Coating apparatus, coating control device, and coating control method

Abstract

To provide a coating apparatus capable of suppressing the occurrence of coating unevenness in a coating object.SOLUTION: The coating device includes a plurality of coating nozzles that periodically eject and apply a fluid to a coating object, a speed specifying unit that specifies an arrival time at which each coating nozzle arrives at each position on the coating object and a nozzle moving speed of each coating nozzle for each arrival time, a first ratio determining unit that determines a 1duty ratio that is a ratio of a coating time per cycle of each coating nozzle to the arrival time based on the nozzle moving speed, and a control unit that controls a coating operation of each coating nozzle by using the determined 1duty ratio.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a coating device, a coating control device, and a coating control method. [Background technology]

[0002] There is known a coating device equipped with a coating nozzle that coats a coating object with a fluid. Patent Document 1 discloses a coating device that has a single coating nozzle and controls the duty ratio of a fluid coating operation according to the movement speed of the coating nozzle, thereby uniformly coating the fluid on the coating object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-194627 Summary of the Invention [Problem to be solved by the invention]

[0004] From the viewpoint of quickly applying a fluid, it is conceivable to apply a fluid to a coating target by using multiple coating nozzles and varying the moving speed of the coating nozzles. In this case, the speed at which each coating nozzle passes each position on the coating target differs for each coating nozzle. Therefore, simply setting the duty ratio to optimize the coating operation of one coating nozzle does not ensure uniform application of the fluid to the coating target. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] (1) According to one aspect of the present disclosure, a coating device is provided. The coating device includes a plurality of coating nozzles that periodically spray and coat a coating target with a fluid; a speed determination unit that determines the arrival time for each coating nozzle to reach each position on the coating target and the nozzle movement speed of each coating nozzle for each arrival time; a first ratio determination unit that determines a first duty ratio, which is the ratio of the coating time per cycle of each coating nozzle to the arrival time, based on the nozzle movement speed; and a control unit that controls the coating operation of each coating nozzle using the determined first duty ratio. According to this aspect of the coating device, the coating operation is controlled using the first duty ratio, thereby appropriately controlling the coating amount of each coating nozzle at each position on the coating target. This reduces the occurrence of coating unevenness on the coating target. (2) The coating device of the above aspect may further include a simulation unit that simulates a coating-related quantity related to the coating amount of the fluid at each position on the coating target based on the first duty ratio, and a display unit that displays the results of the simulation. According to this aspect, the coating device includes a display unit that displays the results of the simulation of the coating-related quantity, so that the user can easily check the coating-related quantity. Therefore, the user can easily recognize coating unevenness that may occur on the coating target based on the results of the simulation of the coating-related quantity. (3) The coating device of the above aspect may further include a second ratio determination unit that determines a second duty ratio by multiplying the first duty ratio by a coefficient predetermined for each pre-defined region of the coating target, and the control unit may control the coating operation of each coating nozzle based on the second duty ratio. According to the coating device of this aspect, a user can pre-determine a coefficient for each pre-defined region of the coating target, taking into account the coating operation of the coating nozzle. This allows the user to control the coating operation of the coating nozzle at the time of arrival at each position on the coating target. [Brief explanation of the drawings]

[0007] [Figure 1]FIG. 2 is a block diagram of a coating apparatus according to the present embodiment. [Figure 2] FIG. 2 is an explanatory diagram showing a detailed configuration of an application execution unit in the present embodiment. [Figure 3] 4 is a flowchart showing the procedure of a coating control process in the present embodiment. [Figure 4] FIG. 3 is an explanatory diagram for explaining an example of a first control table in the present embodiment. [Figure 5] FIG. 4 is an explanatory diagram illustrating an example of area designation data in the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. Implementation: A1.Device configuration: FIG. 1 is a block diagram of a coating apparatus 100 according to this embodiment. The coating apparatus 100 applies a fluid to an object to be coated using a plurality of coating nozzles N1 to Nn (n is a natural number) that periodically spray the fluid. The object to be coated in this embodiment is a die used in hot forging. The fluid in this embodiment is a lubricating liquid. Note that the types of object to be coated and fluid are not limited to those described above. The object to be coated may be any industrial product or part, such as a vehicle, a vehicle part, an electronic device, or an electronic part. The fluid may also be a semiconductor photoresist, paint, anti-rust agent, adhesive, colorant, anti-reflective agent, or the like.

