obtained from object shape information D based on corrected image data G2, which corresponds to corrected path information T2. ​​Corrected path information T2 is corrected based on the deviation of information related to the shape of object 200 relative to object shape information D. Therefore, coating apparatus 100 can correct for individual differences in the shape of object 200 based on information about its shape, thereby enhancing the accuracy of three-dimensional alignment between object 200 and head 11.

[0131] The discharge controller 24 outputs a discharge control signal C1 based on the corrected image data G2 via the output unit 28 to control the discharge of liquid from the plurality of heads 11. The discharge controller 24 controls, for example, the selection of the nozzle for discharging liquid from the plurality of nozzles included in each of the plurality of heads 11, the timing of liquid discharge from the nozzle, the amount of liquid discharged from the nozzle, the discharge frequency, etc. The discharge controller 24 controls the selection of the nozzle for discharging the liquid and the timing of liquid discharge from the nozzle based on the corrected path information T2.

[0132] The supply controller 25 controls the supply of liquid from the supply mechanism 14 to the plurality of heads 11 by outputting a supply control signal C2 via the output unit 28. The supply controller 25 controls, for example, the color selection, supply timing, and supply quantity of the liquid supplied to the plurality of heads 11.

[0133] The maintenance controller 26 outputs a maintenance control signal C3 via the output unit 28, maintaining the state of liquid discharge from the multiple heads 11 from the maintenance mechanism 15. The maintenance controller 26 controls, for example, the selection of the head to be maintained among the multiple heads 11, the timing of the maintenance operation, etc.

[0134] The motion controller 27 outputs a motion control signal C4 through the output unit 28 based on the corrected path information T2 to control the plurality of motion mechanisms 13 to move each of the plurality of heads 11 relative to the object 200. The motion controller 27 controls, for example, the direction of movement, speed of movement, and acceleration of movement of the heads 11 based on the motion mechanism 13. Here, the motion controller 27 performs control to adjust the mutual alignment and relative tilt of each of the plurality of heads 11 relative to the object 200.

[0135] Output unit 28 outputs a discharge control signal C1 to head 11 via control communication. Furthermore, output unit 28 outputs a movement control signal C4 to movement mechanism 13 via control communication. Output unit 28 also outputs a supply control signal C2 to supply mechanism 14 via control communication. Finally, output unit 28 outputs a maintenance control signal C3 to maintenance mechanism 15 via control communication.

[0136] Operation of coating apparatus 100

[0137] Reference Figures 7A to 7E The first to fifth examples describe the operation of the coating apparatus 100.

[0138] First example of coating operation

[0139] Figure 7AThis is a flowchart illustrating a first example of the coating operation of the coating apparatus 100. In this first example, the coating apparatus 100 uses the CAD data of the object 200 as the object shape information D. The controller 20 controls the process based on the deviation of the shape of the object 200 relative to the object shape information D, which is obtained from the object shape information D and the three-dimensional position information E output by the detector 12.

[0140] For example, when the object 200 stops at the coating position of the coating apparatus 100, the coating apparatus 100 begins... Figure 7A The operation is as follows: It can detect whether the object 200 has stopped at the coating position based on signals from the conveyor or the like from which the object 200 is transported.

[0141] In step S71, the coating apparatus 100 controls the operation of the supply mechanism 14 via the supply controller 25 to supply liquid to each of the four heads 11. When the coating apparatus 100 performs coating with multiple colors, it can supply liquid of a different color to each of the four heads 11.

[0142] Next, in step S72, the coating apparatus 100 controls the operation of the maintenance mechanism 15 through the maintenance controller 26 to perform maintenance operations on the four heads 11.

[0143] Next, in step S73, the coating apparatus 100 generates relative movement path information T1 and corresponding image data G1 by generator 22 based on the object shape information D input from an external device via input unit 21. Generator 22 outputs the generated relative movement path information T1 and image data G1 to corrector 23.

[0144] Subsequently, in step S74, the coating apparatus 100 calculates the three-dimensional deviation of the shape of the transmitted object 200 relative to the object shape information D by the corrector 23 based on the three-dimensional position information E input from each of the plurality of detectors 12 through the input unit 21.

[0145] Subsequently, in step S75, the coating apparatus 100, based on the calculation result of the deviation of the shape of the object 200 relative to the object shape information D, corrects the movement path information T1 through the corrector 23, and obtains the corrected path information T2 and the corrected image data G2. The corrector 23 outputs the obtained corrected path information T2 to the movement controller 27 and outputs the corrected image data G2 to the discharge controller 24.

[0146] Subsequently, in step S76, the coating apparatus 100 controls the operation of the four moving mechanisms 13 via the movement controller 27 to move each of the four heads 11 to the coating position, while simultaneously changing the position and tilt of each of the multiple heads 11 relative to the object 200. The coating apparatus 100 coats the object 200 by controlling the liquid discharge of each of the four heads 11 and the movement of the heads 11 using the discharge controller 24. The coating apparatus 100 can perform only the movement of the heads 11 and does not need to discharge liquid from the heads 11 in areas of the object 200 that are not being coated. Furthermore, the coating apparatus 100 can also perform coating while appropriately changing the relative movement speed of the heads 11 based on the moving mechanisms 13, the discharge frequency of the heads 11, etc.

[0147] Subsequently, in step 77, the coating apparatus 100 uses the controller 20 to determine whether to end the coating process. For example, the controller 20 determines whether to end the coating process by receiving an operation input of a coating end command via an operation unit, determining whether a predetermined area for coating the object 200 has been coated, etc.

[0148] If it is determined in step S77 that the coating process should not be terminated (step S77, No), the coating apparatus 100 will repeat the operations after step S76. On the other hand, if it is determined in step S77 that the coating process should be terminated (step S77, Yes), the coating apparatus 100 will terminate the operation.

[0149] As described above, the coating apparatus 100 performs coating on the object 200. When the coating of one object 200 is completed and the next object 200 is conveyed to the coating position and stopped, the coating apparatus 100 coats the next object 200 by performing the operation of step S71 and subsequent steps.

[0150] Second example of coating operation

[0151] Figure 7B This is a flowchart illustrating a second example of the coating operation of the coating apparatus 100. In this second example, the coating apparatus 100 uses CAD data of the object 200 as object shape information D. The controller 20 performs control based on the deviations of the shape, position, and tilt of the object 200 relative to the object shape information D, which are obtained from the object shape information D and the three-dimensional position information E output from the detector 12.

[0152] For example, when the object 200 is stopped at the coating position of the coating apparatus 100, the coating apparatus 100 begins... Figure 7B The operation is as follows. It can detect whether the object 200 has stopped at the coating position based on signals from the conveyor or similar device that carries the object 200. The following mainly explains... Figure 7B In and Figure 7A The differences.

