Painting device, information processing device, painting method, and program

Abstract

To increase the three-dimensional alignment accuracy between an object and a painting head.SOLUTION: A painting device according to one embodiment of the present invention includes: a painting head that discharges a liquid onto an object to paint the object; a movement mechanism that moves the painting head; a detection unit that outputs three-dimensional position information (E) regarding three-dimensional positions of three or more feature points on the object; and a control unit that controls at least one of discharge of the liquid by the painting head and operation of the movement mechanism. The control unit generates control information on the basis of difference information (X) regarding the shape of the object obtained from object shape information (D) relating to the shape of the object and the three-dimensional position information (E), and controls at least one of discharge of the liquid and operation of the movement mechanism on the basis of the control information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a painting apparatus, an information processing apparatus, a painting method, and a program. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there has been known a coating device that coats an object with a liquid discharged from a coating head.

[0003] Furthermore, in order to paint while maintaining a constant distance between the vehicle body and a painting bell attached to the tip of a moving mechanism such as a robot arm, a technology has been disclosed in which a distance sensor attached to the tip of the moving mechanism is used to correct the scanning path data of offline teaching according to the shape of the vehicle body at the loading position (see, for example, Patent Document 1). Summary of the Invention [Problem to be solved by the invention]

[0004] In a painting device, three-dimensional alignment between the object and the painting head is required, but individual differences in the shape of the object can sometimes reduce the accuracy of three-dimensional alignment between the object and the painting head.

[0005] An object of the present invention is to improve the accuracy of three-dimensional alignment between an object and a painting head. [Means for solving the problem]

[0006] A painting device according to one embodiment of the present invention comprises a painting head that sprays liquid onto an object to paint the object, a movement mechanism that moves the painting head, a detection unit that outputs three-dimensional position information (E) relating to the three-dimensional positions of three or more feature points on the object, and a control unit that controls at least one of the spraying of the liquid by the painting head and the operation of the movement mechanism, wherein the control unit generates control information based on difference information (X) of the shape of the object obtained from object shape information (D) relating to the shape of the object and the three-dimensional position information (E), and controls at least one of the spraying of the liquid and the operation of the movement mechanism using the control information. [Effects of the Invention]

[0007] According to the present invention, it is possible to improve the accuracy of three-dimensional alignment between the object and the painting head. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing the overall configuration of a coating device according to a first embodiment of the present invention. [Figure 2] 1 is a block diagram showing the overall configuration of a coating device according to a first embodiment of the present invention. [Figure 3] 1 is a diagram showing the configuration of a supply mechanism provided in a coating apparatus according to a first embodiment of the present invention. [Figure 4] 1 is a perspective view showing the configuration of a head provided in a coating device according to a first embodiment of the present invention. [Figure 5] FIG. 5 is a cross-sectional view of the head taken along plane S1 in FIG. [Figure 6] 3 is a block chart showing the functional configuration of a control unit provided in the coating device according to the first embodiment of the present invention. [Figure 7A] 4 is a flowchart showing a first example of a coating operation by the coating device according to the first embodiment of the present invention. [Figure 7B] 5 is a flowchart showing a second example of the coating operation by the coating device according to the first embodiment of the present invention. [Figure 7C]6 is a flowchart showing a third example of the coating operation by the coating device according to the first embodiment of the present invention. [Figure 7D] 10 is a flowchart showing a fourth example of a coating operation by the coating device according to the first embodiment of the present invention. [Figure 7E] 10 is a flowchart showing a fifth example of the coating operation by the coating device according to the first embodiment of the present invention. [Figure 8A] 5 is a flowchart showing a process for calculating the shape, position, and inclination deviation of an object by a control unit provided in the coating device according to the first embodiment of the present invention. [Figure 8B] 3A to 3C are diagrams illustrating a method for calculating deviation of the shape of an object by a correction unit included in the coating device according to the first embodiment of the present invention. [Figure 9] 1 is a diagram illustrating a characteristic feature of a coating device according to a first embodiment of the present invention. FIG. [Figure 10] FIG. 10 is an enlarged view of an area X in FIG. [Figure 11] FIG. 10 is an enlarged view of region XI in FIG. [Figure 12] FIG. 10 is an enlarged view of region XII in FIG. 9. [Figure 13] FIG. 10 is an enlarged view of region XIII in FIG. 9. [Figure 14A] FIG. 1 is a first diagram illustrating a method for processing coordinates of a feature point in the coating device according to the first embodiment of the present invention. [Figure 14B] FIG. 2 is a second diagram illustrating the method for processing the coordinates of characteristic points in the coating device according to the first embodiment of the present invention. [Figure 15] 5A to 5C are diagrams illustrating the correction results of relative movement path information in the coating apparatus according to the first embodiment of the present invention. [Figure 16] FIG. 3 is a diagram showing relative movement path information in the coating apparatus according to the first embodiment of the present invention. [Figure 17] FIG. 3 is a diagram showing corrected path information in the coating apparatus according to the first embodiment of the present invention. [Figure 18] 10A and 10B are diagrams illustrating an example in which expansion and contraction occurs in the main scanning direction. [Figure 19]10A and 10B are diagrams illustrating an example of a case where expansion and contraction occurs in the sub-scanning direction. [Figure 20] FIG. 10 is an image diagram illustrating correction of image data when the shape is expanded or contracted. [Figure 21] FIG. 6 is a block diagram showing the functional configuration of a control unit provided in a coating device according to a second embodiment of the present invention. [Figure 22] 10 is a flowchart showing a process for detecting the amount of inclination of a roof side portion relative to a roof portion, performed by a control unit included in a coating device according to a second embodiment of the present invention. [Figure 23] FIG. 4 is a diagram illustrating a roof molding groove at the rear of the roof portion. [Figure 24] FIG. 24 is an enlarged view of region XXIV in FIG. 23. [Figure 25] 25 is a cross-sectional view taken along line XXV-XXV in FIG. 24. [Figure 26] FIG. 4 is a diagram illustrating a roof molding groove in the front part of the roof portion. [Figure 27] 10A and 10B are diagrams illustrating relative movement path information in a roof side portion. [Figure 28] FIG. 10 is a diagram illustrating corrected route information for a roof side portion. DETAILED DESCRIPTION OF THE INVENTION

[0009] A coating apparatus, an information processing device, a coating method, and a program according to embodiments of the present invention will be described in detail with reference to the drawings. However, the following embodiments are merely illustrative of coating apparatuses, information processing devices, coating methods, and programs for embodying the technical concepts of the present embodiments, and are not limited thereto. Furthermore, unless otherwise specified, the dimensions, materials, shapes, relative positions, and the like of components described in the embodiments are merely illustrative examples and are not intended to limit the scope of the present invention. The sizes, positional relationships, and the like of components shown in the drawings may be exaggerated for clarity. In the following description, the same names and symbols indicate identical or similar components, and detailed descriptions will be omitted as appropriate.

[0010] In the diagrams shown below, the mutually perpendicular X, Y, and Z axes may be used to represent directions. The direction along the X axis is referred to as the X direction, the direction along the Y axis as the Y direction, and the direction along the Z axis as the Z direction.

[0011] [First embodiment] <Configuration of the coating device according to the first embodiment of the present invention> (Overall composition) The overall configuration of a coating apparatus according to a first embodiment of the present invention will be described with reference to Figures 1 and 2. Figure 1 is a diagram showing an example of the overall configuration of a coating apparatus 100 according to a first embodiment of the present invention. Figure 2 is a block diagram showing an example of the overall configuration of a coating apparatus 100 according to a first embodiment of the present invention.

[0012] The painting apparatus 100 includes a painting head 11 (e.g., an ink jet head or a bell head (hereinafter referred to as a head)) that ejects liquid onto an object 200, a detection unit 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. The painting apparatus 100 also includes a control unit 20 that controls the ejection of liquid by the head 11 and the operation of the movement mechanism 13. The painting apparatus 100 paints the object 200 with the liquid ejected from the head 11. The object 200 is, for example, the body of a vehicle, aircraft, or ship. The vehicle is, for example, an automobile, truck, or train. The surface of the object 200 to be painted is not limited to a flat surface, but may also be a curved surface.

[0013] Here, the object 200 may have individual differences in shape for each object 200. For example, if the object 200 is a vehicle, individual differences in the shape of the object 200 may occur due to assembly errors of the various components of the vehicle. The shape of the object 200 refers to the three-dimensional shape and includes the size of the object 200. If there are individual differences in the shape of the object 200, the accuracy of three-dimensional alignment between the object 200 and the head 11 may decrease, which may result in paint voids, uneven paint finish, etc. Note that a paint void refers to a portion on the object 200 that should be painted not being painted. An uneven paint finish refers to uneven paint film thickness or uneven paint color tone or density.

[0014] Furthermore, when the object 200 is transported to a coating position by the coating device 100 and coating is performed while the object 200 is stopped, the position and tilt of the object 200 may vary for each transported object 200 depending on the transport error of the transport device, etc. If the position and tilt of the object 200 vary, the accuracy of three-dimensional alignment between the object 200 and the head 11 may decrease, and paint gaps, uneven paint, etc. may occur.

