Method and system for generating a path and painting an object along the path

Abstract

To provide a method and system for robotically painting an object.SOLUTION: In one example, the method includes providing a scanner robotic mechanism. The scanner robotic mechanism includes a 3D scanner, a robot, and at least one processor. An object is detected and an area to be painted is determined with a 3D scanner in communication with the at least one processor. Using at least one processor, a robot path for painting the area is generated. The applicator is held offset from the area of the object with a robot in communication with the at least one processor. The applicator is in fluid communication with a paint supply containing paint. The applicator is moved along the robotic path with a robot in communication with the at least one processor while depositing paint from the applicator onto the area of the object.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority to and the benefit of all U.S. Provisional Application No. 63 / 265,940, filed December 23, 2021, the contents of which are incorporated herein by reference in their entirety.

[0002] (Technical field) The technical field relates generally to coating, and more particularly to methods and systems for generating a robotic path and moving an applicator (e.g., a spray gun or other applicator that applies paint) operably coupled to the robot along the robotic path to paint an object using the applicator. [Background technology]

[0003] A paint booth is a structure that provides a ventilated, air-filtered, and temperature-controlled environment in which objects can be painted. Because painting operations involve the dispensing of paint ingredients, such as solvents and particulate matter, that must not enter the atmosphere in significant quantities, a paint booth is necessary to safely carry out such activities. As a result, the environment within a paint booth is confined and requires a high degree of control and expertise. Trained and experienced personnel are often difficult to find and retain, and specialized personal protective equipment (PPE) is required to work in such hazardous, confined spaces. Summary of the Invention [Problem to be solved by the invention]

[0004] It would therefore be desirable to provide a method and system for painting an object that addresses one or more of the problems set forth above. Furthermore, other desirable features and characteristics of the present disclosure will become apparent from the following detailed description and appended claims, considered in conjunction with this background. [Means for solving the problem]

[0005] A method and system for robotically painting an object are provided herein. According to an exemplary embodiment, the method includes providing a scanner robot mechanism. The scanner robot mechanism includes a 3D scanner, a robot, and at least one processor in communication with the 3D scanner and the robot. The method further includes detecting the object with the 3D scanner in communication with the at least one processor. The 3D scanner in communication with the at least one processor determines an area of ​​the object to be painted. A robot path for painting the area is generated using the at least one processor. An applicator is held offset from the area of ​​the object by the robot in communication with the at least one processor. The applicator is in fluid communication with a paint source containing paint. The method further includes moving the applicator along the robot path with the robot in communication with the at least one processor while depositing paint from the applicator onto the area of ​​the object.

[0006] According to an exemplary embodiment, a system includes a scanner robot mechanism. The scanner robot mechanism includes a 3D scanner configured to scan an object, a robot, and at least one processor in communication with the 3D scanner and the robot. The 3D scanner in communication with the at least one processor is cooperatively configured to detect the object and determine an area of ​​the object to be painted. The at least one processor is operable to generate a robot path for painting the area. The system further includes an applicator configured in fluid communication with a paint source containing paint. The robot in communication with the at least one processor is cooperatively configured to hold the applicator offset from the area of ​​the object and move the applicator along the robot path while depositing paint from the applicator on the area of ​​the object.

[0007] Various embodiments are now described in conjunction with the following drawings, in which like numerals refer to like elements and in which: [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram of a method for robotically painting an object in accordance with an illustrative embodiment. [Figure 2] FIG. 2 is a perspective view of an applicator configured as a printhead in accordance with an exemplary embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] The following detailed description is merely exemplary in nature and is not intended to limit the various embodiments or their application and uses. Furthermore, there is no intention to be bound by the preceding background or any theory presented in the following detailed description.

[0010] As used herein, the term "overlying" means that the overlying material can be physically in contact with the underlying substrate or layer, or that the overlying material can be physically separated from the underlying substrate or layer by an intervening layer, such as an overlying clear coat, which can be separated from the underlying substrate or layer (e.g., a primer layer) by a base coat. It is understood that components or objects can rotate or move, so a reference to a component, object, or article (layer) being over another component, object, or article (layer) refers to a particular orientation, with the understanding that the actual component, object, or article (layer) can be rotated to a different orientation.

[0011] Various embodiments contemplated herein relate to methods and systems for robotically painting an object. With reference to FIG. 1 , a method 100 for robotically painting an object is provided according to an exemplary embodiment. The object may be a part, e.g., a component such as a vehicle body or trim panel (e.g., an exterior or interior body or trim panel), which may be freestanding, attached to a fixture, or attached to a vehicle, or an assembly of, e.g., vehicle components, a portion thereof, or the like.

