Coating device and coating method for waterproof layer formation

Abstract

To provide a coating method capable of coating a waterproof layer agent evenly even when a surface to be coated is an irregular surface.SOLUTION: A coating method comprises steps of: contactlessly detecting coat surface information including a direction and a position of each of surface sections of coat surfaces 2 to be coated, prior to coating, with coat surface detection means 59; and storing in storage means the coat surface information as detection information of a direction for a reference axis and a position for a reference point per coordination point corresponding to each of the surface sections on a coordination modeling the coat surfaces 2. A waterproof layer 3 is formed on the coat surfaces by moving a nozzle 74 along the coat surfaces 2 as automatically adjusting a direction and a position of the nozzle as well as discharging and coating a waterproof coat agent by a specific amount from the nozzle. Nozzle information including a direction and a position of the moving nozzle is acquired in real time with nozzle information acquisition means 49. On the basis of the acquired nozzle information and the coat surface information read from the storage means, control means 19 automatically controls support means so as to optimize the direction and the position of the nozzle for the surface section.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an apparatus and a method for applying a film agent to a surface to be coated, and more particularly to an application apparatus and an application method suitable for forming a waterproof coating film with a uniform film thickness on an uneven surface such as a tunnel or an excavation surface of an outdoor waste disposal site.

Background Art

[0002] Tunnels and outdoor waste disposal sites constructed by excavating the natural ground require waterproofing to prevent the inflow of groundwater and the outflow of sewage. Patent Document 1 proposes applying a waterproof film agent such as polyurea or polyurethane to the natural ground excavation surface to form a waterproof layer.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] On the other hand, since this type of natural ground excavation surface is an uneven surface with irregularities, it is not easy to make the film thickness uniform, and variations are likely to occur depending on the skill level of the operator. In view of such circumstances, an object of the present invention is to provide an apparatus and a method capable of uniformly applying a film agent even when the surface to be coated is an uneven surface.

Means for Solving the Problems

[0005] To solve the above problems, the apparatus of the present invention is an apparatus for applying a film agent to a surface to be coated, coating surface detection means for non-contact detection of coating surface information including the orientation and position of each surface portion of the surface to be coated, a nozzle for discharging the film agent, support means for movably supporting the nozzle, Nozzle information acquisition means for acquiring nozzle information including the orientation and position of the nozzle; Control means for controlling the support means so that the orientation and position of the nozzle with respect to the surface portion are optimized based on the nozzle information and the coating surface information; Characterized by comprising the above. Furthermore, the device of the present invention is a coating device for forming a waterproof layer by applying a waterproof film agent to a surface to be coated, Coating surface detection means for non-contact detection of coating surface information including the orientation and position of each surface portion of the surface to be coated prior to the coating; Storage means for storing the coating surface information as detection information on the orientation with respect to the reference axis and the position with respect to the reference point for each coordinate point corresponding to each surface portion on the coordinates obtained by modeling the surface to be coated; A nozzle for performing the coating by discharging the film agent; Support means for supporting the nozzle to move along the surface to be coated while automatically adjusting the orientation and position of the nozzle during the coating; Nozzle information acquisition means for acquiring in real time nozzle information including the orientation and position of the nozzle during the movement; Control means for automatically controlling the support means so that the orientation and position of the nozzle with respect to the surface portion are optimized based on the acquired nozzle information and the coating surface information read from the storage means; Characterized by comprising the above.

[0006] As the coating surface detection means, it may be one that radiates light waves, electromagnetic waves, ultrasonic waves, etc. to the surface to be coated and analyzes the distance to each surface portion of the surface to be coated and the orientation of the surface portion from the reflected wave, or it may be one that captures an image of the surface to be coated with a camera such as an infrared camera and performs image analysis. The nozzle information acquisition means preferably includes a movable arm connected to the nozzle in the support means or one or more markers provided on the nozzle, and marker observation means such as a camera that optically observes the position of the marker, and obtains the nozzle information at the time of observation based on the observed position information of the marker. Thereby, information on the orientation and position of the nozzle can be acquired in real time by the motion capture method. The nozzle information acquisition means may include a movable arm connected to the nozzle in the support means or position sensors and angle sensors such as an acceleration sensor, a gyro sensor, and an encoder provided on the nozzle.