[0015] In the coating apparatus 100 according to the first embodiment of the present invention, the control unit 20 generates control information based on difference information X of the shape of the object 200 obtained from object shape information D relating to the shape of the object 200 and three-dimensional position information E, and controls at least one of the discharge of liquid and the operation of the moving mechanism 13 using the control information. The three-dimensional position information E of the automobile can be obtained based on the positions of the window frames and edge portions of the roof molding groove of the automobile, for example.

[0016] Furthermore, in the coating apparatus 100, the control unit 20 performs control based on deviations of the position and inclination of the object 200 from the information about the object 200 obtained from information about the object 200 and three-dimensional position information E of three or more feature points output from the detection unit 12. In addition to correcting for individual differences in the shape of the object 200, the coating apparatus 100 can further improve the accuracy of three-dimensional alignment between the object 200 and the head 11 by further determining and correcting deviations of the position and inclination of the object 200 from the object shape information D.

[0017] The object shape information D is, for example, design data of the object 200 including information on the dimensions and arrangement of the object 200. The design data is, for example, CAD (Computer Aided Design) data. By using the design data of the object 200 as the object shape information D, the object shape information D can be easily acquired compared to when the object shape information D is acquired by measuring the shape of the object 200, thereby shortening the painting time by a painting device and increasing painting productivity.

[0018] However, the object shape information D is not limited to design data. For example, the object shape information D may be three-dimensional position information E of three or more feature points of a single reference object 200 detected by the detection unit 12, or corrected design data obtained by correcting default design data (CAD data) using the three-dimensional position information E. It may also be information obtained by measuring the shape of the object (shape measurement data). For example, point cloud data obtained by measuring the object 200 in advance using a three-dimensional measuring device is used as the object shape information D. The shape measurement data may also be prepared by three-dimensionally measuring the object in advance or at the start of the painting process. Even in this case, compared to acquiring the object shape information D by measuring the shape of each object 200, the time required for shape measurement is not required because there is no need to measure the shape of the subsequent object 200. As a result, the number of painting steps is reduced, and painting productivity is improved.

[0019] 1 includes four heads 11, four detection units 12, four movement mechanisms 13, a supply mechanism 14, a maintenance mechanism 15, and a control unit 20. Under the control of the control unit 20, the coating apparatus 100 drives the movement mechanisms 13 that hold the four heads 11 based on information about the target object 200 and three-dimensional position information E of three or more feature points output from each of the four detection units 12. By driving the four movement mechanisms 13, the coating apparatus 100 changes the relative positions and relative inclinations between the four heads 11 and the target object 200, and ejects liquid from each of the four heads 11 onto the target object 200.

[0020] The four heads 11 include head 11-1 to head 11-4. The configuration of each of the four heads 11 may be the same or different. All four heads 11 shown in FIG. 1 have the same configuration. The number of heads 11 included in the coating device 100 is not limited to four and can be changed as appropriate depending on the size, shape, etc. of the object 200. Each of the four heads 11 includes a nozzle surface on which a plurality of nozzles that eject liquid are formed, and the nozzle surface is arranged so as to face the surface of the object 200 to be coated.

[0021] The four heads 11 eject liquid of approximately the same color. However, the four heads 11 may eject liquid of different colors. Each of the four heads 11 ejects liquid onto a different area of ​​the object 200. By each of the four heads 11 ejecting liquid onto a different area of ​​the object 200, painting can be completed in a short time even when the object 200 is large. However, the liquid ejected from each of the four heads 11 may be ejected onto areas that partially overlap.

[0022] The four detection units 12 include detection unit 12-1 to detection unit 12-4. The configuration of each of the four detection units 12 may be the same or different. All four detection units 12 shown in FIG. 1 have the same configuration. The number of detection units 12 included in the coating device 100 is not limited to four, and can be changed as appropriate depending on the number of heads 11, etc.

[0023] The detection unit 12 includes, for example, a stereo camera. The stereo camera has multiple cameras and acquires a distance image of the object 200 by triangulation based on the parallax between the images captured by each of the multiple cameras. The stereo camera outputs the distance image to the control unit 20 as three-dimensional position information E of three or more feature points on the object. Note that a distance image refers to an image in which distance information is contained in each of the multiple pixels that make up the image. Since the detection unit 12 includes a stereo camera, the painting apparatus 100 can acquire feature point information of the object 200 with a simple configuration. However, the detection unit 12 may use a configuration other than a stereo camera, such as a monocular camera, as long as it can acquire and output feature point information of the object 200.

[0024] The detection units 12 detect feature points from different regions of the object 200 and output feature point information. Each of the four detection units 12 detects feature points from a different region of the object 200, so that feature points can be detected in a short time even when the size of the object 200 is large. For example, a stereo camera included in the detection unit 12 acquires distance images of different regions of the object 200 and outputs the distance images as feature point information. However, the feature point information output from each of the four detection units 12 may partially overlap.

[0025] The four moving mechanisms 13 include moving mechanisms 13-1 to 13-4. The moving mechanisms 13 are, for example, robot arms. The robot arms support the head 11 and move the head 11, thereby moving the head 11 relative to the object 200. However, the moving mechanisms 13 are not limited to robot arms, and may be linear motion mechanisms, rotation mechanisms, or a combination of one or more linear motion mechanisms and one or more rotation mechanisms. Furthermore, the moving mechanisms 13 are not limited to those that move only the head 11, and may be those that move at least one of the head 11 and the object 200.

[0026] The four moving mechanisms 13 may have the same configuration or different configurations. All four moving mechanisms 13 shown in Fig. 1 have the same configuration. The number of moving mechanisms 13 included in the coating apparatus 100 is not limited to four and can be changed as appropriate depending on the number of heads 11, etc.

[0027] 1, each of the four moving mechanisms 13 is disposed near the object 200 and arranged around the object 200. Each of the four moving mechanisms 13 holds a head 11 and a detection unit 12, and moves each of the head 11 and the detection unit 12 relative to the object 200.

[0028] In FIG. 2, a supply mechanism 14 supplies liquid to each of the four heads 11. A maintenance mechanism 15 maintains the liquid ejection state of each of the four heads 11. The maintenance mechanism 15 includes a wiper that wipes the nozzle surface of each of the four heads 11, a suction pump that sucks liquid from inside each of the four heads 11, and the like. The maintenance mechanism 15 uses the wiper, suction pump, and the like to remove thickened liquid or foreign matter adhering to the nozzle surface or thickened liquid or foreign matter present inside the head 11. By removing thickened liquid or foreign matter, the maintenance mechanism 15 reduces ejection abnormalities such as non-ejection, deflected ejection, and fluctuations in ejection speed in each of the four heads 11, and can maintain the ejection state of each of the four heads 11 in a normal state.

[0029] The control unit 20 is configured, for example, by a processor or an electric circuit arranged on an electric board. The control unit 20 is communicably connected to each of the four heads 11, the four detection units 12, and the four movement mechanisms 13 by wire or wirelessly. The control unit 20 can receive detection signals from the four detection units 12 and transmit control signals to the four heads 11 and the four movement mechanisms 13. The electric board on which the control unit 20 is arranged can be arranged in any position, and the electric board may be arranged at a distance from the heads 11, etc.

[0030] 2, the control unit 20 includes a CPU (Central Processing Unit) 31, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 33, a HDD (Hard Disk Drive) / SSD (Solid State Drive) 34, a device connection I / F (Interface) 35, and a communication I / F 36. These are electrically connected to each other via a system bus S.

[0031] The CPU 31 uses the RAM 33 as a working area and controls the overall operation of the control unit 20 by executing processes defined in the programs stored in the ROM 32. The ROM 32 is a non-volatile memory that stores programs for executing control of the CPU 31, such as recording operations, and other fixed data. The RAM 33 is a volatile memory that temporarily stores various data used in the liquid ejection by the head 11, the driving of the movement mechanism 13, and the detection results by the detection unit 12. The HDD / SSD 34 is a volatile memory that temporarily stores shape data of the object 200, painting data that is painting information (such as the painting position and range) for the object 200, and image data such as the pattern and text to be painted on the object 200 (hereinafter, painting data will be referred to as image data). The device connection I / F 35 is an interface for communicatively connecting to each of the head 11, the detection unit 12, the movement mechanism 13, the supply mechanism 14, and the maintenance mechanism 15. The communication I / F 36 is an interface for connecting an external device such as a host PC (Personal Computer) to the control unit 20 so that they can communicate with each other.

[0032] In addition to the above, the painting apparatus 100 may also have a display unit that displays a setting screen for the liquid application conditions of the painting apparatus 100, an operation unit that is an operation input device such as a touch panel, keyboard, or mouse that accepts operations of the painting apparatus 100, etc.

[0033] (Configuration of supply mechanism 14) 3 is a diagram showing an example of the configuration of the supply mechanism 14. The supply mechanism 14 includes a liquid tank 330 as a sealed container that contains the liquid 325 to be ejected from the head 11. The liquid tank 330 and an inlet (supply port) of the head 11 are connected via tubes 333 so that the liquid can flow therethrough.