[0153] In step S85, the coating apparatus 100 calculates the three-dimensional deviation of the position and tilt of the transmitted object 200 relative to the object shape information D by the corrector 23 based on the three-dimensional position information E input from each of the plurality of detectors 12 via the input unit 21.

[0154] The order of steps S84 and S85 can be appropriately changed, and steps S84 and S85 can be executed in parallel.

[0155] Subsequently, in step S86, the coating apparatus 100, based on the calculation results of the deviation of the shape, position, and tilt of the object 200 relative to the object shape information D, corrects the path information T1 to corrected path information T2 or corrects the image data G1 to corrected image data G2 as needed via the corrector 23. Both path information and image data can be corrected. The corrector 23 outputs the obtained corrected path information T2 (equivalent to the uncorrected path information T1) to the motion controller 27 and outputs the corrected image data G2 (equivalent to the uncorrected image data G1) to the discharge controller 24.

[0156] The subsequent steps are similar to those in the first example.

[0157] As described above, the coating apparatus 100 performs coating on the object 200.

[0158] Third example of coating operation

[0159] Figure 7C This is a flowchart illustrating a third example of the coating operation of the coating apparatus 100. In this third example, the coating apparatus 100 sequentially coats M objects 200. M is a natural number equal to or greater than 2. During the coating of all M objects 200, the controller 20 sets the CAD data of the objects 200 to the object shape information D.

[0160] For example, when the object 200 is stopped at the coating position of the coating apparatus 100, the coating apparatus 100 begins... Figure 7C The operation is as follows. It can detect whether the object 200 has stopped at the coating position based on signals from the conveyor or similar device that carries the object 200. The following will mainly describe... Figure 7C Zhongyu Figure 7B The differences.

[0161] In step S95, the coating apparatus 100 compares the shape of the Nth object 200, which is transmitted based on the three-dimensional position information E input from each of the plurality of detectors 12 via the input unit 21, with the object shape information D, and calculates the three-dimensional deviation by the corrector 23.

[0162] Subsequently, in step S96, the coating apparatus 100 calculates the three-dimensional deviation of the position and tilt of the Nth object 200 relative to the object shape information D transmitted by the corrector 23, based on the three-dimensional position information E input from each of the plurality of detectors 12 via the input unit 21.

[0163] The order of steps S95 and S96 can be changed appropriately, and steps S95 and S96 can be executed in parallel.

[0164] In step S100, the coating apparatus 100 determines whether the object 200 to be coated next does not exist. If, in step S100, it is determined that the object 200 exists (step S100, No), in step S101, the coating apparatus 100 increments the counter N by 1. Thereafter, step S92 and subsequent operations are executed again. Conversely, if, in step S100 it is determined that the object 200 does not exist (step S100, Yes), the coating apparatus 100 terminates the operation.

[0165] As described above, the coating apparatus 100 can coat M objects 200.

[0166] Fourth embodiment of coating operation

[0167] Figure 7D This is a flowchart illustrating a fourth example of the coating operation of the coating apparatus 100. In this fourth example, the coating apparatus 100 sequentially coats M objects 200. During the coating of the first object 200, the controller 20 sets the CAD data of the object 200 to the object shape information D. During the coating of the second and subsequent objects 200, the controller 20 sets the three-dimensional position information E of the first object 200 output from the detector 12 to the object shape information D.

[0168] For example, when the object 200 is stopped at the coating position of the coating apparatus 100, the coating apparatus 100 begins... Figure 7D The operation is as follows. It can detect whether the object 200 has stopped at the coating position based on signals from the conveyor or similar source. The following will mainly describe... Figure 7D Zhongyu Figure 7C The differences.

[0169] In step S112, the coating apparatus 100 sets the CAD data of the object 200 as the object shape information D.

[0170] In step S121, the coating apparatus 100 determines whether it is the first coating. If it is determined in step S121 that the coating is the first coating (step S121, Yes), in step S122, the coating apparatus 100 sets the three-dimensional position information E of the coating on the first object 200 to the object shape information D. On the other hand, if it is determined in step S121 that it is not the first coating (step S121, No), the coating apparatus 100 does not perform step S122 and proceeds to step S123.

[0171] Subsequently, in step S123, the coating apparatus 100 determines whether there is no object 200 to be coated next. When it is determined in step S123 that there is an object 200 (step S123, No), in step S124, the coating apparatus 100 increments the counter N by 1. Afterwards, step S113 and subsequent operations are executed again. On the other hand, when it is determined in step S123 that coating should be ended (step S123, Yes), the coating apparatus 100 ends the operation.

[0172] As described above, the coating apparatus 100 can coat M objects 200. Here, the three-dimensional position information E of the actual object 200 transmitted by the coating apparatus 100 to the coating position may have a large deviation compared to the CAD data, or the same deviation may continue in subsequent objects. When the deviation of the three-dimensional position information E of the actual object 200 is large, the correction amount of the corrector 23 increases. In this case, the possibility of needing to correct the coating path itself becomes higher. In this case, even after correction, the alignment accuracy may not improve. When the same deviation persists, the control becomes complex as correction of the coating control or the coating path occurs for each object each time. In the fourth example, in the second and subsequent coatings, the three-dimensional position information E obtained in the first coating is used as the object shape information D. Therefore, compared to the case of using CAD data, when the deviation relative to the real object 200 is small, the effects of deviations in the shape, position, and tilt of the object 200 can be corrected, and the three-dimensional alignment accuracy between the object 200 and the head 11 can be improved.

[0173] Fifth example of coating operation

[0174] Figure 7E This is a flowchart illustrating a fifth example of the coating operation of the coating apparatus 100. In this fifth example, the coating apparatus 100 sequentially coats multiple objects 200. During the coating of the first object 200, the controller 20 sets the CAD data of the object 200 as object shape information D. During the coating of the second and subsequent objects 200, the controller 20 sets the three-dimensional position information E of the previously coated objects 200, output from the detector 12, as information D about the objects 200.

[0175] For example, when the object 200 is stopped at the coating position of the coating apparatus 100, the coating apparatus 100 begins... Figure 7E The operation is as follows. It can detect whether the object 200 has stopped at the coating position based on signals from the conveyor or similar device that carries the object 200. The following will mainly describe... Figure 7E Zhongyu Figure 7D The differences.

[0176] After the coating apparatus 100 increments the counter N by 1 in step S142, it sets the three-dimensional position information E of the (N-1)th object 200 to the object shape information D in step S143. Then, the coating apparatus 100 performs the operations following step S133 again.