[0007] The control means preferably controls the support means so that the nozzle faces in a direction orthogonal to the surface portion and the distance from the nozzle to the surface portion becomes predetermined.

[0008] The method of the present invention is a method of applying a film agent to a surface to be coated, a step of non-contact detecting coating surface information including the orientation and position of each surface portion of the surface to be coated; a step of acquiring nozzle information including the orientation and position of a nozzle movably supported by a support means; a step of controlling the support means so that the orientation and position of the nozzle with respect to the surface portion are optimized based on the nozzle information and the coating surface information; a step of discharging the film agent from the nozzle at a predetermined flow rate characterized by comprising the above. The coating surface information may be detected in advance and stored in a storage means, and then coating may be performed by a nozzle, and the control may be performed using the stored coating surface information at the time of the coating. The method of the present invention is a coating method of applying a waterproof film agent to a surface to be coated to form a waterproof coating film, a step of non-contact detecting in advance by a coating surface detecting means the coating surface information including the orientation and position of each surface portion of the surface to be coated prior to the coating; a step of storing the coating surface information in a storage means as detection information on the orientation with respect to a reference axis and the position with respect to a reference point for each coordinate point corresponding to each surface portion on coordinates obtained by modeling the surface to be coated; a step of moving the nozzle along the surface to be coated while automatically adjusting the orientation and position of the nozzle by a support means that supports the nozzle movably, and performing the coating by discharging the film agent from the nozzle at a predetermined flow rate; a step of acquiring in real time nozzle information including the orientation and position of the moving nozzle; a step of automatically controlling the support means so that the orientation and position of the nozzle with respect to the surface portion are optimized based on the acquired nozzle information and the coating surface information read from the storage means; characterized in that it further comprises the above. Alternatively, the orientation and position of the nozzle may be corrected in real time by detecting the coating surface information in parallel with the coating by the nozzle.

[0009] It is preferable to perform the control so that the nozzle faces in a direction orthogonal to the surface portion and the distance from the nozzle to the surface portion becomes predetermined.

Advantages of the Invention

[0010] According to the present invention, even if the surface to be coated is an uneven surface, the film agent can be uniformly coated on the surface to be coated, and a coating film with a uniform film thickness can be formed.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, the waterproof structure required in this embodiment is, for example, a waterproof (non-drainage type) NATM tunnel. Waterproof construction is carried out over the entire circumference of the tunnel 1. Note that the tunnel may be a drainage type, and it may be sufficient to carry out waterproof construction only on the upper half arch portion of the drainage type tunnel.

[0013] <First Embodiment> In the tunnel 1, a coating device 10 according to the first embodiment of the present invention is installed. The coating device 10 includes a device main body 11, a track 18, and a nozzle 74. A support means 13 for movably supporting the nozzle 74 is constituted by the device main body 11 and the track 18.

[0014] An annular track 18 is installed along the inner circumference of the tunnel 1. Preferably, the track is movable in the axial direction of the tunnel 1 (the direction orthogonal to the paper surface in FIG. 1). The device main body 11 is mounted on the track 18. The device main body 11 is moved in the circumferential direction of the tunnel 1 by being guided on the track 18.

[0015] As shown in FIG. 2, a film agent 3a is applied to the natural ground excavation surface 2 (surface to be coated) of the tunnel 1 by the coating device 10. The applied film agent 3a is cured or formed into a film on the natural ground excavation surface 2, thereby becoming a waterproof layer 3. Thus, waterproof construction is performed. The film agent 3a may be directly applied to the natural ground excavation surface 2, or a base layer (not shown) such as sprayed concrete may be applied to the natural ground excavation surface 2 to level the surface to some extent, and then the film agent 3a may be applied on the base layer.

[0016] The film agent 3a is a resin that has fluidity at least during application and exhibits waterproof properties through subsequent curing or film formation. Preferably, examples of the film agent 3a include polyurea, polyurethane, polyurethane-polyurea hybrid resin, epoxy resin, epoxy-polyurethane resin, and the like.

[0017] The apparatus main body 11 of the coating device 10 includes a body 12 and a movable arm 20. The body 12 is supported so as to be guidable on the track 18.