[0012] In an exemplary embodiment, method 100 includes providing a paint area (STEP 102), which can be a paint booth or the interior of a paint booth or simply a general area designated for painting. The paint booth is configured, for example, as a ventilated, air-filtered, and temperature-controlled structure that provides an environment in which painting of objects can occur. The structure includes openings or doors that allow various objects, components, parts, materials, articles, and / or the like to be moved into and out of the paint booth as needed or otherwise desired, as well as personnel access.

[0013] A scanner robot mechanism is provided (STEP 104). The scanner robot mechanism includes a 3D scanner, a robot, and at least one processor in communication with the 3D scanner and the robot.

[0014] The 3D scanner is configured to scan an object and generate data corresponding to the surface (e.g., surface data) and / or 3D shape of the object (e.g., part or all of the object). In an exemplary embodiment, at least one processor instructs the 3D scanner to scan the object and generate data. As described in further detail below, the data is communicated to the at least one processor for processing to determine the surface, an area or portion of the surface, and / or the 3D shape of the object and / or identify the object. In an exemplary embodiment, the 3D scanner is a non-contact scanner, such as, for example, an ultra-wideband (UWB) scanner, a camera scanner, a time-of-flight (TOF) camera, an acoustic scanner, a laser scanner, and a light detection and ranging laser (LiDAR) scanner. In one example, the 3D scanner generates a point cloud as data corresponding to the 3D shape of an area of ​​the object. In an alternative embodiment, the 3D scanner is a contact scanner, such as a probe that physically contacts the surface along a grid pattern and generates wireframe data corresponding to the surface and / or 3D shape of the object. In an exemplary embodiment, the 3D scanner is a combination of a non-contact scanner and a contact scanner.

[0015] In an exemplary embodiment, the robot includes a base and an arm disposed on the base for movement along multiple axes, for example, the robot may be a 3-axis, 4-axis, 5-axis, 6-axis, or 7-axis robot.

[0016] In an exemplary embodiment, the at least one processor is part of a computer. A computer can be used as a device for implementing the techniques and methods described herein. A computer can include input devices such as a keyboard, a mouse, an electronic communication device such as a modem, or various other communication devices. The input devices communicate with at least one processor (processing unit) and / or memory of the computer, and the processing unit and memory communicate with each other. A wide variety of processing unit and memory embodiments are known to those skilled in the art. The computer also includes an output device. Other exemplary embodiments of an output device include a modem, a printer, or other components known to those skilled in the art. The methods and techniques described below can be implemented on a computer.

[0017] The computer-readable medium embodies a computer program, which may include one or more algorithms, that instructs a computer to perform the methods and techniques described below. The computer-readable medium can be an SD card, a USB storage medium, a floppy disk, a CD-ROM, a DVD, a hard drive, or other device that is readable by a computer and includes memory for storing a computer program. In some embodiments, the computer program can be electronically downloaded to a computer, and the downloaded computer program is stored on some tangible device.

[0018] In an exemplary embodiment, the 3D scanner is disposed on a robot, for example, on the base of the robot, or alternatively, on the arm of the robot. The robot can be provided inside or outside the paint booth (or painting area). For example, the robot can be a floor-mounted robot disposed within the paint booth (or painting area) and attached to the floor at a fixed position. Alternatively, the robot can be a mobile robot configured to enter and exit the paint booth (or painting area) as needed. In one example, the 3D scanner is disposed on the arm of a robot attached to the floor within the paint booth, and the robot communicates with at least one processor to control the movement of the arm, which in turn controls the 3D scanner for scanning objects. In another example, the 3D scanner is disposed on the base of a mobile robot, and the robot communicates with at least one processor to control the movement of the robot, which in turn controls the 3D scanner for scanning objects. Alternatively, the 3D scanner can be attached to the arm of a mobile robot, and the robot communicates with at least one processor to control the movement of the arm, which in turn controls the 3D scanner for scanning objects.

[0019] Alternatively, the 3D scanner is disposed on a rail gantry system. The rail gantry system can be provided inside or outside the paint booth (or painting area). The 3D scanner is operably coupled to the rail gantry system, e.g., movably disposed on the rail gantry system, which communicates with at least one processor to control the movement of the rail gantry system and, consequently, the 3D scanner that scans the object. In another alternative embodiment, the 3D scanner is carried by a drone. The drone is movable inside and optionally outside the paint booth (or painting area). The 3D scanner is operably coupled to the drone, e.g., carried by the drone, which communicates with at least one processor to control the movement (e.g., flight, landing, etc.) of the drone and, consequently, the 3D scanner that scans the object.

