Coating method and associated coating installation

Abstract

The invention relates to a coating method for coating a part (for example a motor vehicle body part) with a coating agent (for example paint), comprising the following steps: - applying the coating agent to the part along a reference path (14) within a coating surface (3) on the part, - detecting the spatial progression of the reference path applied to the part (14), - ascertaining the spatial progression of at least one neighbouring path adjacent to the reference path (14) depending on the determined spatial progression of the reference path (14), and – applying the coating agent to the part along the at least one neighbouring path within the coating surface (3) on the part, - determining defects (8-13) on the part, in particular under the reference path (14), in order to avoid incorrect detection of the spatial progression of the reference path (14) and correspondingly incorrect ascertainment of the spatial progression of the at least one neighbouring path. The invention further relates to a corresponding coating installation for carrying out the coating method.

Description

[0001] DESCRIPTION

[0002] Coating process and associated coating system

[0003] Technical field of

[0004] The invention relates to a coating method for coating a component (e.g., motor vehicle body components) with a coating agent (e.g., paint). Furthermore, the invention relates to a corresponding coating system.

[0005] When painting automotive body components, a check for paint defects is usually carried out after the paint has been applied. Any such defects are sanded down if necessary, resulting in unsightly sand marks on the freshly painted component surface. In many cases, such sand marks can be removed by polishing, creating a flawless overall appearance.

[0006] If the vehicle body component is repainted in a subsequent process, polishing is not necessary. This subsequent painting process can be carried out, for example, using an overspray-free applicator or printhead. For simplicity, the term "printhead" is used below. It includes all applicators that apply coatings without loss (i.e., overspray).

[0007] In a known process, a painting robot paints a reference track onto this component surface. The spatial course of the reference track is then recorded by an optical sensor (e.g. camera system) by measuring the long edge of the reference track. Subsequently, another paint track can be applied next to the reference track, adjacent to the reference track and positioned according to the previous measurement of the reference track, as is known, for example, from DE 10 2021 108 563 A1. When the reference track is applied to a defect-free paint layer without any interfering sanding marks, the optical sensor can usually measure the reference track well. However, if the sensor observes a sanding mark in the paint layer, the sensor may no longer be able to accurately detect the course of the reference track because the sanding mark has different optical properties than the paint layer underneath.There is therefore a risk that the reference path cannot be measured precisely due to the interfering grinding points.

[0008] For the technical background of the invention, reference should also be made to DE 10 2021 206 386 A1 and DE 10 2017 005 170 A1.

[0009] Description of the invention

[0010] The invention is therefore based on the object of solving the above-described problem of measuring the reference path when defects (e.g. grinding points) make the measurement difficult.

[0011] This object is achieved by a coating method according to the invention or by a corresponding coating system according to the independent claims.

[0012] The term "defect" used in the context of the invention is to be understood generally and is not limited to the grinding marks mentioned above as examples. Defects can be defined by disturbances such as foreign particles, paint accumulations, or craters or dents in the paint film. To remove these, they are ground manually or automatically in the subsequent process. This creates grinding marks in their place, which are usually larger than the original defects. The term "defect" includes the term "grinding mark."

[0013] The coating method according to the invention is generally suitable for applying a coating agent to a component. Preferably, however, the applied coating agent is paint, while the coated component is preferably a motor vehicle body component. However, the invention is not limited to motor vehicle body components or paints with regard to the type of coated component or the applied coating agent.

[0014] The coating method according to the invention, in accordance with the prior art, initially provides for the coating agent (e.g., paint) to be applied to the component to be coated (e.g., a motor vehicle body component) along a reference path within a coating area. Such an application of a reference path is also known, for example, from DE 10 2021 108 563 A1, wherein the reference path can also be referred to as a "master path" and serves as a positioning aid for subsequent parallel coating paths (neighboring paths) that are applied alongside the reference path.