[0009] As shown in FIG. 1, the coating apparatus 100 includes a PC (personal computer) 10, a PLC (programmable logic computer) 20, a control unit 30, a coating execution unit 40, and a display unit 50. The PC 10, the PLC 20, the control unit 30, the coating execution unit 40, and the display unit 50 can exchange data with each other via a communication network 90. ​​The communication network 90 may be, for example, a wired LAN (local area network), a wireless LAN, or a peer-to-peer network using a dedicated cable. The PC 10, the PLC 20, and the display unit 50 are used to determine the conditions for applying a fluid to an object to be coated. The control unit 30 controls the coating operation based on the determined application conditions. The control unit 30 is configured by a microcomputer.

[0010] 2 is an explanatory diagram showing a detailed configuration of the coating execution unit 40 in this embodiment. FIG. 2 shows the coating execution unit 40 in a state where a part of the coating execution unit 40 (a nozzle unit 42 described below) is arranged between the upper mold UM and the lower mold LM, which are the objects to be coated. The coating execution unit 40 performs coating on the upper mold UM and the lower mold LM based on the coating operation controlled by the control unit 30. The coating execution unit 40 includes a coating robot 41 and a nozzle unit 42.

[0011] In this embodiment, the coating robot 41 is configured as a so-called industrial robot, such as a vertical articulated robot. A nozzle unit 42 is attached to the arm tip of the coating robot 41, i.e., the end effector portion. The coating robot 41 moves the nozzle unit 42 into an area Ar1 between the upper mold UM and the lower mold LM and moves the nozzle unit 42 along a predetermined path within the area Ar1. The coating robot 41 then moves the nozzle unit 42 out of the area Ar1.

[0012] The nozzle unit 42 includes a base 43 and multiple coating nozzles distributed across the upper and lower surfaces of the base 43. In FIG. 2, five coating nozzles N1, N3, N5, N7, and N9 are arranged on the upper surface of the base 43. Also, five coating nozzles N2, N4, N6, N8, and N10 are arranged on the lower surface of the base 43. Hereinafter, one of the multiple coating nozzles N1, N2, ... may be collectively referred to as "coating nozzle N." The number of coating nozzles N arranged on the upper and lower surfaces of the base 43 is not limited to five, and may be any number. Also, in FIG. 2, multiple coating nozzles N may be arranged in the depth direction, i.e., in a direction perpendicular to the direction from the upper mold UM to the lower mold LM and perpendicular to the arrangement direction of the five coating nozzles N1, N3, N5, N7, and N9. Each coating nozzle N periodically sprays fluid toward the upper mold UM or the lower mold LM, thereby coating the upper mold UM and the lower mold LM with the fluid. Hereinafter, the upper mold UM and the lower mold LM will be collectively referred to simply as the "coating target M." Each coating nozzle N is connected to a pipe to which a predetermined pressure is applied, and each pipe is provided with a fluid control valve capable of opening and closing at high speed. By controlling the opening and closing of this fluid control valve, the coating execution unit 40 can perform a coating operation while changing the duty ratio at high speed. Note that the duty ratio in this disclosure refers to the proportion of coating time per cycle of the coating nozzle N.

[0013] The display unit 50 displays various menu screens for controlling the coating apparatus 100 and the results of a simulation performed by the simulation unit 14, which will be described later. The display unit 50 may also have a function for accepting input from a user. The display unit 50 may be configured, for example, by a liquid crystal display having a touch panel function.

[0014] The PC 10 includes a CPU 10p and a memory 10m. The CPU 10p functions as a data acquisition unit 11, a speed specification unit 12, a first ratio determination unit 13, and a simulation unit 14 by executing programs stored in advance in the memory 10m.

[0015] The data acquisition unit 11 acquires target film thickness data, upper and lower limit data of the duty ratio, time-series speed data, and mechanical data. The speed identification unit 12 identifies the arrival time for each coating nozzle N to reach each position on the coating target M and the nozzle movement speed of each coating nozzle N for each arrival time. The first ratio determination unit 13 determines the ratio of the coating time per cycle of each coating nozzle N to the arrival time (hereinafter referred to as the "first duty ratio") based on the nozzle movement speed. The simulation unit 14 simulates coating-related quantities related to the amount of fluid applied at each position on the coating target M based on the first duty ratio. Details of the data acquired by the data acquisition unit 11 and the processing contents executed by the speed identification unit 12, the first ratio determination unit 13, and the simulation unit 14 will be described later.