[0034] The liquid tank 330 is connected to the compressor 230 via a pipe 331 including an air regulator 332, and the compressor 230 supplies pressurized air. As a result, pressurized liquid 325 is supplied to the inlet of the head 11, and the coating device 100 discharges the liquid 325 from the nozzle of the head 11. Note that if multiple heads 11 discharge liquids of different colors, the supply mechanism 14 may be provided with a liquid tank 330 or the like for each color.

[0035] (Head 11 configuration) 4 and 5 are diagrams showing an example of the configuration of the head 11. Fig. 4 is a perspective view, and Fig. 5 is a cross-sectional view of the head 11 taken along plane S1 in Fig. 4.

[0036] The head 11 has a plurality of ejection modules 340 arranged in one or more rows inside a housing 110. The head 11 has a supply port 111 and a recovery port 112. The supply port 111 supplies pressurized liquid from the outside to the ejection modules 340, and the recovery port 112 discharges unejected liquid to the outside. The housing 110 also has a connector 113.

[0037] The ejection module 340 has a nozzle plate 321 equipped with nozzles 311 for ejecting liquid, a flow path 322 to which the nozzles 311 are connected and which supplies pressurized liquid, and a piezoelectric element 324 that drives a needle-shaped valve body that opens and closes the nozzles 311.

[0038] Nozzle plate 321 is joined to housing 110. Flow path 322 is a flow path common to multiple discharge modules 340 provided in housing 110. Coating device 100 supplies pressurized liquid from supply port 111 through flow path 322 and discharges the liquid from recovery port 112. Note that while liquid is being discharged onto target object 200, it is not necessary to temporarily stop discharging liquid from recovery port 112 so as not to reduce the efficiency of discharging liquid from nozzle 311.

[0039] <Example of functional configuration of control unit 20> 6 is a block diagram showing an example of the functional configuration of the control unit 20. The control unit 20 has an input unit 21, a generation unit 22, a correction unit 23, a discharge control unit 24, a supply control unit 25, a maintenance control unit 26, a movement control unit 27, and an output unit 28. The control unit 20 corresponds to the information processing device according to the embodiment.

[0040] The functions of the input unit 21 and the output unit 28 are realized by the device connection I / F 35 and the communication I / F 36, etc., shown in Fig. 2. The functions of the generation unit 22, the correction unit 23, the discharge control unit 24, the supply control unit 25, the maintenance control unit 26, and the movement control unit 27 are realized by the CPU 31 loading a program stored in the ROM 32 into the RAM 33 and executing processing defined in the program. Note that components other than the control unit 20, such as the head 11, may have at least some of the functions of the control unit 20. Furthermore, at least some of the functions of the control unit 20 may be realized by distributed processing between the control unit 20 and components other than the control unit 20.

[0041] The input unit 21 controls communication with an external device to input object shape information D from the external device. The external device is, for example, an external PC (Personal Computer). The input unit 21 also controls communication with the detection unit 12 to input three-dimensional position information E of three or more feature points on the object 200 from the detection unit 12.

[0042] The generation unit 22 generates relative movement path information T1, which is information about a relative movement path for the movement mechanism 13 to move the head 11 relative to the object 200, based on the object shape information D input from an external device via the input unit 21. The generation unit 22 outputs the generated relative movement path information T1 to the correction unit 23.

[0043] The relative movement path means a path along which the head 11 passes over the object 200 while changing its relative position with respect to the object 200. The head 11 changes its relative inclination with respect to the object 200 according to the shape of the object 200 at each relative position with respect to the object 200. When the head 11 changes its relative inclination with respect to the object 200, the relative movement path means a path along which the head 11 passes over the object 200 while changing its relative position and relative inclination with respect to the object 200.

[0044] The correction unit 23 corrects the relative movement path information T1 generated by the generation unit 22 based on the three-dimensional position information E input from each of the multiple detection units 12 via the input unit 21. The correction unit 23 outputs corrected path information T2, which is information related to the corrected relative movement path, to the movement control unit 27.

[0045] More specifically, the correction unit 23 calculates three-dimensional deviations of the shape, position, and tilt of the transported object 200 from the object shape information D, based on the three-dimensional position information E. The correction unit 23 corrects the relative movement path information T1 based on the calculation results of the three-dimensional deviations of the shape, position, and tilt of the object 200 from the object shape information D, to obtain corrected path information T2. ​​The correction unit 23 outputs the obtained corrected path information T2 to the movement control unit 27. For example, the correction unit 23 corrects the image data G1 based on the calculation results of the deviation of the shape of the object 200 from the object shape information D in the corrected path information T2, and outputs corrected image data G2 to the discharge control unit 24. The movement path information T1 and the corrected path information T2 each correspond to an example of control information.

[0046] The coating device 100 moves the head 11 relative to the object 200 in accordance with the corrected path information T2. ​​This allows the coating device 100 to perform coating by three-dimensionally aligning the object 200 with the nozzle of the head 11.

[0047] From another perspective, the control unit 20 controls the discharge of liquid by the head 11 and the operation of the movement mechanism 13 based on the corrected image data G2. The control unit 20 controls the relative movement path information T1 obtained from the object shape information D based on the corrected image data G2 corresponding to corrected path information T2 that has been corrected based on a deviation of information about the shape of the object 200 from the object shape information D. This allows the coating apparatus 100 to correct individual differences in the shape of the object 200 based on information about the shape of the object 200, thereby improving the accuracy of three-dimensional alignment between the object 200 and the head 11.

[0048] The discharge control unit 24 controls the discharge of liquid from the multiple heads 11 by outputting a discharge control signal C1 based on the corrected image data G2 via the output unit 28. The discharge control unit 24 can, for example, select a nozzle from among the multiple nozzles possessed by each of the multiple heads 11 to discharge liquid, control the timing at which the liquid is discharged from that nozzle, the amount of liquid discharged from that nozzle, the discharge frequency, etc. Furthermore, the discharge control unit 24 can control the selection of a nozzle to discharge the above-mentioned liquid, the timing at which the liquid is discharged from that nozzle, etc., based on corrected path information T2.

[0049] The supply control unit 25 controls the supply of liquid from the supply mechanism 14 to the multiple heads 11 by outputting a supply control signal C2 via the output unit 28. The supply control unit 25 can control, for example, the selection of the color of the liquid to be supplied to the multiple heads 11, the timing of supply, the amount of supply, etc.

[0050] The maintenance control unit 26 outputs a maintenance control signal C3 via the output unit 28 to maintain the state of liquid ejection from the plurality of heads 11 from the maintenance mechanism 15. The maintenance control unit 26 can, for example, select a head to be maintained from among the plurality of heads 11, and control the timing of the maintenance operation, etc.

[0051] The movement control unit 27 outputs a movement control signal C4 via the output unit 28 based on the corrected path information T2, thereby controlling the relative movement of each of the multiple heads 11 by the multiple movement mechanisms 13 with respect to the target object 200. The movement control unit 27 controls, for example, the movement direction, movement speed, movement acceleration, etc. of the heads 11 by the movement mechanisms 13. In addition, here, the movement control unit 27 controls the relative position and relative inclination of each of the multiple heads 11 with respect to the target object 200 to change.

[0052] The output unit 28 controls communication with the head 11, thereby outputting a discharge control signal C1 to the head 11. The output unit 28 also controls communication with the movement mechanism 13, thereby outputting a movement control signal C4 to the movement mechanism 13. The output unit 28 also controls communication with the supply mechanism 14, thereby outputting a supply control signal C2 to the supply mechanism 14. The output unit 28 also controls communication with the maintenance mechanism 15, thereby outputting a maintenance control signal C3 to the maintenance mechanism 15.

[0053] <Operation of the painting device 100> First to fifth examples of the operation of the coating device 100 will be described with reference to FIGS. 7A to 7E.

[0054] (First example of painting operation) 7A is a flowchart showing a first example of a painting operation by the painting apparatus 100. In the first example, the painting apparatus 100 uses CAD data of the object 200 as the object shape information D. The control unit 20 performs control based on the deviation of the shape of the object 200 from the object shape information D obtained from the object shape information D and three-dimensional position information E output from the detection unit 12.

[0055] 7A is started when the object 200 stops at a position to be painted by the painting device 100. Whether the object 200 has stopped at the painting position can be detected based on a signal from a conveyor or the like that transports the object 200.

[0056] First, in step S71, the coating apparatus 100 controls the operation of the supply mechanism 14 by the supply control unit 25 to supply liquid to each of the four heads 11. Note that when coating with multiple colors, the coating apparatus 100 may supply liquid of different colors to each of the four heads 11.

[0057] Subsequently, in step S72, the coating apparatus 100 controls the operation of the maintenance mechanism 15 by the maintenance control unit 26, and performs the maintenance operation on the four heads 11.

[0058] Next, in step S73, the painting apparatus 100 generates, by the generation unit 22, the relative movement path information T1 and image data G1 that matches the path information, based on the object shape information D input from the external device via the input unit 21. The generation unit 22 outputs the generated relative movement path information T1 and image data G1 to the correction unit 23.