[0015] Furthermore, the coating method according to the invention, in accordance with the prior art, provides for the spatial course of the reference path applied to the component to be recorded. In the preferred embodiment of the invention, this recording of the spatial course of the reference path is carried out by at least one optical sensor, such as a camera system, as will be described in detail below.

[0016] In a further step, the coating method according to the invention, in accordance with the prior art, also provides that the spatial course of at least one neighboring track adjacent to the reference track is determined as a function of the determined spatial course of the reference track, as is also known from DE 10 2021 108 563 A1. The neighboring track is therefore preferably placed next to the reference track in such a way that the reference track and the neighboring track overlap to form a continuous coating layer, with no gaps or overcoating occurring if possible. It should be noted here that in practice not just a single neighboring track is applied. Rather, numerous parallel coating tracks are applied, which then form a continuous coating layer on the component to be coated.The individual coating tracks can be aligned with the original reference track in terms of their position and orientation. Alternatively, however, the first adjacent track can form a new reference track for the application of the subsequent coating center tracks, so that the adjacent track is then optically measured first as the new reference track.

[0017] The coating method according to the invention then provides, in accordance with the prior art (e.g., DE 10 2021 108 563 A1), that the coating agent is applied to the component along the adjacent track. It should be noted again that in practice, not just a single adjacent track is applied. Rather, as briefly mentioned above, numerous coating agent tracks are applied parallel to the original reference track, with the individual coating agent tracks then jointly forming a continuous coating on the component.

[0018] The coating method according to the invention is distinguished from the prior art in that the interfering defects (e.g., grinding marks) described above are detected on the component in order to avoid incorrect detection of the spatial course of the reference path, since such incorrect measurement of the spatial course of the reference path would also lead to a correspondingly incorrect determination of the spatial course of the at least one neighboring path. It should be noted here that not all defects on the component are critical for detecting the course of the reference path. Rather, the detection of the spatial course of the reference path is particularly disrupted by defects that lie directly beneath the reference path or border it.

[0019] When detecting critical defects (e.g. grinding marks) on the component, various measures are possible to solve the problem of detecting the spatial course of the reference path.

[0020] One measure could be to interpolate the spatial course of the reference path in the area of ​​the defects along the reference path. If the exact course of the reference path cannot be measured due to defects (e.g., grinding marks), this course can be interpolated accordingly.

[0021] Another measure is to measure numerous measuring points along the reference path, taking into account only those measuring points that lie outside the defects.

[0022] Another measure is to not use the reference track at all for positioning the neighboring tracks if the exact course of the reference track cannot be measured with sufficient accuracy due to defects (e.g., grinding marks). In this case, a different coating track can be used as the reference track.

[0023] Furthermore, it should be noted that within the scope of the invention, it is possible for the coating surface (e.g., a roof of a motor vehicle body) to be divided into two partial surfaces (e.g., left roof half and right roof half), with each of the two partial surfaces then being coated by a coating robot. This cooperation between two coating robots is also known, for example, from DE 10 2021 108 563 A1.

[0024] The first coating robot then normally coats the first partial area (e.g. left half of the roof) of the coating surface (e.g. roof of a motor vehicle body), while the second coating robot coats the second partial area (e.g. right half of the roof) of the coating surface (e.g. roof of the motor vehicle body), provided that no disturbing critical defects are detected along the reference path.

[0025] If, however, disruptive critical defects are detected along the reference path and the course of the reference path cannot therefore be determined with sufficient accuracy, a possible solution to the problem is to also coat the second partial area (e.g., the right half of the roof) of the coating area (e.g., the roof of the vehicle body) by the first coating robot, so that the entire coating area (e.g., the roof of the vehicle body) is coated by the first coating robot. In this case, the performance of the painting system is halved and the cycle time is correspondingly longer, but this is still better than a complete failure of the painting system.

[0026] Various problem-solving measures have been described above, which can be implemented individually or in conjunction with each other. However, there is also the alternative possibility that the coating process could be aborted if defects are detected along the reference path.