[0016] The PLC 20 includes a CPU 20p and a memory 20m. The CPU 20p functions as an area designation unit 21 and a second ratio determination unit 22 by executing a program stored in advance in the memory 20m.

[0017] The area designation unit 21 designates and sets in advance a coefficient for each pre-divided area of ​​the application target M. In this embodiment, such designation is realized by accepting a coefficient designation by the user via the display unit 50 and designating the accepted coefficient. Details of the designation of the coefficient will be described later.

[0018] The second ratio determination unit 22 determines a second duty ratio, which will be described later. Specifically, the second ratio determination unit 22 calculates and determines the second duty ratio by multiplying the first duty ratio determined by the first ratio determination unit 13 by a coefficient specified by the area designation unit 21. The application execution unit 40 executes application based on the second duty ratio.

[0019] It should be noted that the above-mentioned PC 10, PLC 20, control unit 30, application execution unit 40, and display unit 50 do not need to be installed in the same physical location, but rather they need only be able to communicate with related devices.

[0020] A2. Application control process: 3 is a flowchart showing the procedure of the application control process in this embodiment. The "application control process" refers to a process for controlling the application operation of the application execution unit 40 to apply a liquid to the application target M. When the user uses the display unit 50 to instruct the application control process to be executed, the application control process is started.

[0021] In step S101, the data acquisition unit 11 acquires target film thickness data. "Target film thickness data" means a target film thickness value of the coating on the coating target M. The user determines and inputs a desired film thickness value of the coating on the coating target M in advance. Hereinafter, "step S" will be simply referred to as "S".

[0022] In S102, the data acquisition unit 11 acquires upper and lower limits of the duty ratio. The "upper and lower limits of the duty ratio" refer to the upper and lower limits of the duty ratio for each application nozzle N. The upper and lower limits of the duty ratio are predetermined based on the performance of the fluid control valve that switches the fluid on and off. The upper and lower limits of the duty ratio are also set taking into consideration the ease with which the fluid adheres to the object M and the possibility of the Leidenfrost phenomenon. The Leidenfrost phenomenon occurs when, when a liquid is dropped onto the surface of an object, if the surface temperature is above a certain level, the liquid is separated from the surface by evaporated gas, resulting in the surface not being wet. When the Leidenfrost phenomenon occurs, a layer of evaporated gas from the fluid forms between the fluid and the object M, significantly reducing application efficiency. Application at a duty ratio above a certain level increases the surface temperature of the object M, making the Leidenfrost phenomenon more likely to occur. Taking the above points into consideration, the user determines and inputs upper and lower limit values ​​for the duty ratio in advance.

[0023] In S103, the data acquisition unit 11 acquires time-series speed data. "Time-series speed data" means the movement speed data of each coating nozzle N over time. The time-series speed data is set by the user taking into consideration the cycle time constraints of the coating work and the movement path of each coating nozzle N. In this embodiment, the coating nozzle N is fixed to the nozzle unit 42 and moves integrally with the nozzle unit 42, but the coating nozzles N may each operate independently. Even in this case, time-series speed data for each coating nozzle N can be acquired.

[0024] In S104, the data acquisition unit 11 acquires mechanical data. "Mechanical data" refers to mechanical data relating to the shape of the object to be coated M and the arrangement and number of coating nozzles N. The user determines and inputs the mechanical data in advance. Note that S101 to S104 may be executed simultaneously or in any order.

[0025] In S105, the speed identification unit 12 calculates and identifies the time corresponding to the nozzle movement distance. "The time corresponding to the nozzle movement distance" means the movement distance of each coating nozzle N and the arrival time corresponding to that movement distance. The time corresponding to the nozzle movement distance is calculated from the time-series speed data input in S103. Since each coating nozzle N moves according to the time-series speed data, once the time corresponding to the nozzle movement distance is determined, the movement speed of each coating nozzle N at the arrival time for each movement distance is also determined. The time corresponding to the nozzle movement distance is used to calculate the nozzle movement speed, which will be described later.