[0177] As described above, the coating apparatus 100 can coat M objects 200. Here, the deviation of the actual object 200 transmitted by the coating apparatus 100 to the coating position can gradually accumulate depending on the number of objects 200 coated. In the case of accumulated deviation, when the three-dimensional position information E of the object 200 obtained in the coating of the first object 200 is set as the object shape information D, the deviation from the three-dimensional position information E of the actual object 200 may become larger. When the deviation of the three-dimensional position information E of the actual object 200 is large, the correction error of the corrector 23 becomes larger. In the fifth example, in the second and subsequent coatings, the three-dimensional position information E in the previously coated object 200 is defined as information D about the object 200. Therefore, compared with the case of using CAD data, when the deviation relative to the real object 200 is small, the influence of deviations in the shape, position, and tilt of the object 200 can be corrected, and the three-dimensional alignment accuracy between the object 200 and the head 11 can be improved.

[0178] Calculation and processing of the shape, position, and tilt deviation of object 200

[0179] Reference Figure 8A and Figure 8B , will be described in Figure 7A In the coating operation of the coating apparatus 100 shown, the shape, position and tilt of the object 200 are calculated and processed by the corrector 23. Figure 8A This is a flowchart illustrating an example of the calculation process performed by the corrector 23 to determine the deviation of the shape, position, and tilt of the object 200 relative to the object shape information D. Figure 8B This is a diagram illustrating the method by which the corrector 23 calculates the deviation of the shape of the object 200.

[0180] exist Figure 7A In this process, the corrector 23, for example, begins at the timing point of the operation in step S74. Figure 8A The processing.

[0181] In step S151, the corrector 23 receives the three-dimensional position information E output from each of the four detectors 12 via the input unit 21.

[0182] Subsequently, in step S152, the corrector 23 extracts the coordinates of four feature points based on the four three-dimensional position information E. For example, the three-dimensional position information E is a distance image from a stereo camera in one detector 12. The feature point coordinates are the three-dimensional coordinates of the feature points extracted from the distance image. The corrector 23 receives the distance image input from each of the four detectors 12 and extracts the feature point coordinates from each of the four distance images.

[0183] Subsequently, in step S153, the corrector 23 compares the coordinates of the feature point data with the coordinates of the feature point, which are points corresponding to the feature points in the object shape information D.

[0184] Subsequently, in step S154, the corrector 23 calculates the deviation between the shape of the object 200 and the reference shape data in the object shape information D based on the comparison result in step S153.

[0185] Subsequently, in step S155, the corrector 23 calculates the position and tilt deviation of the object 200 relative to the reference shape data in the object shape information D based on the comparison result in step S153.

[0186] The order of steps S154 and S155 can be appropriately changed, and steps S154 and S155 can be executed in parallel.

[0187] like Figure 8B As shown, the corrector 23 calculates the centroids of four points detected by the detector 12: detection point 210-1', detection point 210-2', detection point 210-3', and detection point 210-4', and sets the centroids as the center coordinates (Xc, Yc, Zc). Figure 8B In the diagram, the roof portion 201 refers to the roof portion of the vehicle that is the object 200. Furthermore, Xc represents the center coordinate in the X direction, Yc represents the center coordinate in the Y direction, and Zc represents the center coordinate in the Z direction.

[0188] The calibrator 23 calculates the expansion and contraction of the measured shape of the object 200 by obtaining the deviation between the distance of each of the detection points 210-1', 210-2', 210-3' and 210-4' in the object shape information D from the center coordinates (Xc, Yc, Zc) and the distance of each of the feature points 210-1, 210-2, 210-3 and 210-4 from the center coordinates (Xc, Yc, Zc).

[0189] As described above, the corrector 23 can calculate the three-dimensional deviations of the shape, position, and tilt of the object 200 from the information D about the object.

[0190] Example of feature points

[0191] Reference Figures 9 to 13 The feature points used by the coating apparatus 100 are described.

[0192] Figure 9 This is a view that describes examples of feature points according to an implementation method. Figure 10 yes Figure 9 A magnified view of region X in the image. Figure 11 yes Figure 9 An enlarged view of region XI in the image. Figure 12 yes Figure 9 A magnified view of region XII in the image. Figure 13 yes Figure 9 A magnified view of region XIII in the image.

[0193] Figure 9 The diagram shows the state of the roof portion 201 of the object 200 and its surroundings as viewed from above. For example, a reference feature point is a corner of the window frame. Figure 9 Feature point 210-1 refers to a corner at the boundary between the roof portion 201 and the windshield attachment area 202. When the corner of the windshield attachment area 202 has curvature (is circular), for example, the intersection of the extensions of the two sides constituting the corner is set as the feature point. Feature point 210-2 is a corner at the boundary between the roof portion 201 and the rear panel 203. Feature point 210-3 is another corner at the boundary between the roof portion 201 and the windshield attachment area 202. Feature point 210-4 is another corner at the boundary between the roof portion 201 and the rear panel 203.

[0194] Figure 1 The detector 12-1 shown obtains a distance image of the feature point 210-1 and the area around the feature point 210-1 as three-dimensional position information E, and outputs the distance image. Figure 1 The detector 12-2 shown obtains a distance image of the feature point 210-2 and the area around the feature point 210-2 as three-dimensional position information E, and outputs the distance image. Figure 1 The detector 12-3 shown obtains a distance image of the feature point 210-3 and the area around the feature point 210-3 as three-dimensional position information E, and outputs the distance image. Figure 1 The detector 12-4 shown obtains a distance image of the feature point 210-4 and the area around the feature point 210-4 as three-dimensional position information E, and outputs the distance image.

[0195] Here, since the four detectors 12 are independent of each other, the three-dimensional coordinate systems of the distance images obtained by the four detectors 12 are independent and do not correspond to each other when the relationship between their three-dimensional positions is unclear. If the three-dimensional coordinate systems of the distance images are not associated, it is sometimes difficult to coat the image based on the outputs of the four detectors 12, together with the four moving mechanisms 13 that hold the four detectors 12 and the four heads 11. In the coating apparatus 100, the three-dimensional positional relationship between the four moving mechanisms 13 is determined in advance by measuring the three-dimensional positions of the four moving mechanisms 13 that hold the four detectors 12 and the four heads 11. Then, by associating the three-dimensional coordinate systems of the four moving mechanisms 13 with each other, the three-dimensional positions of the four moving mechanisms 13 are represented by a single three-dimensional coordinate system. Thus, the three-dimensional position information E output by the four detectors 12 held by the four moving mechanisms 13 can be represented by a single three-dimensional coordinate system.

[0196] Example of feature point coordinate processing methods

[0197] Reference Figure 14A and Figure 14B A method for processing the coordinates of feature points according to the first embodiment is described. Figure 14A This is a first view describing an example of a coordinate processing method for feature points according to the first embodiment. Figure 14B This is a second view illustrating an example of a coordinate processing method for feature points according to the first embodiment.

[0198] exist Figure 14A In the diagram, coordinates (X1, Y1, Z1) represent the three-dimensional position of feature point 210-1. Coordinates (X2, Y2, Z2) represent the three-dimensional position of feature point 210-2. Coordinates (X3, Y3, Z3) represent the three-dimensional position of feature point 210-3. Coordinates (X4, Y4, Z4) represent the three-dimensional position of feature point 210-4.