[0059] Next, in step S74, the painting device 100 calculates, using the correction unit 23, the three-dimensional deviation of the shape of the transported object 200 relative to the object shape information D based on the three-dimensional position information E input from each of the multiple detection units 12 via the input unit 21.

[0060] Next, in step S75, the coating apparatus 100 causes the correction unit 23 to correct the movement path information T1 based on the calculation result of the deviation of the shape of the object 200 from the object shape information D, and acquires corrected path information T2 and corrected image data G2. The correction unit 23 outputs the acquired corrected path information T2 to the movement control unit 27 and the corrected image data G2 to the discharge control unit 24, respectively.

[0061] Next, in step S76, the coating apparatus 100 controls the operation of the four moving mechanisms 13 using the movement control unit 27 to move each of the four heads 11 to a coating position while changing the position and inclination of each of the multiple heads 11 relative to the object 200. In addition, the coating apparatus 100 controls the discharge of liquid from each of the four heads 11 using the discharge control unit 24 as the heads 11 move, thereby coating the object 200. Note that the coating apparatus 100 may only move the heads 11 in areas of the object 200 that are not to be painted, without discharging liquid from the heads 11. In addition, the coating apparatus 100 may perform coating while appropriately changing the movement speed of the heads 11 caused by the movement mechanism 13, the discharge frequency of the heads 11, etc.

[0062] Next, in step 77, the painting apparatus 100 determines whether or not to end painting using the control unit 20. For example, the control unit 20 can determine whether or not to end painting by receiving an operation input of an instruction to end painting via the operation unit, or by determining whether or not a predetermined painting range of the object 200 has been painted.

[0063] If it is determined in step S77 that painting should not be completed (step S77, NO), the painting apparatus 100 performs the operations from step S76 onwards again. On the other hand, if it is determined in step S77 that painting should be completed (step S77, YES), the painting apparatus 100 ends the operation.

[0064] As described above, the painting apparatus 100 can paint the object 200. After painting one object 200 is completed, when the next object 200 is transported to the painting position and stopped, the painting apparatus 100 can perform the operations from step S71 onwards to paint the next object 200.

[0065] (Second example of painting operation) 7B is a flowchart showing a second example of the painting operation by the painting apparatus 100. In the second example, the painting apparatus 100 uses CAD data of the object 200 as the object shape information D. The control unit 20 performs control based on deviations of the shape, position, and inclination of the object 200 from the object shape information D obtained from the object shape information D and three-dimensional position information E output from the detection unit 12.

[0066] The painting apparatus 100 starts the operation of FIG. 7B when, for example, the object 200 stops at the painting position by the painting apparatus 100. Whether the object 200 has stopped at the painting position can be detected based on a signal from a conveyor or the like that transports the object 200. The following mainly describes the differences between FIG. 7B and FIG. 7A.

[0067] In step S85, the painting device 100 calculates, using the correction unit 23, the three-dimensional deviation of the position and inclination of the transported object 200 relative to the object shape information D based on the three-dimensional position information E input from each of the multiple detection units 12 via the input unit 21.

[0068] The order of steps S84 and S85 may be changed as appropriate, and steps S84 and S85 may be performed in parallel.

[0069] Next, in step S86, the coating apparatus 100 corrects the path information T1 to obtain corrected path information T2 or corrects the image data G1 to obtain corrected image data G2 as needed, based on the calculation results of the deviations of the shape, position, and tilt of the object 200 from the object shape information D, using the correction unit 23. It is also possible to correct both the path information and the image data. The correction unit 23 outputs the acquired corrected path information T2 (equivalent to path information T1 if not corrected) to the movement control unit 27 and the corrected image data G2 (equivalent to image data G1 if not corrected) to the discharge control unit 24.

[0070] The subsequent operations are the same as in the first example.

[0071] As described above, the painting device 100 can paint the object 200.

[0072] (Third example of painting operation) 7C is a flowchart showing a third example of the painting operation by the painting apparatus 100. In the third example, the painting apparatus 100 paints M objects 200 in order, where M is a natural number equal to or greater than 2. When painting all M objects 200, the control unit 20 sets the CAD data of the objects 200 as object shape information D.

[0073] The painting apparatus 100 starts the operation of Fig. 7C when, for example, the object 200 stops at the painting position by the painting apparatus 100. Whether the object 200 has stopped at the painting position can be detected based on a signal from a conveyor or the like that transports the object 200. The following mainly describes the differences between Fig. 7C and Fig. 7B.

[0074] In step S95, the painting device 100 uses the correction unit 23 to compare the shape of the Nth object 200 that has been transported based on the three-dimensional position information E input from each of the multiple detection units 12 via the input unit 21 with the object shape information D to calculate the three-dimensional deviation.

[0075] Next, in step S96, the painting device 100 calculates, using the correction unit 23, the three-dimensional deviation of the position and inclination of the Nth object 200 that has been transported relative to the object shape information D, based on the three-dimensional position information E input from each of the multiple detection units 12 via the input unit 21.

[0076] The order of steps S95 and S96 may be changed as appropriate, and steps S95 and S96 may be performed in parallel.

[0077] In step S100, the coating apparatus 100 determines whether there is a next object 200 to be coated. If it is determined that there is a next object 200 to be coated in step S100 (step S100, NO), the coating apparatus 100 increments the counter N by 1 in step S101. Thereafter, the operations from step S92 onwards are performed again. On the other hand, if it is determined that there is no next object 200 to be coated in step S100 (step S100, YES), the coating apparatus 100 ends its operation.

[0078] As described above, the painting device 100 can paint M objects 200.

[0079] (Fourth example of painting operation) 7D is a flowchart showing a fourth example of the painting operation by the painting apparatus 100. In the fourth example, the painting apparatus 100 paints M objects 200 in sequence. When painting the first object 200, the control unit 20 sets the CAD data of the object 200 as object shape information D. When painting the second or subsequent objects 200, the control unit 20 sets the three-dimensional position information E of the first object 200 output from the detection unit 12 as object shape information D.

[0080] The painting apparatus 100 starts the operation of Fig. 7D when, for example, the object 200 stops at the painting position by the painting apparatus 100. Whether the object 200 has stopped at the painting position can be detected based on a signal from a conveyor or the like that transports the object 200. The following mainly describes the differences between Fig. 7D and Fig. 7C.

[0081] In step S112, the coating apparatus 100 sets the CAD data of the object 200 as the object shape information D.

[0082] In step S121, the coating apparatus 100 determines whether or not the first object 200 is being painted. If it is determined in step S121 that the first object 200 is being painted (YES in step S121), in step S122 the coating apparatus 100 sets three-dimensional position information E in painting of the first object 200 as object shape information D. On the other hand, if it is determined in step S121 that the first object 200 is not being painted (NO in step S121), the coating apparatus 100 skips step S122 and proceeds to step S123.

[0083] Next, in step S123, the coating apparatus 100 determines whether or not there is a next object 200 to be coated. If it is determined that there is a next object 200 to be coated in step S123 (NO in step S123), the coating apparatus 100 increments the counter N by 1 in step S124. Thereafter, the operations from step S113 onwards are performed again. On the other hand, if it is determined that there is no next object 200 to be coated in step S123 (YES in step S123), the coating apparatus 100 ends the operation.

[0084] As described above, the coating apparatus 100 can paint M objects 200. The three-dimensional position information E of the actual object 200 transported to the coating position by the coating apparatus 100 may deviate significantly from the CAD data, or a similar deviation may persist for subsequent objects. A large deviation in the three-dimensional position information E of the actual object 200 increases the amount of correction required by the correction unit 23. This increases the likelihood that the coating path itself will need to be corrected. As a result, alignment accuracy may not be improved even after correction. Furthermore, if a similar deviation persists, corrections to the coating control and the coating path must be made for each object, complicating control. In a fourth example, for the second and subsequent objects, the three-dimensional position information E acquired during the first coating operation is used as the object shape information D. This allows for correction of the shape, position, and tilt of the object 200 with a smaller deviation from the actual object 200 compared to using CAD data, thereby improving the three-dimensional alignment accuracy between the object 200 and the head 11.

[0085] (5th example of painting operation) 7E is a flowchart showing a fifth example of a painting operation by the painting apparatus 100. In the fifth example, the painting apparatus 100 paints a plurality of objects 200 in sequence. When painting the first object 200, the control unit 20 sets the CAD data of the object 200 as object shape information D. When painting the second or subsequent object 200, the control unit 20 sets the three-dimensional position information E of the object 200 that was painted immediately before, output from the detection unit 12, as information D related to the object 200.

[0086] The painting apparatus 100 starts the operation of Fig. 7E when, for example, the object 200 stops at the painting position by the painting apparatus 100. Whether the object 200 has stopped at the painting position can be detected based on a signal from a conveyor or the like that transports the object 200. The following mainly describes the differences between Fig. 7E and Fig. 7D.