[0026] In S111, the first ratio determination unit 13 calculates and determines an ideal duty ratio. The "ideal duty ratio" refers to the ideal duty ratio of each coating nozzle N per unit distance required to achieve a target coating film thickness. The ideal duty ratio is calculated based on the target film thickness data input in S101, the upper and lower limit value data of the duty ratio input in S102, and the time-series speed data input in S103. The ideal duty ratio of each coating nozzle N is generally set to a larger value as the movement speed of the coating nozzle N increases, taking into account the time-series speed data. In addition, the ideal duty ratio of each coating nozzle N is calculated taking into account the cumulative coating film thickness of each coating nozzle N. For example, the coating nozzles N1, N3, N5, N7, and N9 shown in FIG. 2 are arranged along the direction of entry into the coating target M, so that multiple coating nozzles N pass through a certain point on the coating target M. Therefore, even if the target coating film thickness is not reached at a certain point on the coating target M when the duty ratio of coating nozzle N1 is set to the upper limit value, coating can be performed by coating nozzle N3, which is the subsequent coating nozzle. In this case, the target coating film thickness for coating by coating nozzle N3 is the target film thickness value before coating by coating nozzle N1 minus the coating film thickness applied by N1. In this way, the ideal duty ratio for each coating nozzle N per unit distance is calculated taking into account the cumulative coating film thickness at each position on the coating target M so that the coating film thickness at each position on the coating target M is uniform.

[0027] In S112, the speed identification unit 12 calculates and identifies the nozzle movement speed. The "nozzle movement speed" refers to the arrival time for each coating nozzle N to reach each position on the coating target M and the nozzle movement speed of each coating nozzle N for each arrival time. The nozzle movement speed is calculated based on the time corresponding to the nozzle movement distance calculated in S105 and the mechanical data input in S104. Each coating nozzle N moves on the coating target M based on the time corresponding to the nozzle movement distance. Therefore, the arrival time of each coating nozzle N at each position on the coating target M is determined, and the nozzle movement speed of each coating nozzle N for each arrival time is determined. Note that the nozzle movement speed may be the relative speed of the coating nozzle N with respect to the coating target M. In other words, the coating target M may be configured to be movable when coating a fluid, and the speed at which the coating target M moves relative to the coating nozzle N may be used as the nozzle movement speed.

[0028] In S113, the speed identification unit 12 calculates and identifies the nozzle position. The "nozzle position" means the position of each application nozzle N on the object to be coated M for each arrival time at each position on the object to be coated M. The nozzle position is calculated based on the time-series speed data input in S103 and the mechanical data input in S104.

[0029] In S120, the first ratio determination unit 13 calculates and determines a first duty ratio for each coating nozzle N. The "first duty ratio for each coating nozzle N" refers to the first duty ratio for each coating nozzle N at the arrival time when the coating nozzle N reaches each position on the coating target M. The first duty ratio for each coating nozzle N is calculated based on the ideal duty ratio calculated in S111 and the nozzle movement speed calculated in S112. The nozzle position for each coating nozzle N calculated in S113 is calculated to correspond to the first duty ratio for each arrival time and is used to calculate the coating timing in S141, which will be described later. A first control table D12 is output based on the first duty ratio for each coating nozzle N. The first control table D12 indicates the first duty ratio for each coating nozzle N for each unit time and the position of each coating nozzle N on the coating target M for each unit time. As will be described later, the control unit 30 controls the coating operation of each coating nozzle N using the first duty ratio indicated in the first control table D12.

[0030] 4 is an explanatory diagram for explaining an example of the first control table D12 in this embodiment. As shown in Fig. 4, the first control table D12 shows the duty ratios of the application nozzles N1, N2, ..., Nn every 0.1 seconds and the positions of each application nozzle N1, N2, ..., Nn every 0.1 seconds.

[0031] In S121, the area designation unit 21 designates area designation data. "Area designation data" refers to data that displays, for each area of ​​the object to be coated M, a coefficient that is predetermined for each pre-divided area of ​​the object to be coated M. In this embodiment, the "coefficient" is designated as an arbitrary number between 10 and 100 (%). When the target coating film thickness differs for each area of ​​the object to be coated M, as in this embodiment, the user can adjust the coating operation by adjusting the coefficient for each area according to the target coating film thickness. This allows the user to adjust the coating film thickness for each area of ​​the object to be coated M.