[0018] The movable arm 20 extends from the body 12. The movable arm 20 is displaceable with respect to the body 12. Specifically, the movable arm 20 has a first arm portion 21 and a second arm portion 22. The first arm portion 21 extends from the body 12. The first arm portion 21 may be fixed (non-movable) with respect to the body 12 or may be movable with respect to the body 12. When the first arm portion 21 is movable, it may be slidable with respect to the body 12, for example, vertically (up and down) and horizontally (in the direction perpendicular to the plane of FIG. 2), or may be rotatable so as to swing or twist vertically and horizontally with respect to the body 12.

[0019] The second arm portion 22 extends from the tip of the first arm portion 21. A joint 23 is provided between these arm portions 21 and 22. The joint 23 connects the second arm portion 22 to be rotatable so as to swing vertically and horizontally with respect to the first arm portion 21. Further, the second arm portion 22 is telescopic. In FIG. 2, the telescopic structure of the second arm portion 22 is a telescopic type, but it is not limited thereto, and a bellows type or the like may be used. The first arm part 21 may also be made telescopic.

[0020] The apparatus main body 11 is provided with an arm drive mechanism 26 including motors, cylinders, gears, etc. for performing the rotation operation and telescopic operation of at least the second arm part 22 among the arm parts 21 and 22. In FIG. 2, the arm drive mechanism 26 is provided on the body 12, but it may be provided on the first arm part 21.

[0021] Instead of the second arm part 22, the first arm part 21 may be telescopic. Both the first and second arm parts 21 and 22 may be telescopic. The number of arm parts of the movable arm 20 is not limited to two. The movable arm 20 may be composed of a single arm part 21 or 22. The movable arm 20 may include three or more arm parts connected in series via joints.

[0022] As shown in FIG. 2, a nozzle 74 is provided at the tip of the second arm part 22. The nozzle 74 extends linearly along the axial direction of the second arm part 22. The nozzle 74 tapers toward the tip. The nozzle 74 constitutes the terminal element of the film agent supply system 70. The film agent supply system 70 includes a film agent tank 71 and a supply pump 72 connected thereto. In FIG. 2, the film agent tank 71 is provided outside the body 12, but it may be housed inside the body 12. Also, in FIG. 2, the supply pump 72 is housed inside the body 12, but it may be provided outside the body 12. A supply pipe 73 extends from the supply pump 72. The supply pipe 73 may be piped outside the movable arm 20 along the movable arm 20, or may be passed through the inside of the movable arm 20. The tip of the supply pipe 73 is connected to the nozzle 74.

[0023] As shown in FIG. 2, the coating apparatus 10 is provided with nozzle information acquisition means 49 for acquiring nozzle information including the orientation and position of the nozzle 74, and coating surface detection means 59 for non-contact detection of coating surface information including the orientation and position of each surface portion 2a of the surface 2 to be coated. The nozzle information acquisition means 49 includes a plurality of markers 31, 32 and marker observation means 40.

[0024] The markers 31, 32 are respectively provided at a plurality of spaced-apart locations on the movable arm 20. The first marker 31 is provided, for example, at the joint 23, that is, the connecting portion between the first arm portion 21 and the second arm portion 22. The second marker 32 is provided at the tip of the second arm portion 22. The markers 31, 32 are constituted by a reflective material that reflects incident light in the incident direction without diffusing it. Note that the arrangement positions and the number of the markers 31, 32 are not necessarily limited to the above. The markers 31, 32 may be arranged so as to be spaced apart from each other at least in the extending direction of the second arm portion 21 in the movable arm 20. The marker 32 may be provided on the nozzle 74.

[0025] The marker observation means 40 optically observes the positions of the markers 31, 32 in real time based on the principle of motion capture. Specifically, the marker observation means 40 includes a plurality (only one is shown in FIG. 2) of infrared cameras 41 installed apart from each other on the body 12 (fixed system in motion capture), and infrared light emitting portions 42 provided on each camera 41. Infrared light from the infrared light emitting portion 42 hits the markers 31, 32 and is reflected to the camera 41, and an infrared image of the markers 31, 32 is acquired by the camera 41. Spatial position information of each of the markers 31, 32 in three-dimensional coordinates is obtained from the images of the markers 31, 32 by the plurality of cameras 41. Furthermore, nozzle information including the orientation and position of the nozzle 74 is obtained from the spatial position information of these markers 31, 32.