[0087] In step S142, the coating apparatus 100 adds 1 to the counter N, and then in step S143, the coating apparatus 100 sets the three-dimensional position information E of the (N-1)th object 200 as the object shape information D. Thereafter, the coating apparatus 100 performs the operations from step S133 onwards again.

[0088] As described above, the coating apparatus 100 can paint M objects 200. The actual objects 200 transported to the coating position by the coating apparatus 100 may gradually accumulate deviations depending on the number of objects 200 that have been painted. When deviations accumulate, if the three-dimensional position information E of the object 200 obtained when painting the first object 200 is used as the object shape information D, the deviation from the three-dimensional position information E of the actual object 200 may become large. A large deviation in the three-dimensional position information E of the actual object 200 increases the correction error by the correction unit 23. In the fifth example, when painting the second or subsequent objects, the three-dimensional position information E of the object 200 painted immediately before is used as the information D regarding the object 200. This allows the effects of deviations in the shape, position, and tilt of the object 200 to be corrected with a small deviation from the actual object 200, compared to when CAD data is used, thereby improving the three-dimensional alignment accuracy between the object 200 and the head 11.

[0089] (Calculation process of shape, position and tilt deviation of object 200) 8A and 8B, the calculation process of the shape, position, and tilt of the object 200 by the correction unit 23 during the painting operation by the painting apparatus 100 shown in Fig. 7A will be described. Fig. 8A is a flowchart showing an example of the calculation process of the shape, position, and tilt of the object 200 by the correction unit 23 relative to the object shape information D. Fig. 8B is a diagram illustrating a method for calculating the deviation of the shape of the object 200 by the correction unit 23.

[0090] In FIG. 7A, the correction unit 23 starts the process of FIG. 8A at the timing when the operation of step S74 is performed, for example.

[0091] First, in step S151, the correction unit 23 receives, via the input unit 21, the three-dimensional position information E output from each of the four detection units 12.

[0092] Next, in step S152, correction unit 23 extracts four feature point coordinates based on the four pieces of three-dimensional position information E. For example, three-dimensional position information E is a distance image captured by a stereo camera in one of detection units 12. The feature point coordinates are the three-dimensional coordinates of feature points extracted in this distance image. Correction unit 23 receives the distance images from each of the four detection units 12 and extracts feature point coordinates from each of the four distance images.

[0093] Subsequently, in step S153, the correction unit 23 compares the coordinates of the feature point data, which are points corresponding to the feature points in the object shape information D, with the coordinates of the feature points.

[0094] Subsequently, in step S154, the correction unit 23 calculates the deviation of the shape of the object 200 from the reference shape data in the object shape information D, in accordance with the comparison result in step S153.

[0095] Subsequently, in step S155, the correction unit 23 calculates the deviation of the position and inclination of the object 200 from the reference shape data in the object shape information D, in accordance with the comparison result in step S153.

[0096] The order of steps S154 and S155 may be changed as appropriate, and steps S154 and S155 may be performed in parallel.

[0097] 8B, the correction unit 23 calculates the center of gravity of the four points, namely, detection point 210-1', detection point 210-2', detection point 210-3', and detection point 210-4', detected by the detection unit 12, and sets the calculated center coordinates as center coordinates (Xc, Yc, Zc). In FIG. 8B, the roof portion 201 represents the roof portion of the vehicle as the target 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.

[0098] The correction unit 23 calculates the expansion or contraction of the shape of the measured object 200 by determining the deviation between the distance of each of the detection points 210-1', 210-2', 210-3', and 210-4' 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) in the object shape information D.

[0099] In this way, the correction unit 23 can calculate the three-dimensional deviation of the shape, position, and tilt of the object 200 from the information D about the object.

[0100] <Example of feature points> Feature points used by the coating apparatus 100 will be described with reference to Figs. 9 to 13. Fig. 9 is a diagram illustrating an example of feature points according to an embodiment. Fig. 10 is an enlarged view of area X in Fig. 9. Fig. 11 is an enlarged view of area XI in Fig. 9. Fig. 12 is an enlarged view of area XII in Fig. 9. Fig. 13 is an enlarged view of area XIII in Fig. 9.

[0101] FIG. 9 shows the roof portion 201 of the object 200 and its surroundings as viewed from above. For example, the reference feature point is one corner of the window frame. Feature point 210-1 in FIG. 9 refers to one corner at the boundary between the roof portion 201 and the front windshield mounting region 202. If the corner of the front windshield mounting region 202 has a curved shape (is rounded), the feature point may be, for example, the intersection of the extension lines of two sides that make up the corner. Feature point 210-2 is one 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 front windshield mounting region 202. Feature point 210-4 is another corner at the boundary between the roof portion 201 and the rear panel 203.

[0102] Detector 12-1 shown in FIG. 1 acquires and outputs a distance image of the periphery of feature point 210-1, including feature point 210-1, as three-dimensional position information E. Detector 12-2 shown in FIG. 1 acquires and outputs a distance image of the periphery of feature point 210-2, including feature point 210-2, as three-dimensional position information E. Detector 12-3 shown in FIG. 1 acquires and outputs a distance image of the periphery of feature point 210-3, including feature point 210-3, as three-dimensional position information E. Detector 12-4 shown in FIG. 1 acquires and outputs a distance image of the periphery of feature point 210-4, including feature point 210-4, as three-dimensional position information E.

[0103] Here, because the four detection units 12 are independent of each other, if the three-dimensional positional relationships between the four detection units 12 are unclear, the three-dimensional coordinate systems of the distance images acquired by each of the four detection units 12 are mutually independent and do not correspond to each other. If the three-dimensional coordinate systems of the distance images do not correspond to each other, it may be difficult to perform painting by linking the four detection units 12 and the four moving mechanisms 13 that hold the four heads 11 based on the outputs of the four detection units 12. In the painting apparatus 100, the three-dimensional positional relationships between the four moving mechanisms 13 are clarified in advance by measuring the three-dimensional positions of the four detection units 12 and the four moving mechanisms 13 that hold the four heads 11 in advance. Then, by correlating the three-dimensional coordinate systems of each of the four moving mechanisms 13, the three-dimensional positions of the four moving mechanisms 13 are expressed in a single three-dimensional coordinate system. This makes it possible to express the three-dimensional position information E output from each of the four detectors 12 held by the four moving mechanisms 13 in one three-dimensional coordinate system.

[0104] <Example of feature point coordinate processing method> A feature point coordinate processing method according to the first embodiment of the present invention will be described with reference to Fig. 14A and Fig. 14B. Fig. 14A is a first diagram illustrating an example of a feature point coordinate processing method according to the first embodiment of the present invention. Fig. 14B is a second diagram illustrating an example of a feature point coordinate processing method according to the first embodiment of the present invention.

[0105] 14A, 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.

[0106] Feature point data 210-1D is data corresponding to feature point 210-1 in object shape information D. Feature point data 210-2D is data corresponding to feature point 210-2 in object shape information D. Feature point data 210-3D is data corresponding to feature point 210-3 in object shape information D. Feature point data 210-4D is data corresponding to feature point 210-4 in object shape information D.

[0107] Coordinates (ΔXd1, ΔYd1, ΔZd1) are coordinates representing the three-dimensional position of feature point data 210-1D. Coordinates (ΔXd2, ΔYd2, ΔZd2) are coordinates representing the three-dimensional position of feature point data 210-2D. Coordinates (ΔXd3, ΔYd3, ΔZd3) are coordinates representing the three-dimensional position of feature point data 210-3D. Coordinates (ΔXd4, ΔYd4, ΔZd4) are coordinates representing the three-dimensional position of feature point data 210-4D.

[0108] The correction unit 23 calculates the positional deviation (ΔX, ΔY, ΔZ) and tilt amount (Rx, Ry, Rz) by comparing the coordinates (X1, Y1, Z1) with the coordinates (ΔXd1, ΔYd1, ΔZd1), the coordinates (X2, Y2, Z2) with the coordinates (ΔXd2, ΔYd2, ΔZd2), the coordinates (X3, Y3, Z3) with the coordinates (ΔXd3, ΔYd3, ΔZd3), and the coordinates (X4, Y4, Z4) with the coordinates (ΔXd4, ΔYd4, ΔZd4). ΔX represents the positional deviation in the X-axis direction, ΔY represents the positional deviation in the Y-axis direction, and ΔZ represents the positional deviation in the Z-axis direction. Rx represents the tilt amount around the X-axis, Ry represents the tilt amount around the Y-axis, and Rz represents the tilt amount around the Z-axis. (Xc, Yc, Zc) represents the center of the roof portion 201.