[0199] Feature point data 210-1D corresponds to feature point 210-1 in object shape information D. Feature point data 210-2D corresponds to feature point 210-2 in object shape information D. Feature point data 210-3D corresponds to feature point 210-3 in object shape information D. Feature point data 210-4D corresponds to feature point 210-4 in object shape information D.

[0200] The coordinates (ΔXd1, ΔYd1, ΔZd1) represent the three-dimensional positions of feature point data 210-1D. The coordinates (ΔXd2, ΔYd2, ΔZd2) represent the three-dimensional positions of feature point data 210-2D. The coordinates (ΔXd3, ΔYd3, ΔZd3) represent the three-dimensional positions of feature point data 210-3D. The coordinates (ΔXd4, ΔYd4, ΔZd4) represent the three-dimensional positions of feature point data 210-4D.

[0201] The corrector 23 calculates the position deviation (ΔX, ΔY, ΔZ) and tilt (Rx, Ry, Rz) by comparing coordinates (X1, Y1, Z1) and (ΔXd1, ΔYd1, ΔZd1), coordinates (X2, Y2, Z2) and (ΔXd2, ΔYd2, ΔZd2), coordinates (X3, Y3, Z3) and (ΔXd3, ΔYd3, ΔZd3), and coordinates (X4, Y4, Z4) and (ΔXd4, ΔYd4, ΔZd4). ΔX represents the position deviation in the X-axis direction, ΔY represents the position deviation in the Y-axis direction, and ΔZ represents the position deviation in the Z-axis direction. Rx represents the tilt around the X-axis, Ry represents the tilt around the Y-axis, and Rz represents the tilt around the Z-axis.

[0202] (Xc, Yc, Zc) represents the center of the roof section 201.

[0203] The corrector 23 also checks the shape deviation, positional deviation, and tilt deviation of the object 200. In shape checking methods, for example, such as... Figure 8BAs shown, the distances D1, D2, D3, D4, and D4 of feature point 210-1 from the center coordinates (Xc, Yc, Zc) of the roof portion 201 are obtained in advance from the object shape information D. The differences between distances D1 and D1' (ΔD1 = D1' - D1), D2 and D2' (ΔD2 = D2' - D2), D3 and D3' (ΔD3 = D3' - D3), and D4 and D4' (ΔD4 = D4' - D4) are obtained. From this, the deviation of the shape of object 200 from the object shape information D can be calculated.

[0204] Next, the corrector 23 calculates the position and tilt deviations by taking into account the shape deviation of the object 200 relative to the object shape information D. The corrector 23 calculates these deviations by considering the shape deviation of the object 200 relative to the object shape information D. Figure 14B The shape deviation obtained above is added to the object shape information D under the same pose as the reference object shape information D to obtain the deviation between the feature points and the detection points, which is used as position and tilt deviation. That is, the corrector 23 calculates the deviation between the feature point 210-1+D1 (XD1, YD1, ZD1) and the detection point 210-1' (X1', Y1', Z1'). In addition, the corrector 23 calculates the deviation between the feature point 210-2+D2 (XD2, YD2, ZD2) and the detection point 210-2' (X2', Y2', Z2'). In addition, the corrector 23 calculates the deviation between the feature point 210-3+D3 (XD3, YD3, ZD3) and the detection point 210-3' (X3', Y3', Z3'). In addition, the corrector 23 calculates the deviation between the feature point 210-4+D4 (XD4, YD4, ZD4) and the detection point 210-4' (X4', Y4', Z4').

[0205] The corrector 23 can correct the relative movement path information T1 generated by the generator 22 by using three-dimensional coordinate transformation processing including positional deviations (Δx, Δy, Δz) and tilt amounts (Rx, Ry, Rz) that include shape deviations, to obtain corrected path information T2.

[0206] Example of the correction result for relative movement path information T1

[0207] Reference Figures 15 to 2 0 describes the correction result of the relative movement path information T1. Figure 15 This is a diagram illustrating an example of the correction results for the relative movement path information T1. Figure 16 This is a diagram illustrating an example of relative movement path information T1. Figure 17 This is a diagram illustrating an example of the corrected path information T2. Figure 18 This is a diagram illustrating an example of expansion and contraction in the longitudinal direction of the roof portion 201. Figures 19A to 19C This is a diagram illustrating an example of expansion and contraction in the lateral direction of the roof portion 201. Figures 20A to 20C This is a schematic diagram illustrating the correction of image data under conditions of shape expansion and contraction.

[0208] Figure 15 This is a diagram showing the relative movement path information T1 of the coating area 211 and the head 11.

[0209] Coating range 211 is Figure 1 The four moving mechanisms 13 shown each move the head 11 relative to the object 200 to cover the coating area. The coating area 211 and the relative movement path information T1 are different for each of the four heads 11.

[0210] The coating range 211-1 indicates the area to be coated by moving the head 11-1 relative to the object 200 via the moving mechanism 13-1. The relative movement path information T1-1 indicates the path of movement of the head 11-1 relative to the object 200.

[0211] The coating range 211-2 indicates the area to be coated by moving the head 11-2 relative to the object 200 via the moving mechanism 13-2. The relative movement path information T1-2 indicates the path of movement of the head 11-2 relative to the object 200.

[0212] The coating range 211-3 indicates the area to be coated by moving the head 11-3 relative to the object 200 via the moving mechanism 13-3. The relative movement path information T1-3 indicates the path of movement of the head 11-3 relative to the object 200.

[0213] The coating range 211-4 represents the area to be coated by moving the head 11-4 relative to the object 200 via the moving mechanism 13-4. The relative movement path information T1-4 represents the path of movement of the head 11-4 relative to the object 200.

[0214] Figure 16The coating range 211-1 and relative movement path information T1-1 of the head 11-1 in the four coating ranges 211 and four relative movement path information T1 are shown. Figure 17 It shows the way Figure 6 The three-dimensional coordinate transformation processing of the corrector 23 is used to correct the coating range 211a-1 and the corrected path information T2-1. Even if the coating range 211 and the relative movement path information T1 are transformed in three dimensions, the position and tilt deviation of the head 11 relative to the object shape information D can be corrected without changing the longitudinal movement distance and the lateral advance width. This processing simplifies the processing of the corrector 23.

[0215] Reference Figures 18 to 2 0 describes an example of path change when the shape of object 200 changes. In the description of path correction, the longitudinal direction of the roof portion 201 is the main scanning direction of the head 11, and the lateral direction of the roof portion 201 is the secondary scanning direction.

[0216] like Figure 18 As shown in the left figure, when there is expansion and contraction in the main scanning direction, for example, when the length of the main scanning direction is shorter than the object shape information D pre-held by the roof part 201 according to the obtained feature point coordinates, the corrector 23 outputs a corrected path T2 that is shorter than the relative movement path information T1 according to the length of the detected main scanning direction path.