[0026] As shown in Fig. 3, a laser distance meter unit 50 that constitutes the coating surface detection means 59 is provided on the second arm portion 22 of the movable arm 20 or the nozzle 74. The laser distance meter unit 50 includes a plurality (preferably three to four) of laser distance meters 51, 54. Each of the laser distance meters 51, 54 optically detects the distance to the irradiation point 56 by irradiating the laser 55 in one direction and receiving the reflected light. The laser 55 may be an invisible light laser such as an infrared ray or a visible light laser.

[0027] The irradiation directions of the laser distance meters 51, 54 generally follow the extension direction of the second arm portion 22 and the nozzle 74. Specifically, the three laser distance meters 51 are directed in three directions around the direction parallel to the axis L74 of the nozzle 74. From the measured distances and laser irradiation angles, etc. by these three laser distance meters 51, coating surface information including the orientation and position of the triangular surface portion 2a connecting the irradiation points of the three laser distance meters 51 on the natural ground excavation surface 2 (the surface to be coated) can be obtained. Specifically, the angle θ of the normal line of the surface portion 2a with respect to the axis L74 of the nozzle 74 2a and the distance D from the tip of the nozzle 74 to the surface portion 2a 2a can be known. The irradiation direction of the fourth laser distance meter 54 (the broken line in Fig. 3) may be set parallel to the axis L74 of the nozzle 74, and the distance D2a may be derived from the measured distance by the fourth laser distance meter 54.

[0028] As shown in Fig. 4, although the actual surface portion 2a often has unevenness, for the processing of the coating apparatus 10, for simplicity, the surface portion 2a is regarded as a virtual or approximate flat surface 2a'. By setting the area of the surface portion 2a to be small, the actual surface portion 2a also approaches the flat surface 2a'.

[0029] As shown in FIG. 2, the coating apparatus 10 further includes a processing unit 19. Although detailed illustration is omitted, the processing unit 19 includes, for example, a computer such as a general-purpose PC, a microcomputer, or a PLC, an interface, an arm drive mechanism 26, and a drive circuit for a pump 72. By the computer function of the processing unit 19, the spatial positions of the markers 31 and 32 are calculated, and thus the orientation and position (nozzle information) of the nozzle 74 are calculated, the orientation and position (coating surface information) of the surface portion 2a with respect to the nozzle 74 are calculated, and the optimal orientation and the optimal position (nozzle target information) to be arranged in which the nozzle 74 should face the surface portion 2a are calculated. The processing unit 19 constitutes elements of the nozzle information acquisition means 49 and the coating surface detection means 59. Further, the processing unit 19 functions as a control means for correcting and controlling the orientation and position of the nozzle 74 by operating the arm drive mechanism 26 via the drive circuit. Also, the processing unit 19 functions as a control means for the pump 72. In FIG. 2, the processing unit 19 is provided inside the apparatus main body 11, but is not limited thereto and may be provided outside the apparatus main body 11.

[0030] The coating apparatus 10 performs waterproof construction on the earth excavation surface 2 by operating as follows. The positions of the markers 31 and 32 are optically observed by the cameras 41 of the marker observation means 40 (observation step). The processing unit 19 comprehensively combines the observation data from each camera 41 by its computer function and calculates in real time the position information of the markers 31 and 32 on the three-dimensional coordinates with respect to the body 12 as a reference. Subsequently, the processing unit 19 obtains in real time nozzle information including the orientation and position of the nozzle 74 at the time of observation based on the position information of the markers 31 and 32 (nozzle information acquisition step). In parallel, the laser distance meter 51 optically detects the orientation θ2a and the distance D2a of the surface portion 2a to be coated, which intersects the extension direction of the axis of the nozzle 74, with respect to the nozzle 74. In other words, the coating surface information including the orientation and position of each surface portion 2a of the surface 2 to be coated is detected non-contact (coating surface information detection step).

[0031] Furthermore, the processing unit 19 (control means) controls the support means 13 so that the orientation and position of the nozzle 74 with respect to the surface portion 2a to be coated are optimized based on the nozzle information and the coating surface information (control step). Specifically, as shown in FIG. 3, when the axis L74 of the nozzle 74 is inclined with respect to the normal direction L2a of the surface portion 2a (2a') to be coated, the movable arm 20 is moved so that the inclination is reduced. When the distance D2a from the tip of the nozzle 74 to the surface portion 2a (2a') to be coated is greater than the predetermined distance, the second arm portion 22 is extended, and when the distance D2a is smaller than the predetermined distance, the second arm portion 22 is contracted. In short, the control means 19 controls the support means 13 so that the nozzle 74 faces in a direction orthogonal to the surface portion 2a and the distance D2a from the nozzle 74 to the surface portion 2a becomes a predetermined value.