[0109] Correction unit 23 checks not only the positional deviation and the tilt deviation, but also the shape deviation of object 200. To check the shape, for example, as shown in Fig. 8B, the following are calculated in advance: a distance D1 from the center coordinates (Xc, Yc, Zc) of roof portion 201 to feature point 210-1 in object shape information D; a distance D2 from the center coordinates (Xc, Yc, Zc) to feature point 210-2; a distance D3 from the center coordinates (Xc, Yc, Zc) to feature point 210-3; and a distance D4 from the center coordinates (Xc, Yc, Zc) to feature point 210-4. Based on the detection results from the detection unit 12, the distance D1' from the center coordinates (Xc, Yc, Zc) to the detection point 210-1', the distance D2' from the center coordinates (Xc, Yc, Zc) to the detection point 210-2', the distance D3' from the center coordinates (Xc, Yc, Zc) to the detection point 210-3', and the distance D4' from the center coordinates (Xc, Yc, Zc) to the coordinates of the detection point 210-4' are calculated. The difference ΔD1 (= D1' - D1) between the distance D1 and the distance D1', the difference ΔD2 (= D2' - D2) between the distance D2 and the distance D2', the difference ΔD3 (= D3' - D3) between the distance D3 and the distance D3', and the difference ΔD4 (= D4' - D4) between the distance D4 and the distance D4' are calculated. This allows the deviation of the shape of the object 200 from the object shape information D to be calculated.

[0110] Next, correction unit 23 calculates the position and tilt deviations taking into account the deviation of the shape of object 200 relative to object shape information D. Correction unit 23 calculates, as the position and tilt deviations, the deviations between the feature point and the detection point that has the same orientation as that of reference object shape information D in FIG. 14B and that is obtained by adding the shape deviation calculated above to object shape information D. That is, correction unit 23 calculates the deviation between feature point 210-1+D1 (XD1, YD1, ZD1) and detection point 210-1' (X1', Y1', Z1'). Correction unit 23 also calculates the deviation between feature point 210-2+D2 (XD2, YD2, ZD2) and detection point 210-2' (X2', Y2', Z2'). The correction unit 23 also calculates the deviation between the feature point 210-3+D3 (XD3, YD3, ZD3) and the detected point 210-3' (X3', Y3', Z3'). The correction unit 23 also calculates the deviation between the feature point 210-4+D4 (XD4, YD4, ZD4) and the detected point 210-4' (X4', Y4', Z4').

[0111] The correction unit 23 corrects the relative movement path information T1 generated by the generation unit 22 by a three-dimensional coordinate conversion process using the positional deviation (ΔX, ΔY, ΔZ) including the shape deviation and the tilt amount (Rx, Ry, Rz), and obtains corrected path information T2.

[0112] <Example of correction result of relative movement path information T1> The results of correction of the relative movement path information T1 will be described with reference to Figs. 15 to 20. Fig. 15 is a diagram illustrating an example of the results of correction of the relative movement path information T1. Fig. 16 is a diagram illustrating an example of the relative movement path information T1. Fig. 17 is a diagram illustrating an example of corrected path information T2. ​​Fig. 18 is a diagram illustrating an example of a case where the roof portion 201 has expanded or contracted in the longitudinal direction. Fig. 19 is a diagram illustrating an example of a case where the roof portion 201 has expanded or contracted in the lateral direction. Fig. 20 is an image diagram of correction of image data when the shape has expanded or contracted.

[0113] 15 shows a coating area 211 and relative movement path information T1 of the head 11. The coating area 211 is the area in which each of the four movement mechanisms 13 shown in FIG. 1 paints by moving the head 11 relative to the target object 200. The coating area 211 and the relative movement path information T1 are different for each of the four heads 11.

[0114] The coating range 211-1 indicates the range in which coating is performed by moving the head 11-1 by the movement mechanism 13-1 relative to the object 200. The relative movement path information T1-1 indicates the path along which the head 11-1 moves relative to the object 200.

[0115] The coating range 211-2 indicates the range in which coating is performed by moving the head 11-2 by the movement mechanism 13-2 relative to the object 200. The relative movement path information T1-2 indicates the path along which the head 11-2 moves relative to the object 200.

[0116] The coating range 211-3 indicates the range in which coating is performed by moving the head 11-3 by the movement mechanism 13-3 relative to the object 200. The relative movement path information T1-3 indicates the path along which the head 11-3 moves relative to the object 200.

[0117] The coating range 211-4 indicates the range in which coating is performed by moving the head 11-4 by the movement mechanism 13-4 relative to the object 200. The relative movement path information T1-4 indicates the path along which the head 11-4 moves relative to the object 200.

[0118] FIG. 16 shows the painting area 211-1 and relative movement path information T1-1 by the head 11-1, among the four painting areas 211 and four pieces of relative movement path information T1. FIG. 17 shows the painting area 211a-1 and corrected path information T2-1 corrected by the three-dimensional coordinate conversion process by the correction unit 23 of FIG. 6. Even when the painting area 211 and relative movement path information T1 are three-dimensionally converted, the deviation of the position and tilt of the head 11 from the object shape information D is corrected without changing the movement distance in the longitudinal direction or the line feed width in the lateral direction. Processing in this manner can simplify the processing by the correction unit 23.

[0119] 18 to 20, an example of path change when the shape of the target object 200 changes will be described. In this description of path correction, the longitudinal direction of the roof portion 201 will be the main scanning direction of the head 11, and the lateral direction of the roof portion 201 will be the sub-scanning direction.

[0120] As shown in Figure 18, when there is expansion or contraction in the main scanning direction, for example, when the length in the main scanning direction is shorter than the object shape information D that the roof part 201 has in advance based on the acquired feature point coordinates, the correction unit 23 outputs a corrected path T2 that is shorter than the relative movement path information T1 to match the detected length of the path in the main scanning direction.

[0121] Furthermore, when the acquired coordinates of the feature points indicate that the length in the main scanning direction is longer than the object shape information D that the roof portion 201 has in advance, the correction unit 23 outputs a corrected path T2 that is longer than the relative movement path information T1 to match the detected length of the path in the main scanning direction. In Fig. 18, the central coordinates (Xc, Yc, Zc) are used as the basis for extending or shortening the path, but the basis for extending or shortening the path may also be a straight line connecting two points aligned in the sub-scanning direction, for example, a straight line connecting feature points 210-1 and 210-3, or a straight line connecting feature points 210-2 and 210-4.

[0122] As shown in Figure 19, when there is expansion or contraction in the sub-scanning direction, for example, when the length in the sub-scanning direction is shorter than the object shape information D that the roof part 201 has in advance based on the acquired feature point coordinates, and the detected length is shorter than the object shape information D by more than the painting width that the head 11 draws while moving in the main scanning direction, the correction unit 23 outputs a corrected path T2 that reduces the movement movement in the sub-scanning direction compared to the relative movement path information T1.

[0123] If the coordinates of the acquired feature points indicate a greater length in the sub-scanning direction than the object shape information D previously stored in the roof portion 201, the correction unit 23 outputs a corrected path T2 that increases the movement in the sub-scanning direction compared to the relative movement path information T1. In either case, the coating width drawn by the head 11 remains unchanged, so the movement amount of the head 11 in the sub-scanning direction is set to the same as the relative movement path information T1.

[0124] When painting along corrected path T2 when the length of roof portion 201 has changed, correction unit 23 changes the image data to match the expanded or contracted path. As shown in Fig. 20, when the detected length of roof portion 201 has shortened relative to object shape information D, correction unit 23 creates image data G2 by reducing the area to be painted from image data G1. When the detected length of roof portion 201 has lengthened relative to object shape information D, correction unit 23 creates image data G2 by increasing the area to be painted from image data G1.

[0125] In this way, the present invention makes it possible to paint the boundary between the painted and unpainted areas (the edges of the painted area) in a single paint path, just like the central area of ​​the painted area. This not only shortens the painting time compared to a flow in which the center is painted and then the edges are painted again, but also prevents uneven painting due to the time difference between painting the central area and the edge area.

[0126] In FIG. 20, the basis for enlarging the image data is the central coordinates (Xc, Yc, Zc), but the basis for expanding or contracting the path may be a straight line connecting two points aligned in the sub-scanning direction, such as a straight line connecting feature points 210-1 and 210-3, or a straight line connecting feature points 210-2 and 210-4, or a straight line connecting feature points 210-1 and 210-2 aligned in the main scanning direction, or a straight line connecting feature points 210-3 and 210-4.

[0127] The coating apparatus 100 can perform coating with the object 200 and the nozzle three-dimensionally aligned by discharging liquid by moving the head 11 relative to the object 200 based on the corrected path information T2. ​​In other words, the coating apparatus 100 can provide a coating apparatus 100 that can three-dimensionally align the object 200 and the nozzle. This makes it possible to coat the object 200 with reduced paint defects and uneven coating even when the position and tilt of each object 200 transported to the coating position fluctuates. Note that while this specification shows an example in which four pieces of three-dimensional position information E output from four detection units 12 are used, the above-mentioned effects can be achieved with three or more pieces of three-dimensional position information E.

[0128] Furthermore, in the coating device 100, the head 11 ejects liquid from each of the multiple nozzles, which allows multiple areas on the object 200 to be coated in parallel, thereby reducing the coating time compared to when coating is performed by ejecting liquid from only one nozzle.