[0032] Fig. 5 is an explanatory diagram illustrating an example of region designation data in this embodiment. As shown in Fig. 5, the region designation data indicates a coefficient for each pre-demarcated region of the mold, which is the object to be coated M. For example, an area indicated as 65% in Fig. 5 indicates that coating will be performed with a coating film thickness that is 65% of the area indicated as 100%. Note that the user can appropriately change the way the object to be coated M is demarcated and the numerical values ​​of the coefficients depending on the properties of the object to be coated M and the fluid, etc.

[0033] As shown in FIG. 3, the second ratio determination unit 22 calculates and determines the second duty ratio of each coating nozzle N. In S130, the "second duty ratio of each coating nozzle N" refers to the second duty ratio of each coating nozzle N at the time it takes to reach each position on the coating target M. The second duty ratio of each coating nozzle N is calculated based on the first duty of each coating nozzle calculated in S120 and the area designation data input in S121. More specifically, the second duty ratio can be obtained by multiplying the first duty ratio by a coefficient predetermined for each pre-defined area of ​​the coating target M. A second control table D13 is output based on the second duty ratio of each coating nozzle N. As will be described later, the control unit 30 controls the coating operation of each coating nozzle N based on the second duty ratio indicated in the second control table D13. The second control table D13 has a configuration similar to that of the first control table D12 described in FIG. 4, and therefore will not be described here.

[0034] In S131, the control unit 30 controls the coating operation of each coating nozzle N based on the second duty ratio indicated in the second control table D13. In S132, the coating execution unit 40 executes coating based on a command from the control unit 30.

[0035] Since it takes a certain amount of time to switch the duty ratio ON and OFF, even if fluid is applied based on the first duty ratio, the ON-OFF switching time of the duty ratio may cause uneven application on the application target M. Therefore, in S141 and S142, the simulation unit 14 simulates the amount related to the application amount of fluid at each position on the application target M (hereinafter referred to as "application-related amount") based on the first duty ratio.

[0036] In S141, the simulation unit 14 simulates the application timing. The "application timing" refers to the timing of application of each application nozzle N to the application target M when application is performed based on the determined first duty ratio. Data related to the application timing is used to calculate the accumulated application time, which is an application-related quantity, as will be described later.

[0037] In S142, the simulation unit 14 simulates an accumulated application time. The "accumulated application time" refers to the accumulated application time of the fluid at each position on the object M, which is assumed when application is performed based on the determined first duty ratio. The accumulated application time is calculated based on the application timing calculated in S141. The display unit 50 displays a uniformity confirmation graph D14 output based on the accumulated application time at each position on the object M as a result of the simulation by the simulation unit 14. The user can recognize the uniformity of the application on the object M and any uneven application of the fluid that may occur on the object M, based on the accumulated application time at each position on the object M. The user can also further consider the conditions for achieving uniform application on the object M by, for example, changing the target application film thickness input in S101.

[0038] According to the coating apparatus 100 of the embodiment described above, the coating apparatus 100 controls the coating operation based on the first duty ratio, and therefore can appropriately control the coating amount of each coating nozzle N at each position on the coating target M. As a result, the occurrence of coating unevenness on the coating target M can be suppressed.

[0039] Furthermore, according to the coating apparatus 100 of the embodiment, the coating apparatus 100 includes a display unit 50 that displays the results of the simulation of the coating-related quantities, allowing the user to easily check the coating-related quantities. Therefore, the user can easily recognize coating unevenness that may occur on the coating target M based on the results of the simulation of the coating-related quantities.

[0040] Furthermore, according to the coating device 100 of the embodiment, the user can predetermine the coefficient for each pre-divided region of the coating target M in consideration of the coating operation of the coating nozzle N. This allows the user to control the coating operation of the coating nozzle N at the time when the coating target M reaches each position.

[0041] B. Other Embodiments: (B1) In this embodiment, the coating apparatus 100 has the simulation unit 14 and the display unit 50, but at least one of these may be omitted. Even if the coating apparatus 100 does not have at least one of the simulation unit 14 and the display unit 50, the control unit 30 can control the coating operation of each coating nozzle N by using the first duty ratio.