[0020] In an exemplary embodiment, the 3D scanner, while in communication with the at least one processor, detects or otherwise locates the object (STEP 106). For example, the object can be moved into the general area of ​​a paint booth (or painting area). Alternatively, the object can be outside the paint booth (or painting area) and in a general area near the paint booth (or painting area). The 3D scanner, whether located on a robot or rail gantry system, scans the general area including the object and communicates the scan data to the at least one processor, which uses the scan data to locate the object within the general area, including the object's position and / or orientation.

[0021] As described above, the at least one processor directs the 3D scanner to scan and collect surface data of the object, which is communicated to the at least one processor for processing to determine the surface and / or 3D shape of the object and / or identify the object. Furthermore, the 3D scanner and the at least one processor cooperate to determine areas of the object to be painted (STEP 108). For example, the at least one processor may be operable to execute an algorithm that directs the at least one processor to evaluate the data and determine the 3D shape of the object. The at least one processor may use the algorithm to evaluate the surface data and / or the 3D shape to identify areas or portions of the object's surface that require or otherwise require paint repair and / or refinishing.

[0022] In exemplary embodiments, the identifier is applied (e.g., manually or otherwise) to the area of ​​the object to be painted (e.g., partially or completely surrounding the area requiring paint repair and / or refinishing). Non-limiting examples of identifiers include a non-contact sensing device, such as radio frequency identification (RFID) tape, colored tape, RFID tags, ultra-wideband (UWB) devices, color contrast borders, and / or polygonal borders including corners or other tape or border masking material that can be readily identified by a 3D scanner in communication with at least one processor. In exemplary embodiments, the object including the identifier is scanned with a 3D scanner, and the at least one processor determines the area to be painted using the identifier's location data. For example, the at least one processor can recognize a polygonal RFID tape border and determine that the area located inside the RFID tape border is the area to be painted.

[0023] Alternatively or additionally, the at least one processor may be in communication with and have access to a database, e.g., including a plurality of different parts / objects requiring painting or additional painting, e.g., including a plurality of corresponding 3D shapes, areas, and / or portions of the surfaces of the various parts / objects that are unfinished or at least partially unpainted. In an exemplary embodiment, the at least one processor matches the surface data and / or 3D shapes to specific parts / objects in the database that include corresponding areas to be painted (e.g., matches the surface data / 3D shapes to the corresponding 3D shapes of the specific parts / objects).

[0024] In an exemplary embodiment, the at least one processor uses an algorithm and / or a database to determine a particular paint formula, including color and any special effects, and parameters (e.g., process parameters or process specifications, including speed, index, offset distance, air pressure, number of coats, flash time, drop frequency, and / or others) to be used to paint the area of ​​the object. In an exemplary embodiment, the at least one processor is used to select a paint color by one of: (1) scanning a vehicle identification number (VIN) with a 3D scanner or an additional scanner in communication with the at least one processor that accesses a database to obtain the color and paint formula; (2) measuring the color of the object using a color measurement device in communication with the at least one processor that accesses the database to obtain the color and paint formula; (3) inputting a color code of the object into the at least one processor that accesses the database to obtain the color and paint formula; (4) inputting a part number of the object into the at least one processor that accesses the database to obtain the color and paint formula; and / or (5) the at least one processor retrieving a color corresponding to the object from a database containing a corresponding paint formula. In one example, a color measuring device is used to measure color, which can measure color and sparkle appearance (e.g., the appearance of aluminum flakes, effect pigments, mica, etc.) at various deflection angles of 15, 45, and / or 110 degrees, including, for example, solid colors defined by a set of three color dimensions (i.e., L*45, a*45, b*45) and effect colors defined by eleven color and sparkle dimensions (i.e., L*15, a*15, b*15, L*45, a*45, b*45, L*110, a*110, b*110, Sg15, Sg45).