[0032] During the correction, the orientation and the tip position of the movable arm 20 are observed in real time, and the orientation and the distance of the surface portion 2a (2a') to be coated with respect to the tip of the movable arm 20 are detected, thereby re-correcting the orientation and the position of the movable arm 20 and thus the nozzle 74. As a result, the nozzle 74 is orthogonal to the surface portion 2a to be coated, and the nozzle 74 is arranged at a position where the distance D2a from the tip of the nozzle 74 to the surface portion 2a (2a') becomes a predetermined distance.

[0033] Then, the film agent 3a is discharged from the nozzle 74 at a predetermined flow rate by operating the pump 72 (coating step). Thereby, the film agent 3a can be applied to the surface portion 2a to be coated of the base excavation surface 2 at an appropriate angle and distance. Even if the base excavation surface 2 is an uneven surface, the film agent 3a can be uniformly applied.

[0034] Furthermore, move the movable arm 20 or the body 12 so that the nozzle 74 moves at a constant speed in a certain direction along the natural ground excavation surface 2 (surface to be coated). For example, as shown in FIG. 4, within the span 1s between adjacent supports 4 of the tunnel 1, move the nozzle 74 in the tunnel axis direction (left - right direction in FIG. 4), and correct the orientation and position of the nozzle 74 according to the surface portion 2a (2a'). Also, by moving the body 12 along the track 18 (FIG. 1), shift the coating area in the tunnel circumferential direction (direction perpendicular to the paper surface in FIG. 4). After constructing the waterproof film 3 over the entire circumference of one span 1s, move the track 18 in the tunnel axis direction (direction perpendicular to the paper surface in FIG. 1) and perform waterproof construction on the next span 1s. In this way, a uniform waterproof film 3 with a predetermined thickness can be formed over the entire natural ground excavation surface 2 of the tunnel 1.

[0035] <Second Embodiment (FIGS. 5 - 6)> Next, another embodiment of the present invention will be described. Regarding the configurations that overlap with those in the previously described embodiments in the following embodiments, the same reference numerals are given in the drawings and the description is omitted. As shown in FIG. 5, in the coating device 10B of the second embodiment of the present invention, the coating surface information detection step by the laser distance meter unit 50 is performed in advance. The coating surface information including the orientation and position of each surface portion 2a of the surface to be coated 2 detected is stored in the storage unit 19m (storage means) of the processing unit 19. Preferably, in the processing unit 19, the surface to be coated 2 is modeled on coordinates, and the detection information of the orientation with respect to the reference axis and the position with respect to the reference point for each coordinate point corresponding to each surface portion 2a is stored in a database. The reference axis and the reference point may be, for example, the coordinate axis and the coordinate origin. The reference axis and the reference point may be set according to the position of the surface portion 2a in the tunnel axis direction and the position in the tunnel circumferential direction. The orientation and position of the nozzle 74 may also be used as the reference axis and the reference point.

[0036] After obtaining the coating surface information for the entire area or a predetermined area of the surface 2 to be coated, as shown in FIG. 6, the coating process of the film agent 3a by the nozzle 74 is performed. In parallel with this coating process, an acquisition process of nozzle information by the nozzle information acquisition means 49 and a control process of optimizing the orientation and position of the nozzle 74 are performed. In the control process, the coating surface information about the surface portion 2a to be coated is read from the storage unit 19m, and based on the coating surface information and the nozzle information acquired in real time, the orientation and position of the nozzle 74 with respect to the surface portion 2a are corrected to be optimal.