[0217] like Figure 18 As shown in the right figure, when the length of the main scanning direction is longer than the object shape information D pre-held by the roof portion 201 based on the obtained feature point coordinates, the corrector 23 outputs a corrected path T2 extending from the relative movement path information T1 based on the length of the detected path in the main scanning direction. Furthermore, in Figure 18 In this model, the reference for path expansion and contraction is set as the center coordinates (Xc, Yc, Zc). However, the reference for path expansion and contraction can also be a straight line connecting two points arranged in the sub-scanning direction, such as the straight line connecting feature point 210-1 and feature point 210-3, or the straight line connecting feature point 210-2 and feature point 210-4.

[0218] like Figures 19A to 19C As shown, in the case of expansion and contraction in the sub-scanning direction, for example, when the length in the sub-scanning direction is shorter than the object shape information D pre-held by the roof portion 201 according to the obtained feature point coordinates, and when the detected length is shorter than the coating width depicted by the head 11 when moving along the main scan direction, and is also shorter than the object shape information D, the corrector 23 outputs a corrected path T2 that makes the movement operation in the sub-scanning direction shorter than the relative movement path information T1.

[0219] When the length of the sub-scanning direction, starting from the coordinates of the obtained feature points, is greater than the object shape information D pre-held by the roof portion 201, the corrector 23 outputs a correction path T2, where the movement operation in the sub-scanning direction is increased to be greater than the relative movement path information T1. In any case, since the coating width depicted by the head 11 does not change, the amount of movement in the sub-scanning direction of the head 11 is the same as the relative movement path information T1.

[0220] When the length of the roof portion 201 is changed and coating is applied along the correction path T2, the corrector 23 modifies the image data according to the expanding and contracting paths. As shown in Figure 20, when the detected length of the roof portion 201 decreases relative to the object shape information D, the corrector 23 creates image data G2 in which the area to be coated decreases from image data G1. When the detected length of the roof portion 201 increases relative to the object shape information D, the corrector 23 creates image data G2 in which the area to be coated increases from image data G1.

[0221] As described above, in this embodiment, the boundary between the coated and uncoated areas (the edge portion of the coated area) can be applied as a series of coating paths in the same manner as the central area of ​​the coated area. Therefore, compared to a process where the ends are coated again after the center is coated, the coating time is shortened, and the occurrence of coating unevenness due to the time difference between coating the central area and coating the edge area is suppressed.

[0222] Furthermore, in Figure 20, the reference for magnifying the image data is set as the center coordinates (Xc, Yc, Zc), but the reference for path expansion and contraction can also be set as any one of the following: a straight line connecting two points arranged in the sub-scanning direction, such as the straight line connecting feature point 210-1 and feature point 210-3, the straight line connecting feature point 210-2 and feature point 210-4, the straight line connecting feature point 210-1 and feature point 210-2 arranged in the main scanning direction, and the straight line connecting feature point 210-3 and feature point 210-4.

[0223] The coating apparatus 100 can perform coating by moving the head 11 relative to the object 200 and discharging liquid based on the corrected path information T2, while the object 200 and the nozzle are in three-dimensional alignment. In other words, the coating apparatus 100 can provide a coating apparatus 100 that can align the object 200 and the nozzle in three dimensions. Thus, even if the position and tilt are different for each object 200 delivered to the coating position, it is possible to coat the object 200 while reducing coating omissions and uneven coating. Furthermore, in this specification, an example using four three-dimensional position information E output from four detectors 12 has been described, but the above-mentioned effects can be obtained as long as the number of three-dimensional position information E is three or more.

[0224] In the coating apparatus 100, the head 11 discharges liquid from each of a plurality of nozzles. Therefore, since each of the plurality of regions on the object 200 can be coated in parallel, the coating time can be shortened compared to coating by discharging liquid from only one nozzle.

[0225] In the coating apparatus 100, the moving mechanism 13 includes a mechanism for holding the head 11 and the detector 12 and moving each of the head 11 and the detector 12 relative to the object 200. The controller 20 controls the liquid discharge performed by the head 11 and the operation of the moving mechanism 13. With this configuration, the degrees of freedom for controlling the direction of movement and tilt of the head 11 and the detector 12 can be increased compared to the case where the head 11 and the detector 12 are moved by combining multiple linear motion stages.

[0226] In the coating apparatus 100, the moving mechanism includes a plurality of moving mechanisms 13 arranged near the object 200. Each moving mechanism 13 holds the head 11 and the detector 12 and moves each of the head 11 and the detector 12 relative to the object 200. The controller 20 controls the liquid discharge from the head 11 and the operation of the plurality of moving mechanisms 13. Since different areas on the object 200 can be coated in parallel using multiple moving mechanisms 13, the coating time can be shortened compared to using only one moving mechanism 13.

[0227] Second Implementation Method

[0228] Next, the coating apparatus according to the second embodiment will be described. The same names and reference numerals as in the above embodiments denote the same or similar components or parts, and their detailed descriptions will be omitted as appropriate.

[0229] The difference between this embodiment and the first embodiment is that the controller moves the head 11 relative to the object 200 based on information about the tilt of the roof side relative to the roof of the vehicle obtained from the object shape information D of the object 200 and three or more three-dimensional position information E.

[0230] Functional configuration example of controller 20a

[0231] Figure 21 This is a block diagram illustrating an example of the functional configuration of the controller 20a according to this embodiment.

[0232] The controller 20a differs from the controller 20 according to the first embodiment in that the controller 20a includes a corrector 23a. The function of the corrector 23a is, for example, through... Figure 2 The CPU 31 shown loads the program stored in ROM 32 into RAM 33 and executes the processing defined in the program.

[0233] Corrector 23a obtains three-dimensional tilt information of the roof side relative to the roof portion of object 200, which is a vehicle, from object shape information D and three or more three-dimensional position information E. The three-dimensional tilt information of the roof side relative to the roof portion corresponds to information about the tilt of the roof side relative to the roof portion.

[0234] The corrector 23a corrects the relative movement path information T1 based on the detection result of the three-dimensional tilt of the side of the roof relative to the roof portion, and obtains the corrected path information T2. ​​The corrector 23a outputs the obtained corrected path information T2 to the movement controller 27. The coating device 100 can three-dimensionally align the nozzle in the head 11 relative to the object 200 by moving the head 11 relative to the object 200 according to the corrected path information T2.

[0235] Processing example of controller 20a

[0236] Figure 22 This is a flowchart illustrating an example of how controller 20a calculates the tilt amount of the roof side of object 200 relative to the roof portion. For example, in Figure 7B In the process, the corrector 23a starts at the timing point of executing step S85. Figure 22 The processing. Figure 22 The processing of steps S161 to S163 in the process and Figure 8A and Figure 8B The processing of steps S151 to S153 is the same, and Figure 22 The processing of step S164 in the process and Figure 8A and Figure 8B The process of step S155 is the same, so the repeated description is omitted here.