[0025] Method 100 proceeds with generating (STEP 110) a robot path (e.g., a path to be followed by the robot end of the arm) for painting the area using at least one processor. Various embodiments for generating the robot path are provided. In an exemplary embodiment, the robot path is generated by converting a 3-D shape of the area of ​​the object into a robot path using at least one processor executing an algorithm operative to generate robot paths corresponding to various 3-D shapes. In another embodiment, the robot path is generated by inputting a 2-D pattern into at least one processor, with the at least one processor executing an algorithm that converts the 2-D pattern into a robot path, using the 3-D shape of the area of ​​the object. In yet another embodiment, the robot path is generated by using the data to generate a point cloud corresponding to the 3-D shape of the area of ​​the object, and using at least one processor executing an algorithm to generate a robot path offset from the point cloud. In another embodiment, the robot path is generated by using the data to generate a CAD rendering including the 3-D shape of the area of ​​the object, and using at least one processor executing an algorithm to generate a robot path offset from the CAD rendering of the 3-D shape of the area.

[0026] As described above, during detection and determination of the area of ​​the object to be painted and robot path generation, the object can be inside or outside the paint booth (or painting area). If the object is outside the paint booth (or painting area), the object is moved inside the paint booth (or painting area) for painting. In an exemplary embodiment, since the object's position and / or orientation may have been determined in an area outside the paint booth (or painting area), the object is moved and positioned to a predetermined location known to at least one processor within the paint booth (or painting area) to avoid refinding and / or redetecting the object, including its position and / or orientation, so that the object's area can be accurately painted inside the paint booth (or painting area). Furthermore, if the robot is a mobile robot and is located outside the paint booth (or painting area) during detection and determination of the area of ​​the object to be painted, the mobile robot is moved into the paint booth (or painting area) before painting the object.

[0027] In an exemplary embodiment, with both the object and the robot positioned within the paint booth (or painting area), method 100 proceeds to step 112 of holding an applicator offset from the area of ​​the object on a robot (e.g., at the end of the robot's arm) in communication with at least one processor. In an exemplary embodiment, the applicator is a spray gun, for example, in a refinish paint setting / application, or alternatively, in an industrial painting setting / application. In another exemplary embodiment, the applicator is a printhead, for example, in a refinish paint setting, or alternatively, in an industrial painting setting. In another exemplary embodiment, the applicator is a rotary bell applicator, for example, in an industrial painting setting.

[0028] Referring to FIG. 2 , in an exemplary embodiment, a high-transfer-efficiency applicator 16 is used to eject the coating composition. The coating composition 10 is ejected from one or more nozzles in a designed / controlled manner to form a fine stream that may or may not break up into droplets. The fluid stream is targeted at the substrate 12 so that the jet or droplets reach specific locations to form a continuous film or pattern on the substrate 12. This results in essentially no overspray (droplets missing the target) and near 100% transfer efficiency (essentially all of the paint goes to the target location). In an exemplary embodiment, the transfer efficiency of the coating composition deposited on the substrate 12 is 99.9% or greater. Some allowance should be made for starting and stopping the high-transfer-efficiency applicator 16. This type of device has been called a drop-on-demand, stream-on-demand, overspray-free, or ultra-high-transfer-efficiency applicator. High transfer efficiency applicators 16 are distinguished from spray atomization techniques in which energy, such as air pressure, hydraulic pressure, or centrifugal energy, is introduced to create a partially controlled, random distribution of droplet size, trajectory, and velocity. The droplets of coating composition 10 can then be directed to the substrate 12 by some additional mechanism (electrostatics and / or shaping air). With paint sprays, there is always some overspray and loss of transfer efficiency.

[0029] In an exemplary embodiment, the high transfer efficiency applicator 16 is housed in or comprises a portion of a printhead assembly 22. The printhead assembly 22 can comprise one or more high transfer efficiency applicators 16 in different embodiments. The coating composition 10 is ejected under pressure from the high transfer efficiency applicator 16 toward the substrate 12 to form a coating layer 14 on the substrate 12. The printhead assembly 22 does not contact the substrate 12 during application of the coating composition 10 and therefore remains spatially separated from the substrate 12 during application of the coating layer 14. The coating layer 14 has a coating layer thickness 24, which can vary across the length and / or width of the coating layer surface 28. In an exemplary embodiment, the printhead assembly 22 is positioned or disposed at a distance of 1 to about 30 millimeters from the substrate 12 during application of the coating composition 10. The printhead assembly 22 can be controlled to move over the substrate 12 to make multiple subsequent passes to provide the coating layer 14 on the substrate 12, and both the coating layer 14 and the substrate 12 can be wider than the printhead assembly 22. In alternative embodiments, multiple printhead assemblies 22 can be utilized to apply the coating layer 14. In one embodiment, a second applicator 26 can be used to apply the fluid 18 (e.g., gas, shaping air) from the jetting 20 onto the surface 28 of the coating layer 14.