[0129] Furthermore, in the coating device 100, the moving mechanism 13 includes a moving mechanism 13 that holds the head 11 and the detection unit 12 and moves each of the head 11 and the detection unit 12 relative to the target object 200. The control unit 20 controls the discharge of liquid by the head 11 and the operation of the moving mechanism 13. This configuration improves the degree of freedom in controlling the movement direction and inclination of the head 11 and the detection unit 12 compared to when the head 11 and the detection unit 12 are moved separately using a combination of multiple linear motion stages.

[0130] Furthermore, in the coating device 100, the movement mechanism has a plurality of movement mechanisms 13 that are arranged near the object 200, each holding a head 11 and a detection unit 12, and moving the head 11 and the detection unit 12 relative to the object 200. The control unit 20 controls the discharge of liquid by the head 11 and the operation of the plurality of movement mechanisms 13. Since different areas on the object 200 can be painted in parallel using the plurality of movement mechanisms 13, the coating time can be shortened compared to when only one movement mechanism 13 is used.

[0131] [Second embodiment] Next, a coating device according to a second embodiment will be described. Note that the same names and symbols as those in the already described embodiments indicate the same or similar members or components, and detailed descriptions thereof will be omitted as appropriate.

[0132] In this embodiment, the control unit moves the head 11 relative to the object 200 based on information regarding the inclination of the roof side portion relative to the roof portion of the vehicle, which is obtained from object shape information D of the object 200 and three or more pieces of three-dimensional position information E, which is different from the first embodiment.

[0133] <Example of functional configuration of control unit 20a> 21 is a block diagram showing an example of the functional configuration of a control unit 20a according to this embodiment. The control unit 20a differs from the control unit 20 according to the first embodiment in that it includes a correction unit 23a. The function of the correction unit 23a is realized by the CPU 31 shown in FIG. 2 loading a program stored in the ROM 32 into the RAM 33 and executing the processing defined in the program.

[0134] The correction unit 23a acquires three-dimensional tilt amount information of the roof side portion relative to the roof portion of the object 200, which is a vehicle, from the object shape information D and three or more pieces of three-dimensional position information E. This three-dimensional tilt amount information of the roof side portion relative to the roof portion corresponds to information regarding the tilt of the roof side portion relative to the roof portion.

[0135] The correction unit 23a corrects the relative movement path information T1 in accordance with the detection result of the three-dimensional inclination amount of the roof side portion relative to the roof portion, and acquires corrected path information T2. ​​The correction unit 23a outputs the acquired corrected path information T2 to the movement control unit 27. The coating apparatus 100 can three-dimensionally align the object 200 and the nozzle of the head 11 by moving the head 11 relative to the object 200 in accordance with the corrected path information T2.

[0136] <Example of processing by control unit 20a> Figure 22 is a flowchart showing an example of the process performed by control unit 20a to calculate the amount of inclination of the roof side portion relative to the roof portion of object 200. Correction unit 23a starts the process in Figure 22 at the timing of performing the operation of step S85 in Figure 7B, for example. The processes of steps S191 to S193 in Figure 22 are the same as steps S151 to S153 in Figure 8, and the process of step S194 in Figure 22 is the same as step S155 in Figure 8, so redundant explanations will be omitted here.

[0137] In step S195, the correction unit 23a detects the assembly width of the roof molding groove at each of the front and rear portions of the object 200 from three or more pieces of three-dimensional position information E. The roof molding groove refers to the groove formed between the roof portion and the roof side portion. The assembly width refers to the width of the roof molding groove when the roof portion is assembled to the roof side portion. If the roof portion is assembled at an angle in the rotational direction with respect to the predetermined object shape information D, a difference will arise between the assembly width of the roof molding groove and the roof molding groove width in the object shape information D.

[0138] Subsequently, in step S196, the correction unit 23a compares the width of the roof molding groove in the object shape information D with the assembly width of the roof molding groove detected in step S195.

[0139] Subsequently, in step S197, the correction unit 23a detects the amount of inclination of the roof side portion relative to the roof portion in accordance with the comparison result in step S196.

[0140] In this way, the correction unit 23 can detect the amount of inclination of the roof side portion with respect to the roof portion of the object 200.

[0141] <Example of inclination of roof side portion 204 relative to roof portion 201> The inclination of the roof side portion 204 relative to the roof portion 201 will be described in detail with reference to Figures 23 to 28. Figure 23 is a diagram illustrating an example of a roof molding groove in the left rear portion of the roof portion 201. Figure 24 is an enlarged view of area XXIV in Figure 23. Figure 25 is a cross-sectional view taken along line XXV-XXV in Figure 24. Figure 26 is a diagram illustrating an example of a roof molding groove in the left front portion of the roof portion 201. Figure 27 is a diagram illustrating an example of relative movement path information T1a in the roof side portion 204. Figure 28 is a diagram illustrating an example of corrected path information T2a in the roof side portion 204.

[0142] Figures 23 to 25 show the characteristic point 210-2 and its surroundings in Figure 9. The roof molding groove 205-2 is a groove formed between the roof portion 201 and the roof side portion 204. The rear assembly distance Δr is the assembly distance of the roof molding groove 205-2.

[0143] On the other hand, Figure 26 shows the characteristic point 210-1 and its surroundings in Figure 9. The roof molding groove 205-1 is a groove formed between the roof portion 201 and the roof side portion 204. The front assembly distance Δf is the assembly distance of the roof molding groove 205-1.

[0144] The correction unit 23a shown in FIG. 21 can calculate the amount of inclination of the roof side portion 204 relative to the roof portion 201 using the rear assembly distance Δr and the front assembly distance Δf.

[0145] 27 shows a painting area 212-1 and relative movement path information T1a-1 within the painting area 212-1, and a painting area 212-2 and relative movement path information T1a-2 within the painting area 212-2. The painting area 212-1 and relative movement path information T1a-1, and the painting area 212-2 and relative movement path information T1a-2 are offset from the object shape information D in accordance with the position and inclination of the transported object 200.

[0146] FIG. 28 shows the painting area 212a-1 and the corrected path information T2a-1 within the painting area 212a-1, and the painting area 212a-2 and the corrected path information T2a-2 within the painting area 212a-2. This figure shows an example in which the position and tilt are corrected to match the transported object 200 based on the tilt amount of the roof side portion 204 relative to the roof portion 201. When correcting the expansion and contraction of the object according to the present invention, if a positional deviation or tilt from the specified position is detected when the object 200 stops on the painting line, as shown in FIG. 27, the painting area 212a-1 and the corrected path information T2a-1, as well as the painting area 212a-2 and the corrected path information T2a-2, are used to correct the position and tilt by correcting the painting area and the corrected path, as shown in FIG. 28. This improves the three-dimensional alignment accuracy between the object and the head, enabling proper painting.

[0147] As described above, in this embodiment, the control unit 20 moves the head 11 relative to the object 200 based on information about the inclination of the roof side portion 204 relative to the vehicle roof portion 201, which is obtained from the object shape information D and the three or more pieces of three-dimensional position information E. As a result, in this embodiment, painting can be performed on the side of the vehicle while the object 200 and the nozzle are three-dimensionally aligned. In other words, this embodiment can provide a painting device 100 that can three-dimensionally align the object 200 and the nozzle on the side of the vehicle. The painting device according to this embodiment can paint the side of the vehicle while the object 200 and the nozzle are three-dimensionally aligned, thereby reducing paint defects and uneven painting.

[0148] Although the embodiments have been described above, the present invention is not limited to the above-described embodiments, and various modifications and improvements are possible within the scope of the present invention.

[0149] In the embodiment, the liquid ejected from the head 11 may be a solution, suspension, emulsion, or the like containing a solvent such as water or an organic solvent, a colorant such as a dye or pigment, a functionalizing material such as a polymerizable compound, a resin, or a surfactant, a biocompatible material such as DNA, amino acids, proteins, or calcium, an edible material such as a natural colorant, etc. These can be used, for example, in inkjet inks, coating materials, surface treatment solutions, liquids for forming components of electronic elements or light-emitting elements, liquids for forming electronic circuit resist patterns, and material liquids for 3D modeling.

[0150] The target object 200 refers to an object to which a liquid adheres and sticks, or an object to which the liquid adheres and penetrates, etc. Specific examples include three-dimensional objects to be coated, such as car bodies and building materials, electronic components such as electronic circuit boards and piezoelectric elements, powder layers (powder layers), organ models, and test cells, and all objects to which a liquid adheres are included unless otherwise specified.

[0151] The present invention is also applicable to painting processes performed for purposes other than applying color and design to vehicle bodies such as automobiles. For example, the painting process for an automobile body includes a primer coat, which aims to ensure adhesion and rust resistance of the paint film to the vehicle body substrate; a middle coat, which aims to ensure impact resistance and durability; and a top coat, which applies color and design. The painting apparatus of the present invention may be used for the primer coat or middle coat in addition to the top coat. Furthermore, if a protective layer, such as a clear coat, is applied after the top coat process for the purposes of gloss and paint film protection, the painting apparatus of the present invention may be used in the protective layer application process. Furthermore, if a peelable protective layer is applied to protect the painted surface after the automobile is shipped or in the factory, the painting apparatus of the present invention can also be used to apply the protective layer. The peelable protective layer may be any material that adheres to the painted surface of the vehicle body and chemically or physically protects the painted area from dust, metal powder, oil, salt, acid, ultraviolet light, etc., and is preferably formed from a material primarily composed of an acrylic copolymer, for example.