[0042] (B2) In this embodiment, the coating apparatus 100 has the area designation unit 21 and the second ratio determination unit 22, but at least one of these may be omitted. In a configuration in which the coating apparatus 100 does not have at least one of the area designation unit 21 and the second ratio determination unit 22, the coating conditions of the fluid on the coating target M may be determined based on the first duty ratio determined by the first ratio determination unit 13 of the PC 10. In this case, a coefficient is not specified for each partitioned area of ​​the coating target M, so the target film thickness value is the same over the entire surface of the coating target M.

[0043] (B3) In this embodiment, the coating apparatus 100 has the data acquisition unit 11, but the data acquisition unit 11 may be omitted. In a configuration without the data acquisition unit 11, the speed identification unit 12 may identify the nozzle movement speed of each coating nozzle N based on information that is input in advance to the PC 10 and stored in the memory 10m. Similarly, in the above configuration, the first ratio determination unit 13 may determine the first duty ratio of each coating nozzle N based on the information stored in the memory 10m.

[0044] (B4) In the present embodiment, the application-related amount is the cumulative application time of the fluid at each position on the application target M that is assumed when application is performed based on the first duty ratio, but the present disclosure is not limited to this. The application-related amount may be the cumulative application time that is assumed when application is performed based on the second duty ratio. Furthermore, the application-related amount is not limited to the cumulative application time, and may be any amount related to the amount of application of the fluid. For example, it may be the amount of application of the fluid that is assumed when application is performed.

[0045] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0046] 10...PC, 10p...CPU, 10m...memory, 11...data acquisition unit, 12...speed identification unit, 13...first ratio determination unit, 14...simulation unit, 20...PLC, 20p...CPU, 20m...memory, 21...area designation unit, 22...second ratio determination unit, 30...control unit, 40...coating execution unit, 41...coating robot, 42...nozzle unit, 43...base, 50...display unit, 90...communication network, 100...coating device, Ar1...area, D12...first control table, D13...second control table, D14...uniformity confirmation graph, M...coating object, LM...lower mold, UM...upper mold, N...coating nozzle

Claims

1. A coating device comprising: a plurality of application nozzles that periodically spray fluid onto an object to be applied; a speed specifying unit that specifies an arrival time for each of the application nozzles to reach each position on the application target and a nozzle movement speed of each of the application nozzles for each of the arrival times; a first ratio determination unit that determines a first duty ratio, which is a ratio of a coating time per one cycle of each coating nozzle to the arrival time, based on the nozzle movement speed; a control unit that controls a coating operation of each of the coating nozzles by utilizing the determined first duty ratio; An application device comprising:

2. The coating device according to claim 1 , a simulation unit that simulates an application-related amount related to the application amount of the fluid at each of the positions on the application target based on the first duty ratio; The coating apparatus further comprises a display unit that displays a result of the simulation.

3. The coating device according to claim 1 , a second ratio determination unit that determines a second duty ratio by multiplying the first duty ratio by a coefficient that is predetermined for each pre-divided area of ​​the object to be coated, The control unit controls the coating operation of each of the coating nozzles based on the second duty ratio.

4. A control device that controls application of a fluid to a coating target by a plurality of coating nozzles that periodically spray the fluid, a speed specifying unit that specifies an arrival time for each of the application nozzles to reach each position on the application target and a nozzle movement speed of each of the application nozzles for each of the arrival times; a first ratio determination unit that determines a first duty ratio, which is a ratio of a coating time per one cycle of each coating nozzle to the arrival time, based on the nozzle movement speed; a control unit that controls a coating operation of each of the coating nozzles by utilizing the determined first duty ratio; A control device comprising:

5. A control method for controlling application of a fluid to a coating target by a plurality of application nozzles that periodically spray the fluid, comprising: A step of identifying arrival times for each of the application nozzles to reach each position on the application target and nozzle movement speeds of each of the application nozzles for each of the arrival times; determining a first duty ratio, which is a ratio of a coating time per one cycle of each coating nozzle to the arrival time, based on the nozzle movement speed; controlling the coating operation of each of the coating nozzles by utilizing the determined first duty ratio; A control method comprising:

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