[0027] However, the coating process should only be stopped if at least one of the following conditions is met:

[0028] • The number of defects on the reference path exceeds a certain maximum value, so that the course of the reference path cannot be determined with sufficient accuracy.

[0029] • The size of the defects on the reference path exceeds a certain maximum size, so that the course of the reference path cannot be determined with sufficient accuracy.

[0030] • The spatial position of the defects along the reference path is critical. For example, defects far from the reference path are less critical for the accuracy of the reference path measurement, whereas defects close to or below the reference path are more problematic.

[0031] In general, it should be noted that when determining defects along the reference path, the spatial position of the defects on the component is preferably determined. Furthermore, the size of the defects is also preferably determined. In this case, it is possible to consider only those defects that have at least a certain minimum size (i.e., spatial extent), for example, a minimum size of at least 20 mm, 50 mm, or 100 mm.

[0032] It was already explained at the beginning of the prior art that the defects are usually sanding marks that arise when repairing paint defects in a previously applied paint layer. Therefore, prior to the method according to the invention described above, a paint layer is preferably first applied to the component, with the paint defects in the applied paint layer then being determined. The paint defects can then be sanded down, creating the aforementioned sanding marks, which then hinder the measurement of the spatial course of the reference track.

[0033] During the grinding of the component surface described above, the spatial position of the grinding points on the component can be determined directly. It may then no longer be necessary to subsequently measure the spatial position of the grinding points optically. Instead, the spatial position of the grinding points on the component can be stored, so that the stored spatial positions of the grinding points can be easily read out to determine the spatial position of the defects along the reference path.

[0034] The position of the grinding points can also be read from a higher-level, automatic defect inspection or detection system, whereby in a special variant of the invention, defects in the paint layer are ground by a robot-guided grinding system so that the size and position of the grinding points are known very precisely.

[0035] It has already been mentioned above that an image processing system with an optical sensor (e.g. camera) can be used to record the spatial course of the reference track applied to the component and the defects.

[0036] In one variant of the invention, the optical sensor (e.g. camera) is attached to one of the coating robots and is moved by the coating robot over the component.

[0037] In another variant of the invention, however, the optical sensor (e.g., camera) is arranged in a stationary manner and directed toward the coating surface. The stationary optical sensor can be part of a higher-level surface inspection or defect detection system that is already present. Furthermore, it should be noted that the reference track is preferably applied by a first coating robot, while the at least one adjacent track is preferably applied by a second coating robot. The optical sensor can be attached to the first coating robot and / or the second coating robot and moved by it over the surface of the component to be coated.

[0038] To detect the spatial course of the reference path, the optical sensor can be moved along a measuring path across the surface of the component to be coated. The measuring path can run alongside the reference path and essentially parallel to it.

[0039] It has already been explained above that the precise positioning of the at least one adjacent web relative to the reference web is important so that the reference web and the adjacent web overlap and form a continuous coating layer, whereby gaps or undercoatings on the one hand and overcoatings on the other hand should be avoided.

[0040] This is relatively easy if an atomizer is used as the application device, which applies a spray jet of the coating agent and has a low selectivity. The low selectivity of the coating agent jet applied by the atomizer offers the advantage that positioning errors are tolerated and lead to only minor and hardly disruptive overcoating or undercoating between the adjacent coating agent strips.

[0041] However, it is also possible to use an overspray-free applicator or print head as the application device. This applicator does not apply a spatially extended and poorly selectable spray jet, but rather a narrowly defined and selectable coating agent jet. The problem with using such an overspray-free print head is that the positioning of the adjacent web relative to the reference web must be significantly more precise to avoid overcoating and undercoating. The invention is therefore particularly advantageous when using such an overspray-free print head because it avoids disruptive positioning errors caused by incorrect measurement of the spatial course of the reference web.