[0152] The present invention can also be applied to a droplet ejection device that ejects droplets to limit the coating range to a specific location, such as a marking device that ejects droplets onto an object to mark a specific location.

[0153] Each function of the embodiments can be realized by one or more processing circuits. Here, the term "processing circuit" in this specification includes a processor programmed to perform each function by software, such as a processor implemented by an electronic circuit, as well as devices such as an ASIC (Application Specific Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and conventional circuit modules designed to perform each of the functions described above.

[0154] For example, aspects of the present invention are as follows. <1> A coating device comprising: a coating head that discharges liquid onto an object to paint the object; a movement mechanism that moves the coating head; a detection unit that outputs three-dimensional position information (E) relating to the three-dimensional positions of three or more feature points on the object; and a control unit that controls at least one of the discharge of the liquid by the coating head and the operation of the movement mechanism, wherein the control unit generates control information based on difference information (X) of the shape of the object obtained from object shape information (D) relating to the shape of the object and the three-dimensional position information (E), and controls at least one of the discharge of the liquid and the operation of the movement mechanism using the control information. <2> The control information is corrected path information (T2) obtained by correcting path information (T1) of the moving mechanism based on the object shape information (D). <1> 1 is a coating apparatus according to the present invention. <3> The control information is corrected image data (G1) corresponding to the path information (T1) of the moving mechanism or the corrected path information (T2). <2> 1 is a coating apparatus according to the present invention. <4> The object shape information (D) is design data of the object. <1> From the above <3> The coating device is described in any one of the above. <5> the control unit, in painting a first object, uses predetermined shape data of the object as the object shape information (D), and controls the first object to be painted based on the difference information (X) obtained from the object shape information (D) and the three-dimensional position information (E1) of the first object; and, in painting a second or subsequent object, uses the three-dimensional position information (E1) of the first object as the object shape information (Dn) of the second or subsequent object, and controls the second or subsequent object (n) to be painted based on the difference information (Xn) obtained from the object shape information (Dn) and the three-dimensional position information (En) of the second or subsequent object. <1> From the above <4> The coating device is described in any one of the above. <6> A plurality of objects are painted in order, and the control unit, in painting a first object, sets predetermined shape data of the object as the object shape information (D), and in painting a second or subsequent object, sets the three-dimensional position information (En-1) of the object detected immediately before as the object shape information (Dn) of the second or subsequent object. <1> From the above <4> The coating device is described in any one of the above. <7> The control unit ejects ink based on the corrected image data (G1). <3> 1 is a coating apparatus according to the present invention. <8> the control unit controls based on deviations of the position and inclination of the object relative to the object shape information (D) obtained from the object shape information (D) and the three-dimensional position information (E), <1> From the above <7> The coating device is described in any one of the above. <9> An information processing device capable of communicating with a coating device that coats an object with liquid ejected from a coating head, the information processing device generates control information based on difference information (X) of the shape of the object obtained from object shape information (D) relating to the shape of the object and three-dimensional position information (E) relating to the three-dimensional positions of three or more feature points on the object, and controls at least one of the ejection of the liquid and the operation of a movement mechanism using the control information. <10> This is a coating method using a coating device that paints an object with liquid ejected from a coating head, which includes outputting three-dimensional position information (E) relating to the three-dimensional positions of three or more feature points on the object, generating control information based on object shape information (D) relating to the shape of the object and difference information (X) of the object's shape obtained from the three-dimensional position information (E), and controlling at least one of the ejection of the liquid and the operation of the coating head movement mechanism using the control information. <11> This program causes a coating device to execute a process for controlling at least one of the discharge of liquid onto an object by a coating head and the operation of a movement mechanism. The program generates control information based on difference information (X) of the shape of the object obtained from object shape information (D) relating to the shape of the object and three-dimensional position information (E) relating to the three-dimensional positions of three or more feature points on the object, and causes a computer to control at least one of the discharge of liquid and the operation of the movement mechanism using the control information. [Explanation of symbols]

[0155] 11 heads 11-1, 11-2, 11-3, 11-4 Head 12, 12-1, 12-2, 12-3, 12-4 Detector 13, 13-1, 13-2, 13-3, 13-4 Movement mechanism 14 Supply mechanism 15 Maintenance mechanism 20, 20a Control section 21 Input section 22 Generation part 23, 23a correction section 24 Discharge control section 25 Supply control section 26 Maintenance control section 27 Movement control unit 28 Output section 31 CPU 32 ROM 33 RAM 34 HDD / SSD 35 Device connection I / F 36 Communication I / F 100 painting equipment 110 Housing 111 Supply Port 112 Collection Port 113 Connector 200 objects 201 Roof 202 Front window mounting area 203 Rear Panel 204 Roof side 205-1, 205-2 Roof molding groove 210-1, 210-2, 210-3, 210-4 Feature points 210-1D, 210-2D, 210-3D, 210-4D feature point data 211, 211-1, 211-2, 211-3, 211-4 Paint range 230 Compressor 311 Nozzle 321 Nozzle plate 322 Channel 324 Piezoelectric element 325 liquid 330 Liquid Tank 331 Pipe 332 Air regulator 333 Tube 340 Dispensing Module C1 Discharge control signal C2 supply control signal C3 sustain control signal C4 Movement control signal D. Object shape information E 3D position information S System Bus S1 plane T1, T1-1, T1-2, T1-3, T1-4 Relative movement path information T2 Correction Path Information Rx, Ry, Rz tilt amount Δf Front assembly distance Δr Rear mounting distance [Prior art documents] [Patent documents]

[0156] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-20846

Claims

1. a coating head that discharges a liquid onto an object to coat the object; a movement mechanism for moving the painting head; a detection unit that outputs three-dimensional position information (E) relating to three-dimensional positions of three or more feature points in the object; a control unit that controls at least one of the discharge of the liquid by the coating head and the operation of the movement mechanism; and The control unit generates control information based on difference information (X) of the shape of the object obtained from object shape information (D) regarding the shape of the object and the three-dimensional position information (E), and controls at least one of the discharge of the liquid and the operation of the movement mechanism using the control information.

2. 2. The coating device according to claim 1, wherein the control information is corrected path information (T2) obtained by correcting path information (T1) of the movement mechanism based on the object shape information (D).

3. 3. The coating device according to claim 2, wherein the control information is path information (T1) of the movement mechanism or corrected image data (G1) corresponding to the corrected path information (T2).

4. 2. The coating device according to claim 1, wherein the object shape information (D) is design data of the object.

5. The control unit In painting the first object, predetermined shape data of the object is set as the object shape information (D), Controlling to paint the first object based on the difference information (X) obtained from the object shape information (D) and the three-dimensional position information (E1) of the first object, In painting the second or subsequent objects, the three-dimensional position information (E1) of the first object is set as the object shape information (Dn) of the second or subsequent objects; 5. A coating device according to claim 1, wherein the coating device controls to paint the second and subsequent objects (n) based on the difference information (Xn) obtained from the object shape information (Dn) and the three-dimensional position information (En) of the second and subsequent objects.

6. Paint multiple objects in sequence, the control unit, in painting the first object, sets predetermined shape data of the object as the object shape information (D); A coating device as described in any one of claims 1 to 4, wherein, when painting the second or subsequent object, the three-dimensional position information (En-1) of the object detected immediately before is used as the object shape information (Dn) of the second or subsequent object.

7. The coating device according to claim 3 , wherein the control unit discharges the coating material based on the corrected image data (G1).

8. 2. The coating device according to claim 1, wherein the control unit further controls based on deviations of the position and inclination of the object relative to the object shape information (D) obtained from the object shape information (D) and the three-dimensional position information (E).

9. An information processing device capable of communicating with a coating device that coats an object with liquid discharged from a coating head, an information processing device that generates control information based on difference information (X) of the shape of the object obtained from object shape information (D) relating to the shape of the object and three-dimensional position information (E) relating to the three-dimensional positions of three or more feature points on the object, and controls at least one of the ejection of the liquid and the operation of the movement mechanism using the control information.

10. A coating method using a coating device that coats an object with liquid discharged from a coating head, comprising: outputting three-dimensional position information (E) relating to three-dimensional positions of three or more feature points in the object; A coating method comprising generating control information based on difference information (X) of the shape of the object obtained from object shape information (D) relating to the shape of the object and the three-dimensional position information (E), and controlling at least one of the ejection of the liquid and the operation of the coating head movement mechanism using the control information.

11. When the coating device executes a process for controlling at least one of the discharge of liquid onto an object by the coating head and the operation of the movement mechanism, A program that generates control information based on difference information (X) of the shape of the object obtained from object shape information (D) relating to the shape of the object and three-dimensional position information (E) relating to the three-dimensional positions of three or more feature points on the object, and causes a computer to control at least one of the ejection of the liquid and the operation of the movement mechanism using the control information.

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