[0030] Referring to Figure 1, the applicator is in fluid communication with a paint supply containing paint. The paint formulation can be, for example, a primer formulation, a sealer formulation, a basecoat formulation, a clearcoat formulation, a topcoat formulation, and / or a tintcoat formulation. Non-limiting examples of various components that may be present in the paint formulation include one or more types of resins, such as acrylic resins, epoxy resins, polyurethane resins, and / or the like, various additives, accelerators, curing agents, water and / or solvent-based carriers that flash off during drying or curing of the paint formulation, colorants, effect pigment flakes, interference flakes, color pigments, and / or the like.

[0031] In an exemplary embodiment, method 100 proceeds to moving the applicator along a robotic path (STEP 114) with a robot in communication with the at least one processor (e.g., via moving the robot's arm) while depositing paint from the applicator onto the area of ​​the object (e.g., via a spray (e.g., atomization), a stream, etc.). In an exemplary embodiment, the applicator is moved along the robotic path over the surface of the area of ​​the object to provide complete coverage of the area with a desired coating thickness of paint.

[0032] In an exemplary embodiment, the applicator is a first applicator, the paint source is a first paint source, and the paint is a first coating. Method 100 includes moving the first applicator along a robotic path with a robot in communication with at least one processor while depositing a first coating from the first applicator onto an area of ​​the object. Method 100 optionally proceeds to allowing the first coating to flash after being deposited onto the area of ​​the object and releasing the first applicator from the robot. A second applicator is held offset from the area of ​​the object by the robot in communication with the at least one processor. The second applicator is in fluid communication with a second paint source containing the second coating. The second applicator is moved along a robotic path with the robot in communication with the at least one processor while depositing a second coating from the second applicator onto an area of ​​the object above the first coating.

[0033] In an exemplary embodiment, the method 100 optionally proceeds with allowing the second coating to flash after being deposited on the area of ​​the object and releasing the second applicator from the robot. A third applicator is held offset from the area of ​​the object by the robot in communication with at least one processor. The third applicator is in fluid communication with a third paint source containing the third coating. The third applicator is moved along a robot path by the robot in communication with the at least one processor while depositing the third coating from the third applicator onto the area of ​​the object above the second coating. In an exemplary embodiment, the third coating is optionally flashed, and the first, second, and third coatings are cured. In an exemplary embodiment, multiple layers of the first coating, the second coating, and independently the third coating can be deposited. Further, in exemplary embodiments, the first coating, the second coating, and the third coating are independently selected from the group of a primer, a sealer, a basecoat, a clearcoat, a topcoat, and / or a tintcoat.

[0034] While at least one exemplary embodiment has been presented in the foregoing detailed description of the present disclosure, it should be understood that numerous variations exist. It should also be understood that the exemplary embodiment or embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of the present disclosure in any way. Rather, the foregoing detailed description provides those skilled in the art with a convenient road map for implementing exemplary embodiments of the present disclosure. It should be understood that various changes can be made in the function and arrangement of elements described in the exemplary embodiments without departing from the scope of the present disclosure, which is defined in the appended claims. [Explanation of symbols]

[0035] 10 Coating composition 12 PCB 14 Coating Layer 16 High transfer efficiency applicator 22 Printhead Assembly 24 Coating layer thickness 28 Coating layer surface

Claims

1. 1. A method for robotically painting an object, comprising: providing a scanner robot mechanism comprising a 3D scanner, a robot, and at least one processor in communication with the 3D scanner and the robot; detecting an object with the 3D scanner in communication with the at least one processor; determining, using the 3D scanner in communication with the at least one processor, an area of ​​the object to be painted; generating, with the at least one processor, a robot path for painting the area; using the robot, in communication with the at least one processor, to hold an applicator offset from the area of ​​the object, the applicator in fluid communication with a paint source containing paint; moving the applicator along the robot path in communication with the at least one processor while depositing the paint from the applicator onto the area of ​​the object; A method comprising:

2. 2. The method of claim 1, wherein detecting the object comprises scanning the object with the 3D scanner to generate data, and determining the area of ​​the object to be painted comprises the at least one processor using the data to determine a 3D shape of the object.

3. 3. The method of claim 2, wherein the method further comprises applying an identifier for the area of ​​the object to be painted, wherein detecting the object comprises scanning the object including the identifier with the 3D scanner, and wherein determining the area comprises the at least one processor determining the area to be painted using the identifier.