[0042] In addition to the coating method according to the invention described above, the invention also claims protection for a corresponding coating system.

[0043] The coating system according to the invention initially comprises, in accordance with the prior art (e.g. DE 10 2021 108 563 A1), a first coating robot for applying the coating agent (e.g. paint) along the reference path within a coating area (e.g. roof of a motor vehicle body) to the component (e.g. motor vehicle body).

[0044] Furthermore, the coating system according to the invention also has, in accordance with the prior art (e.g. DE 10 2021 108 563 A1), at least one optical sensor (e.g. camera) in order to detect the spatial course of the reference path applied to the component.

[0045] It is possible for the first coating robot to apply the reference path and for the optical sensor to be attached to the second coating robot and to record the spatial course of the reference path.

[0046] The coating system according to the invention also has a control device for querying the optical sensor and for determining the spatial course of a neighboring track adjacent to the reference track as a function of the determined spatial course of the reference track.

[0047] The control device preferably contains a program memory with a control program stored therein. Furthermore, the control device preferably contains a processor for executing the stored control program. In one embodiment, the control program executes the coating method according to the invention by controlling or querying the corresponding components of the coating system.

[0048] In addition, the coating system according to the invention, in accordance with the prior art (e.g. DE 10 2021 108 563 A1), also has a second coating robot (e.g. painting robot) for applying the coating agent to the component along the neighboring track adjacent to the reference track within the coating area on the component.

[0049] The control device is designed to detect defects on the component using the optical sensor in order to avoid incorrect detection of the spatial course of the reference track and a correspondingly incorrect determination of the spatial course of the adjacent track. The control device can then carry out the steps described above for the coating method according to the invention, so that reference can be made to the above description. Other required developments of the invention are characterized in the subclaims or are explained in more detail below together with the description of the preferred embodiment of the invention with reference to the figures.

[0050] Brief description of the drawings

[0051] Figure 1 shows a schematic representation of a painting system according to the invention for painting a motor vehicle body component with two cooperating painting robots.

[0052] Figure 2 shows the painting system according to Figure 1, with a measuring track also being shown along which the spatial course of the reference track is measured.

[0053] Figure 3 shows the production from Figures 1 and 1, with numerous parallel coating lines applied to the component surface.

[0054] Figure 4 shows a flow chart to illustrate the coating process according to the invention.

[0055] Figure 5 shows a diagram explaining the various possible countermeasures when detecting defects along the reference path.

[0056] Figure 6 shows a schematic representation of a painting system according to the invention with various stations.

[0057] Figure 7 shows a modification of Figure 6.

[0058] Detailed description of the drawings.

[0059] Figure 1 shows a highly simplified schematic representation of a painting system according to the invention for carrying out the painting process according to the invention.

[0060] The painting system has two painting robots 1, 2 that can cooperate with each other to jointly paint a coating surface 3, as is known, for example, from DE 10 2021 108 563 A1. The coating surface 3 can, for example, be a roof surface of a motor vehicle body, to name just one example. The coating surface 3 is divided into two adjacent partial areas 4, 5, wherein the first partial area 4 is painted by the painting robot 1, while the other partial area 5 is painted by the painting robot 2. For example, the first partial area 4 can be the left half of the roof of the motor vehicle body, while the second partial area 5 is the right half of the roof of the motor vehicle body.

[0061] In addition, the painting system has a control device 6 which controls the two painting robots 1, 2 and also queries a camera 7 which is guided by the painting robot 2 over the coating surface 3, as will be described in detail below.

[0062] In addition, the drawing shows several defects 8-13, which are grinding marks resulting from a previous repair of paint defects on a paint layer on the coating surface 3.

[0063] The defects 8-13 may impair the subsequent application of coating agent webs to the coating surface 3, as described below.

[0064] The painting robot 1 first applies a reference path 14 ("master path") to the coating surface 3, specifically at the boundary between the two partial surfaces 4, 5. The spatial course of the reference path 14 is then measured by the camera 7, which is guided by the painting robot 2 over the coating surface 3.