[0037] The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit thereof. For example, the coating surface detection means 59 is not limited to a position detection sensor using light waves such as the laser distance meter 51, and may be a position detection sensor using electromagnetic waves, a position detection sensor using ultrasonic waves, etc., or may be one that captures the surface to be coated with an infrared camera or other camera and analyzes the surface shape and the position of each surface portion by image analysis. The nozzle information acquisition means 49 is not limited to the motion capture method using the markers 31, 32 and the infrared camera 41, and may be a sensor method that detects the position and angle of the nozzle 74 by an acceleration sensor, a gyro sensor, an encoder, or the like. The air flow rate mixed in the film agent 3a may be adjusted according to the distance D2a between the nozzle 74 and the surface portion 2a to be coated acquired by the nozzle information acquisition means 49. The moving speed of the body 12 along the track 18 and the coating flow rate of the film agent 3a may be adjusted to be proportional to each other. A plurality of coating apparatuses 10 may be installed at intervals in the circumferential direction of the tunnel 1, and the coating by these coating apparatuses 10 may be performed simultaneously in parallel. Thereby, a wide range of the surface to be coated can be constructed in a short time, and labor can be saved. In the second embodiment, the coating surface detection means that performs the coating surface information detection process in advance may be provided separately from the device part that performs the subsequent nozzle information acquisition process, control process, and coating process. The coating device 10 may have a plurality of movable arms 20. The coating surface information detection process may be performed by the preceding movable arm 20, and the nozzle information acquisition process, control process, and coating process may be performed by the subsequent movable arm 20. The correction operation of the preceding movable arm 20 may be memorized, and the subsequent movable arm 20 may operate so as to trace the correction operation of the preceding movable arm 20. When the coating area is small, the coating may be completed only by fixing the body 12 and moving the movable arm 20, and the orbit 18 may be omitted. The surface to be coated is not limited to the natural ground excavation surface 2 of the tunnel, and may be an underground structure other than the tunnel, a waste disposal site, a foundation, a riverbed, a slope, etc.

Industrial Applicability

[0038] The present invention can be applied to, for example, waterproof construction of a tunnel.

Explanation of Signs

[0039] 1 Tunnel 2 Natural ground excavation surface (surface to be coated) 2a Actual surface portion to be coated 2a' Surface portion to be coated regarded as flat 3 Waterproof layer 3a Film agent 10 Coating device 11 Device body 12 Body 13 Support means 18 Orbit 19 Processing unit (control means) 19m Storage unit (storage means) 20 Movable arm 21 First arm part 22 Second arm part 23 Joint 26 Arm drive mechanism 31 First marker 32 Second marker 40 Marker Observation Means 41 Camera 42 Infrared Light Emitting Unit 49 Nozzle Information Acquisition Means 50 Laser Distance Meter Unit 51 Laser Distance Meter 59 Coating Surface Detection Means 70 Film Agent Supply System 71 Film Agent Tank 72 Supply Pump 73 Supply Pipe 74 Nozzle

Claims

1. A coating device for forming a waterproof layer that coats a surface to be coated with a waterproof film agent to form a waterproof layer, a surface-to-be-coated detection means for detecting surface-to-be-coated information including the orientation and position of each surface portion of the surface to be coated in a non-contact manner and prior to the coating; a storage means for storing the surface information as detection information of an orientation with respect to a reference axis and a position with respect to a reference point for each coordinate point corresponding to each surface portion on a coordinate system that models the surface to be coated; a nozzle that performs the coating by discharging the film agent; a support means for supporting the nozzle so as to move the nozzle along the surface to be coated while automatically adjusting the orientation and position of the nozzle during coating; a nozzle information acquisition means for acquiring nozzle information including a direction and a position of the nozzle during the movement in real time; a control means for automatically controlling the support means so that a direction and a position of the nozzle with respect to the surface portion are optimized based on the acquired nozzle information and the coating surface information read from the storage means; A coating apparatus comprising:

2. A coating method for forming a waterproof layer by applying a waterproof film agent to a surface to be coated, comprising the steps of: detecting, in a non-contact manner and prior to the coating, coating surface information including the orientation and position of each surface portion of the surface to be coated by a coating surface detection means; storing the surface information in a storage means as detection information of an orientation with respect to a reference axis and a position with respect to a reference point for each coordinate point corresponding to each surface portion on a coordinate system that models the surface to be coated; thereafter, a step of moving the nozzle along the surface to be coated while automatically adjusting the orientation and position of the nozzle by a supporting means for movably supporting the nozzle, and discharging the film agent from the nozzle at a predetermined flow rate to perform the coating; acquiring nozzle information in real time, the nozzle information including the orientation and position of the moving nozzle; automatically controlling the support means so that the orientation and position of the nozzle relative to the surface portion are optimized based on the acquired nozzle information and the coating surface information read from the storage means; A coating method comprising:

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