4. 4. The method of claim 3, wherein the identifier comprises a contactless sensing device selected from radio frequency identification (RFID) tape, colored tape, an RFID tag, an ultra-wideband (UWB) device, a color contrast border, a polygonal border with corners, or combinations thereof.

5. generating the robot path comprises: (i) converting the 3D shape of the area of ​​the object into a robot path using the at least one processor executing an algorithm operative to generate robot paths corresponding to various 3D shapes; (ii) using the 3D shape of the area of ​​the object with the at least one processor inputting a 2D pattern into the at least one processor and executing an algorithm that transforms the 2D pattern into the robot path; (iii) using the data to generate a point cloud corresponding to the 3D shape of the area of ​​the object, and using the at least one processor running an algorithm to generate the robot path offset from the point cloud; and (iv) using the data to generate a CAD rendering including the 3D shape of the area of ​​the object, and using the at least one processor executing an algorithm to generate the robot path offset from the CAD rendering of the 3D shape of the area; The method of claim 2 , comprising at least one of:

6. 6. The method of claim 1, further comprising determining process parameters for applying the paint using the at least one processor, and wherein moving the applicator comprises applying the process parameters for painting the area of ​​the object with the paint.

7. 7. The method of claim 6, wherein the process parameters are selected from a speed at which the applicator is moved, an index, an offset distance, air pressure to the applicator, a number of coats to deposit the paint, a flash time, a droplet frequency, or a combination thereof.

8. The method further includes the step of selecting a paint color using the at least one processor, and preferably the step of selecting a paint color comprises: scanning a vehicle identification number (VIN) using the 3D scanner or an additional scanner in communication with the at least one processor; measuring the color of the object using a color measurement device in communication with the at least one processor; inputting a color code of the object into the at least one processor; inputting a part number of the object into the at least one processor; obtaining a color corresponding to the object from a database; or a combination thereof, The method according to any one of claims 1 to 7, comprising one of:

9. the applicator is a first applicator, the paint source is a first paint source, and the paint is a first coating, and moving the applicator includes moving the first applicator along the robot path with the robot in communication with the at least one processor while depositing the first coating from the first applicator onto the area of ​​the object; The method comprises: Releasing the first applicator from the robot; holding a second applicator offset from the area of ​​the object with a robot in communication with the at least one processor, the second applicator in fluid communication with a second paint source containing a second coating; moving, with the robot in communication with the at least one processor, the second applicator along the robot path while depositing the second coating from the second applicator onto the area of ​​the object that is on the first coating; The method of any one of claims 1 to 8, further comprising:

10. Releasing the second applicator from the robot; using the robot in communication with the at least one processor to hold a third applicator offset from the area of ​​the object, the third applicator in fluid communication with a third paint source including a third coating; moving, with a robot in communication with the at least one processor, the third applicator along the robot path while depositing the third coating from the third applicator onto the area of ​​the object that is on the second coating; The method of claim 9 further comprising:

11. (i) the applicator is a spray gun or a print head; (ii) the method is carried out in a refinish paint application; (iii) the 3D scanner is a contact scanner, a non-contact scanner, or a combination thereof; or (iv) Any combination of (i) to (iii) above; The method of claim 1.

12. 10. The method of claim 1, wherein the 3D scanner is a non-contact scanner, the non-contact scanner being one of an ultra-wideband (UWB) scanner, a camera scanner, a time-of-flight (TOF) camera, an acoustic scanner, a laser scanner, and a light detection and ranging laser (LiDAR) scanner.

13. providing a painting area; moving the object to the painting area before holding and moving the applicator; Further comprising:

2. The method of claim 1, wherein the step of holding and moving the applicator includes the step of holding and moving the applicator while the robot is positioned in the painting area to deposit the paint on the area of ​​the object.

14. 1. A system for robotically painting an object, comprising a scanner robot mechanism, The scanner robot mechanism a 3D scanner configured to scan the object; Robots and at least one processor in communication with the 3D scanner and the robot, the 3D scanner in communication with the at least one processor being cooperatively configured to detect the object and determine an area of ​​the object to be painted, the at least one processor operative to generate a robot path for painting the area; an applicator configured to be in fluid communication with a paint supply containing paint, the robot in communication with the at least one processor cooperatively configured to hold the applicator offset from the area of ​​the object and move the applicator along the robot path while depositing the paint from the applicator onto the area of ​​the object; A system comprising:

Images