[0065] The measurement of the spatial course of the reference path 14 by camera 7 can be impaired by the defects 8-13. The defects 8-10 are relatively uncritical defects because they do not lie directly on the reference path 14 or on the subsequent measurement path. The defects 11-13, on the other hand, are critical for the measurement of the spatial course of the reference path 14 by camera 7 because the reflection behavior of the surface in the area of ​​the critical defects 11-13 is altered, so that the camera 7 cannot accurately determine the lateral edge of the reference path 14. Figure 5 shows various problem-solving measures for this case, which will be described in more detail later.

[0066] Figure 2 shows the representation from Figure 1 with an additional measuring path 15 next to the actual reference path 14. To measure the spatial course of the reference path 14, the painting robot 2 moves the camera 7 along the measuring path 15 so that the spatial course of the reference strip 14 can be measured.

[0067] Figure 3 shows the representation from Figures 1 and 1, wherein the coating surface 3 is continuously coated with numerous parallel paint lines 16-27 running alongside the reference line 14. The paint lines 16-21 are applied by the first painting robot 1, while the paint lines H-I are applied by the painting robot 2.

[0068] In the finished state, the lacquer tracks 16-27 together with the previously applied reference track 14 then form a continuous lacquer layer on the coating surface 3.

[0069] The flow chart shown in Figure 4 is now described below.

[0070] In a first step S1, a surface inspection, if necessary automatic, is carried out using an optical system (e.g. stripe light projector, camera).

[0071] In a step S2, the defects are recorded with regard to their number, size and position.

[0072] This data is then transferred to a station control system of the painting system in step S3. The size of the sanding marks is calculated depending on whether the defects are sanded manually or by a robot. For simplicity, the term "defects" will also be used for sanding marks below.

[0073] In step S4, a decision is then made as to whether the defects should be taken into account.

[0074] If this is not the case, the process continues in step S5 according to the state of the art, ie no problem-solving measures are taken to compensate for a possibly incorrect measurement of the spatial course of the reference trajectory.

[0075] Otherwise, the procedure according to the invention, which has already been described above and is explained again below with reference to Figure 5, takes place in a step S6. In a step S7, the control device then controls the two painting robots, and in a step S8, the print head is also controlled accordingly.

[0076] Figure 5 now shows possible problem-solving measures when critical defects along the reference path are identified in a step S1.

[0077] A first possibility in step S2 is to interpolate the spatial course of the reference path in the area of ​​the defects.

[0078] Another possible solution in step S3 is to define a different coating path as the reference path, one that is not affected by defects. The originally intended reference path is then discarded as a guide. Instead, a different coating path is applied and used as a guide.

[0079] Another option in step S4 is to paint the entire painting area with the same painting robot. While this halves the performance of the painting system, resulting in a correspondingly longer cycle time, it is still better than a complete failure of the painting system.

[0080] Another possible solution to the problem in step S5 is to carry out the painting in a manual painting area (e.g. repair area).

[0081] The embodiment according to Figure 6 is now described below.

[0082] Thus, Figure 6 first shows a topcoat line 28 for applying a topcoat, wherein the topcoat line 28 has a basecoat station 29, an intermediate dryer 30, a cooling zone 31, a clearcoat station 32 and a dryer 33.

[0083] The vehicle bodies to be painted are then conveyed from the topcoat line 28 to an overspray-free painting zone 34, where a print head is used as the application device. The overspray-free painting zone 34 (the so-called OFLA zone) contains a decorative paint station 35, a dryer 36, and a cooling zone 37.

[0084] The above-described method according to the invention is then carried out in the overspray-free coating zone 34. This is advantageous because the print heads used there as application devices emit a narrowly defined and sharply selectable coating agent jet and therefore have only a small positioning tolerance.