[0237] In step S165, the corrector 23a detects the assembly width of the roof forming recess in the front and rear of the object 200 from three or more three-dimensional position information E. The roof forming recess refers to the recess between the roof top and the roof side. The assembly width refers to the width of the roof forming recess when the roof portion is assembled to the roof side. When the roof portion is assembled in a rotationally inclined position relative to the predetermined object shape information D, there is a difference between the assembly width of the roof forming recess and the width of the roof forming recess in the object shape information D.

[0238] Next, in step S166, the corrector 23a compares the width of the roof forming groove in the object shape information D with the assembly width of the roof forming groove detected in step S165.

[0239] Subsequently, in step S167, the corrector 23a detects the tilt of the roof side relative to the roof portion based on the comparison result in step S166.

[0240] As described above, the corrector 23 is able to detect the amount of tilt of the roof side relative to the roof portion in the object 200.

[0241] Example of the slope of the roof side 204 relative to the roof portion 201

[0242] Reference Figures 23 to 28 The tilt of the roof side 204 relative to the roof portion 201 is described in detail. Figure 23 This is a diagram illustrating an example of a roof-forming recess on the left rear of the roof section 201. Figure 24 yes Figure 23 A magnified view of region XXIV. Figure 25 yes Figure 24 A cross-sectional view taken along line XXV-XXV. Figure 26 This is a diagram illustrating an example of a roof-forming recess on the left front of the roof section 201. Figure 27 This is a diagram illustrating an example of relative movement path information T1a in the side section 204 of the roof. Figure 28 This is a diagram illustrating an example of the corrected path information T2a in the side section 204 of the roof.

[0243] Figures 23 to 25 It shows Figure 9 Feature point 210-2 and its surrounding area. The roof forming groove 205-2 is the groove between the roof portion 201 and the roof side portion 204. The assembly distance Δr is the assembly distance of the roof forming groove 205-2.

[0244] on the other hand, Figure 26 It shows Figure 9Feature point 210-1 and its surrounding area. The roof forming groove 205-1 is the groove between the roof portion 201 and the roof side portion 204. The front assembly distance Δf is the assembly distance of the roof forming groove 205-1.

[0245] Figure 21 The corrector 23a shown can use the rear assembly distance Δr and the front assembly distance Δf to calculate the tilt of the roof side 204 relative to the roof portion 201.

[0246] Figure 27 The relative movement path information T1a-1 within coating range 212-1 and coating range 212-2 within coating range 212-2 are shown. An example is shown where coating range 212-1 and the relative movement path information T1a-1, and coating range 212-2 and the relative movement path information T1a-2 deviate from the object shape information D based on the position and tilt of the transported object 200.

[0247] Figure 28 The diagram illustrates coating range 212a-1 and corrected path information T2a-1 within coating range 212a-1, and coating range 212a-2 and corrected path information T2a-2 within coating range 212a-2. An example will be described where, based on the tilt of the roof side 204 relative to the roof portion 201, corrections are made using position and tilt to match the transported object 200. Coating range 212a-1 and corrected path information T2a-1, coating range 212a-2 and corrected path information T2a-2 are also used in the expansion and contraction correction of the object in this embodiment, when... Figure 27 When an object 200 is stopped on the coating line and a positional deviation or tilt is detected from the specified position, as shown, Figure 28 The diagram illustrates position and tilt correction achieved by adjusting the coating area and path. This improves the 3D alignment accuracy between the object and the head, enabling proper coating.

[0248] As described above, in this embodiment, the controller 20 moves the head 11 relative to the object 200 based on information about the tilt of the roof side 204 relative to the vehicle roof portion 201 obtained from the object shape information D and three or more three-dimensional position information E.

[0249] Therefore, in this embodiment, coating can be performed when the object 200 and the nozzle are three-dimensionally aligned on the side of the vehicle. In other words, in this embodiment, a coating apparatus 100 capable of three-dimensionally aligning the object 200 and the nozzle on the side of the vehicle can be provided. The coating apparatus according to this embodiment can perform coating while reducing coating omissions and coating unevenness by coating when the object 200 and the nozzle are three-dimensionally aligned on the side of the vehicle.

[0250] Although the embodiments have been described above, this embodiment is not limited to the above embodiments. That is to say, various modifications and improvements are possible within the scope of this embodiment.

[0251] Furthermore, in the above embodiments, the liquid discharged from the head 11 can include, for example, solutions, suspensions, emulsions, etc., containing solvents such as water and organic solvents, pigments such as dyes and pigments, polymeric compounds, resins, functional materials such as surfactants, biocompatible materials such as DNA, amino acids, proteins, and calcium, and edible materials such as natural pigments. Such solutions, suspensions, or emulsions can be used, for example, as inkjet inks, coatings, surface treatment solutions, liquids for forming resist patterns for electronic components or light-emitting elements or electronic circuits, or material solutions for three-dimensional manufacturing.

[0252] Object 200 refers to an object to which liquid is attached and fixed, an object to which liquid is attached and permeated, etc. Examples of this include objects to be coated with a three-dimensional structure, such as vehicle bodies and building materials, electronic components, such as electronic substrates and piezoelectric elements, and objects to be coated with a three-dimensional shape, such as powder layers, organ models and inspection units, and unless otherwise stated, all objects to which liquid adheres.

[0253] Furthermore, this embodiment can also be applied to coatings on automobile bodies for purposes other than coloring or design. For example, the coating process for an automobile body includes a primer designed to ensure adhesion and rust prevention of the coating film on the vehicle body substrate, an intermediate coat designed to ensure impact resistance and durability, and a top coat designed for coloring and design. In addition to the top coat, the coating apparatus according to this embodiment can also be used for primers or intermediate coats. When a coating step for applying a protective layer (such as a clear coat) is present after the top coat, this protective layer is intended for the gloss and protection of the coating film, and the coating apparatus according to this embodiment can be used in this coating step. The coating apparatus according to this embodiment can also be used to apply a peelable protective layer to protect the coated surface when coating an automobile in transit or at the factory. The peelable protective layer can be any layer as long as it adheres to the coating surface of the vehicle body, thereby chemically or physically protecting the coated portion from dust, metal powder, oil, salt, acid, and ultraviolet radiation, and preferably includes, for example, a material primarily containing an acrylic copolymer agent.

[0254] This embodiment can also be applied to droplet discharge devices that limit the coating area to a specific location and discharge droplets. For example, there is a marking device that discharges droplets onto an object to mark a specific part.

[0255] The functions of the embodiments described above can be implemented by one processing circuit or by multiple processing circuits. Here, the term "processing circuit or circuit system" in this specification includes a programmable processor that performs each function by software, such as a processor implemented by electronic circuits, and a device such as an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a field-programmable gate array (FPGA), or a conventional circuit module designed to perform each of the above functions.