[0085] Figure 7 shows a modification of Figure 6, so that in order to avoid repetition, reference is made to the above description, the same reference numerals being used for corresponding details.

[0086] A special feature here is that the overspray-free painting zone 34 additionally contains an intermediate dryer 38 and a clear coat station 39.

[0087] The invention is not limited to the preferred embodiments described above. Rather, a multitude of variants and modifications are possible, which also utilize the inventive concept and therefore fall within the scope of protection. In particular, the invention also claims protection for the subject matter and features of the subclaims, independently of any claims referred to. The invention thus encompasses various aspects of the invention that enjoy independent protection.

[0088] Advantages of the invention

[0089] A significant advantage of the invention is that a high painting quality can be maintained even in the case of defects (e.g. sanding marks).

[0090] Furthermore, production flow can be maintained even in the presence of defects, for example, by having one painting robot also paint the surface area that should actually be painted by another. Precise measurement of the reference path is only essential when painting robots are working together.

[0091] List of reference symbols

[0092] 1 First painting robot

[0093] 2 Second painting robot

[0094] 3 Coating surface (e.g. roof of a motor vehicle body)

[0095] 4 First partial area (e.g. left half of the roof)

[0096] 5 Second partial area (e.g. right half of the roof)

[0097] 6 Control device

[0098] 7 Camera

[0099] 8-10 Non-critical defects

[0100] 11-13 Critical defects

[0101] 14 Reference path

[0102] 15 measuring track

[0103] 16-27 paint strips

[0104] 28 Topcoat line with rotary atomizers as application devices

[0105] 29 Basecoat station

[0106] 30 intermediate dryers

[0107] 31 Cooling zone

[0108] 32 Clear Coat Station

[0109] 33 dryers

[0110] 34 Overspray-free painting zone with print heads as application devices

[0111] 35 decorative paint station

[0112] 36 dryers

[0113] 37 Cooling zone

[0114] 38 intermediate dryers

[0115] 39 Clear coat station

Claims

CLAIMS 1. A coating method for coating a component with a coating agent, in particular for painting a motor vehicle body component with a paint, comprising the following steps: a) applying the coating agent to the component along a reference path (14) within a coating area (3) on the component, b) detecting the spatial course of the reference path (14) applied to the component, c) determining the spatial course of at least one neighboring path (16-27) adjacent to the reference path (14) as a function of the determined spatial course of the reference path (14), and d) applying the coating agent to the component along the at least one neighboring path (16-27) within the coating area (3) on the component, characterized by the following step: e) determining defects (8-13) on the component, in particular under the reference path (14),to avoid an incorrect detection of the spatial course of the reference path (14) and a correspondingly incorrect determination of the spatial course of the at least one neighboring path (16-27)., 2. Coating method according to claim 1, characterized by the following step in response to the detection of at least one defect (8-13) along the reference path (14): a) interpolation of the spatial course of the reference path (14) in the region of the defects (8-13) along the reference path (14) when determining the spatial course of the reference path (14), and / or b) measuring the spatial position of measuring points along the reference path (14) and taking into account only those measuring points when determining the spatial course of the reference path (14) which lie outside the defects (8-13).

3. Coating method according to one of the preceding claims, characterized by the following step in response to the detection of at least one defect (8-13) along the reference path (14): Definition of another coating path as reference path (14).

4. Coating method according to one of the preceding claims, characterized in that a) that a first partial area (4) of the coating surface (3) is coated by a first coating robot (1), and b) that a second partial area (5) of the coating surface (3) is coated by a second coating robot (2), in particular if no defects (8-13) are detected along the reference path (14).

5. Coating method according to claim 4, characterized by the following step in response to the detection of at least one defect (8-13) along the reference path (14): applying also the second partial area (2) of the coating area (3) by the first coating robot (1), so that the complete coating area (3) is coated by the first coating robot (1).

6. Coating method according to one of the preceding claims, characterized by the following step in response to the detection of at least one defect (8-13) along the reference path (14): Transfer to a manual painting area.

7. Coating method according to claim 6, characterized in that when at least one defect (8-13) is detected along the reference path (14), the transfer to a manual painting area only takes place if at least one of the following conditions is additionally met: a) the number of defects (8-13) along the reference path (14) exceeds a certain maximum value, and / or b) the size of the defects (8-13) along the reference path (14) exceeds a certain maximum size, and / or c) the spatial position of the defects (8-13) along the reference path (14) is critical.

8. Coating method according to one of the preceding claims, characterized in that a) when determining the defects (8-13) along the reference path (14), the spatial position of the defects (8-13) on the component is determined, and / or b) that when determining the defects (8-13) along the reference path (14), the size of the defects (8-13) is determined, and / or c) that when determining the defects (8-13) along the reference path (14), only those defects (8-13) are taken into account which have at least a certain minimum size, in particular with a size of at least 20 mm, 50 mm or 100 mm.

9. Coating method according to one of the preceding claims, characterized by at least one of the following steps before applying the coating agent: a) applying a paint layer to the component, b) determining paint defects (8-13) in the applied paint layer, c) sanding the paint layer at the paint defects (8-13) so that sanding points (8-13) are created, the sanding points (8-13) forming the defects (8-13).

10. Coating method according to claim 9, characterized in that a) during grinding of the component surface the spatial position of the grinding points (8-13) on the component is determined, b) the spatial position of the grinding points (8-13) on the component is stored, and c) the stored spatial positions of the grinding points (8-13) are evaluated to determine the spatial position of the defects (8-13) along the reference path (14).

11. Coating method according to one of the preceding claims, characterized in that the detection of the spatial course of the reference track (14) applied to the component and / or of the defects (8-13) is carried out by means of an image processing system with at least one optical sensor (7), in particular by means of a camera.

12. Coating method according to claim 11, characterized in that a) the optical sensor (7) is attached to a coating robot (2) and is moved by the coating robot (2) over the component, or b) the optical sensor is fixedly mounted and / or c) the fixed optical sensor is part of a higher-level surface inspection or defect detection system.

13. Coating method according to claim 12, characterized in that a) the reference web (14) is applied by a first coating robot (1), b) the adjacent web (16-27) is applied by a second coating robot (2), and c) that the optical sensor (7) is attached to the first coating robot (1) and / or to the second coating robot (2) and is moved by it over the surface of the component to be coated.

14. Coating method according to one of claims 11 to 13, characterized in that a) the optical sensor (7) for detecting the spatial course of the reference path (14) is moved along a measuring path (15) over the surface of the component to be coated, and b) that the measuring path (15) runs next to the reference path (14) and substantially parallel to the reference path (14).

15. Coating method according to one of the preceding claims, characterized in that a) the coating agent is a paint, and / or b) the component to be coated is a motor vehicle body component, and / or c) the coating agent is applied by a substantially overspray-free print head or by an atomizer, in particular by a rotary atomizer.

16. A coating system for coating a component with a coating agent, in particular for painting a motor vehicle body component with a paint, comprising a) a first coating robot (1) for applying the coating agent to the component along a reference path (14) within a coating area (3) on the component, b) an optical sensor (7) for detecting the spatial course of the reference path (14) applied to the component, c) a control device (6) for querying the optical sensor (7) and for determining the spatial course of a neighboring path (16-27) adjacent to the reference path (14) depending on the determined spatial course of the reference path (14), and d) a second coating robot (2) for applying the coating agent to the component along the neighboring path (16-27) within the coating area (3) on the component,characterized in that e) the control device (6) processes information about defects (8-13) on the component, processed, in particular those defects under the reference track (14), in order to avoid an incorrect detection of the spatial course of the reference track (14) and a correspondingly incorrect determination of the spatial course of the adjacent track (16-27), in particular according to the coating method according to one of the preceding claims.

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