[0256] A coating apparatus includes: a coating head configured to discharge liquid onto an object to coat the object; a moving mechanism configured to move the coating head; a detector configured to detect the object and output three-dimensional position information relating to the three-dimensional positions of three or more feature points on the object; and a controller configured to: obtain object shape information regarding the shape of the object; calculate a difference between the object shape obtained from the object shape information and the object shape obtained from the three-dimensional position information output by the detector to generate difference information; generate control information based on the difference information; and control at least one of the following according to the control information: the coating head discharges liquid; or the moving mechanism moves the coating head.

[0257] The controller is also configured to: obtain path information of the moving mechanism from object shape information; correct the path information based on the difference information to generate corrected path information; and generate control information including the corrected path information.

[0258] The controller generates control information, which includes: path information of the moving mechanism; or corrected image data corresponding to the corrected path information.

[0259] The controller inputs the object's design data as the object's shape information.

[0260] The controller is also configured to: control a coating head to coat a plurality of objects including the object; set predetermined shape data of the object as object shape information of a first object among the plurality of objects; control the coating head and a moving mechanism to coat the first object based on difference information obtained from the object shape information and the three-dimensional position information of the first object; set the three-dimensional position information of the first object as object shape information of a second and subsequent object among the plurality of objects; and control the coating head and the moving mechanism to coat the second and subsequent objects based on difference information obtained from the object shape information and the three-dimensional position information of the second and subsequent objects.

[0261] The controller is also configured to: sequentially coat multiple objects including the object; set the predetermined shape data of the object as the object shape information of the first object among the multiple objects; and set the three-dimensional position information of the previously detected object as the object shape information of the second and subsequent objects among the multiple objects.

[0262] The controller is also configured to control the liquid discharge from the coating head based on calibrated image data.

[0263] The controller is also configured to: calculate the deviation of each of the object's position and tilt obtained from the object's shape information relative to the object's position and tilt obtained from the three-dimensional position information; and control the coating head and the moving mechanism based on the deviation of each of the object's position and tilt.

[0264] An information processing apparatus includes: a controller capable of communicating with a coating apparatus configured to coat an object using liquid discharged from a coating head, the coating head being moved by a moving mechanism; and the controller being configured to: obtain from the coating apparatus three-dimensional position information regarding the three-dimensional positions of three or more feature points on the object; and obtain object shape information regarding the shape of the object; calculate a difference between the object shape obtained from the object shape information and the object shape obtained from the three-dimensional position information to generate difference information; generate control information based on the difference information; and control at least one of the following according to the control information: the coating head discharging liquid; or the moving mechanism moving the coating head.

[0265] A coating method includes: discharging liquid from a coating head onto an object to coat the object; moving the coating head via a moving mechanism; detecting the object and outputting three-dimensional position information about the three-dimensional positions of three or more feature points on the object; obtaining object shape information about the shape of the object; calculating the difference between the object shape obtained from the object shape information and the object shape obtained from the three-dimensional position information to generate difference information; generating control information based on the difference information; and controlling at least one of the following according to the control information: discharging liquid from the coating head; or moving the coating head via the moving mechanism.

[0266] A non-transitory recording medium storing a plurality of instructions, which, when executed by one or more processors, cause one or more processors to perform the method.

[0267] The aspects of this embodiment are described below, for example.

[0268] According to a first aspect, a coating apparatus includes: a coating head that discharges liquid onto an object to coat the object; a moving mechanism that moves the coating head; a detector configured to output three-dimensional position information (E) relating to the three-dimensional positions of three or more feature points on the object; and a controller configured to control at least one of the operations of the liquid discharge or moving mechanism performed by the coating head, the controller generating control information based on object shape information (X) obtained from object shape information (D) and three-dimensional position information (E) regarding the object shape, and controlling at least one of the operations of the liquid discharge or moving mechanism according to the control information.

[0269] According to the second aspect, in the coating apparatus of the first aspect, the control information is the corrected path information (T2) obtained by correcting the path information (T1) of the moving mechanism based on the object shape information (D).

[0270] According to the third aspect, in the coating apparatus of the second aspect, the control information is the path information (T1) of the moving mechanism or the corrected image data (G1) corresponding to the corrected path information (T2).

[0271] According to the fourth aspect, in the coating apparatus of any of the first to third aspects, the object shape information (D) is the design data of the object.

[0272] According to the fifth aspect, in the coating apparatus of any one of the first to fourth aspects, the controller performs control to set predetermined shape data of an object as object shape information (D), and when coating the first object, coats the first object among a plurality of objects included in the object based on difference information (X) obtained from the object shape information (D) and the three-dimensional position information (E1) of the first object, and performs control to set the three-dimensional position information (E1) of the first object as shape information (Dn) of the second and subsequent strips, and when coating the second and subsequent objects, coats the second and subsequent objects in the object (n) based on difference information (Xn) obtained from the object shape information (Dn) and the three-dimensional position information (En) of the second and subsequent objects.

[0273] According to the sixth aspect, in the coating apparatus of any one of the first to fourth aspects, a plurality of objects are sequentially coated, and when coating the first object among the plurality of objects included in the object, the controller sets the predetermined shape data of the object to object shape information (D), and when coating the second and subsequent objects among the object, sets the three-dimensional position information (En-1) of the previously detected object to the shape information (Dn) of the second and subsequent objects.

[0274] According to the seventh aspect, in the coating apparatus of the third aspect, the controller performs discharge based on the corrected image data (G1).

[0275] According to the eighth aspect, in the coating apparatus of any of the first to seventh aspects, the controller performs control based on the deviation of the object's position and tilt relative to the object shape information (D) obtained from the object shape information (D) and the three-dimensional position information (E).

[0276] According to a ninth aspect, an information processing device is capable of communicating with a coating apparatus that coats an object using liquid discharged from a coating head. The information processing device generates control information based on object shape information (D) obtained from object shape information about the shape of the object and three-dimensional position information (E) about the three-dimensional positions of three or more feature points on the object, and controls at least one of the operation of a liquid discharge or movement mechanism according to the control information.

[0277] According to a tenth aspect, a coating method performed by a coating apparatus that coats an object using liquid discharged from a coating head, the method comprising: outputting three-dimensional position information (E) about the three-dimensional positions of three or more feature points on the object; generating control information based on object shape information (X) obtained from object shape information (D) about the object's shape and the three-dimensional position information (E), and controlling at least one of a liquid discharge mechanism or a movement mechanism of the coating head according to the control information.

[0278] According to the eleventh aspect, a recording medium for recording a program, when causing a coating apparatus to perform at least one of the operations of controlling a coating head to discharge liquid onto an object or a moving mechanism, the program is used to cause a computer to perform: generating control information based on object shape information (D) obtained from object shape information (D) about the shape of the object and three-dimensional position information (E) about the three-dimensional positions of three or more feature points on the object, and controlling at least one of the operations of the liquid discharge or moving mechanism according to the control information.

[0279] The above embodiments are illustrative and do not limit the invention. Therefore, many additional modifications and variations are possible based on the above teachings. For example, within the scope of the invention, elements and / or features of different illustrative embodiments may be combined with and / or substituted for each other. Any of the above operations may be performed in various other ways, for example, in an order different from that described above.

[0280] This patent application is based on and claims priority to Japanese Patent Application No. 2024-039190, filed on March 13, 2024, with the Japan Patent Office, the entire disclosure of which is incorporated herein by reference.

[0281] [List of reference numerals]

[0282] 11 heads

[0283] 11-1, 11-2, 11-3, 11-4 Head

[0284] Detectors 12, 12-1, 12-2, 12-3, and 12-4

[0285] 13, 13-1, 13-2, 13-3, 13-4 Moving mechanisms

[0286] 14 supply organizations

[0287] 15 Maintenance Organizations

[0288] 20, 20a controller

[0289] 21 Input Unit

[0290] 22 Generator

[0291] 23, 23a calibrator

[0292] 24 Discharge Controller

[0293] 25 Supply Controller

[0294] 26 Maintenance Controller

[0295] 27 Motion Controller

[0296] 28 output units

[0297] 31 CPU

[0298] 32 ROM

[0299] 33 RAM

[0300] 34 HDDs / SSDs

[0301] 35. Equipment Connection I / F

[0302] 36 communication I / F

[0303] 100 Coating Device

[0304] 110 casing

[0305] 111 supply port

[0306] 112 collection port

[0307] 113 connector

[0308] 200 objects

[0309] Roof section of vehicle 201

[0310] 202 Windshield Attachment Area

[0311] 203 rear panel

[0312] 204 car roof side

[0313] 205-1, 205-2 Roof Molding Grooves

[0314] Feature points 210-1, 210-2, 210-3, and 210-4

[0315] 210-1D, 210-2D, 210-3D, 210-4D feature point data

[0316] Coating range of 211, 211-1, 211-2, 211-3, 211-4

[0317] 230 compressor

[0318] 311 nozzle

[0319] 321 Nozzle Plate

[0320] 322 Channel

[0321] 324 piezoelectric element

[0322] 325 liquid

[0323] 330 liquid tank

[0324] 331 tube

[0325] 332 air conditioner

[0326] 333 pipe

[0327] 340 Discharge Module

[0328] C1 outputs control signal

[0329] C2 supply control signal

[0330] C3 Maintenance Control Signal

[0331] C4 Movement Control Signal

[0332] D object shape information

[0333] E-3D Location Information

[0334] S-system bus

[0335] S1 plane

[0336] Relative movement path information for T1, T1-1, T1-2, T1-3, and T1-4

[0337] T2 calibration path information

[0338] Rx, Ry, Rz tilt amount

[0339] Δf pre-assembly distance

[0340] Δr post-assembly distance

[0341] [List of Citations]

[0342] [Patent Literature]

[0343] [Patent Document 1]

[0344] Japanese Unexamined Patent Application Publication No. 2009-20846

Claims

1. A coating apparatus, comprising: A coating head configured to discharge liquid onto an object to coat the object; A moving mechanism configured to move the coating head; A detector configured to detect the object and output three-dimensional position information relating to the three-dimensional positions of three or more feature points on the object; as well as The controller is configured to: Obtain object shape information about the shape of the object; The difference between the shape of the object obtained from the object shape information and the shape of the object obtained from the three-dimensional position information output by the detector is calculated to generate difference information; Control information is generated based on the aforementioned difference information; and Control at least one of the following based on the control information: The coating head discharges the liquid; or The moving mechanism moves the coating head.

2. The coating apparatus according to claim 1, in, The controller is also configured to: The path information of the moving mechanism is obtained from the object shape information; The path information is corrected based on the difference information to generate corrected path information; and Generate the control information that includes the corrected path information.

3. The coating apparatus according to claim 2, in, The controller generates the control information, which includes: The path information of the mobile mechanism; or Corrected image data corresponding to the corrected path information.

4. The coating apparatus according to claim 1, in, The controller inputs the design data of the object as the object's shape information.

5. The coating apparatus according to any one of claims 1 to 4, in, The controller is also configured to: Control the coating head to coat multiple objects, including the object; The predetermined shape data of the object is set as the object shape information of the first object among the plurality of objects; Based on the difference information obtained from the object shape information and the three-dimensional position information of the first object, the coating head and the moving mechanism are controlled to coat the first object; The three-dimensional position information of the first object is set as the object shape information of the second and subsequent objects among the plurality of objects; as well as Based on the difference information obtained from the object shape information and the three-dimensional position information of the second and subsequent objects, the coating head and the moving mechanism are controlled to coat the second and subsequent objects.

6. The coating apparatus according to any one of claims 1 to 4, in, The controller is also configured to: Sequentially coat multiple objects, including the object; The predetermined shape data of the object is set as the object shape information of the first object among the plurality of objects; and The three-dimensional position information of the previously detected object is set as the object shape information of the second and subsequent objects among the plurality of objects.

7. The coating apparatus according to claim 3, in, The controller is also configured to control the coating head to discharge the liquid based on the corrected image data.

8. The coating apparatus according to claim 1, in, The controller is also configured to: Calculate the deviation of each of the position and tilt of the object obtained from the object shape information relative to the position and tilt of the object obtained from the three-dimensional position information; as well as The coating head and the moving mechanism are controlled based on the deviation of each of the object's position and tilt.

9. An information processing apparatus, comprising: A controller, capable of communicating with a coating apparatus configured to coat an object using liquid discharged from a coating head, the coating head being moved by a moving mechanism; and The controller is configured to: Three-dimensional position information about the three-dimensional positions of three or more feature points on the object is obtained from the coating device; as well as Obtain object shape information about the shape of the object; Calculate the difference between the shape of the object obtained from the object shape information and the shape of the object obtained from the three-dimensional position information to generate difference information; Control information is generated based on the aforementioned difference information; and Control at least one of the following based on the control information: The coating head discharges the liquid; or The moving mechanism moves the coating head.

10. A coating method, comprising: Liquid is discharged from the coating head onto the object to coat the object; The coating head is moved by a moving mechanism; Detect the object and output three-dimensional position information about the three-dimensional positions of three or more feature points on the object; Obtain object shape information about the shape of the object; Calculate the difference between the shape of the object obtained from the object shape information and the shape of the object obtained from the three-dimensional position information to generate difference information; Control information is generated based on the aforementioned difference information; and Control at least one of the following based on the control information: The coating head discharges the liquid; or The moving mechanism moves the coating head.

11. A non-transitory recording medium storing a plurality of instructions, which, when executed by one or more processors, cause the one or more processors to perform the coating method according to claim 10.

Images