JP2005103420A - Coating apparatus and coating method - Google Patents

Abstract

[PROBLEMS] A conventional painting robot performs painting by moving a cart and a spraying machine directly or remotely by a human, and the painting robot distinguishes between a painting object and a non-painting object. However, the trolley and spray machine were not moved and painted. That is, the painting robot requires human operation, and automatically moves to a painting target and cannot perform painting.
A painting apparatus 100 according to the present invention relates to a moving unit 101 that moves to a painting object to be painted, a painting unit 102 that paints a painting object at a destination to which the moving unit 101 has moved, and a painting range. The painting object information storage unit 105 that stores the painting object information that is information, the movement control unit 106 that controls the movement of the moving unit 101 based on the painting object information, and the painting object based on the painting object information And a painting control unit 107 for controlling the painting unit 102 for painting.
[Selection] Figure 1

Description

  The present invention relates to, for example, a coating apparatus that coats a wall surface with a coating liquid.

  Conventionally, there has been a painting robot with a construction in which a painting tool is placed on a wall moving body such as a gondola to paint a place where it is difficult to install a scaffold or a high place of a high-rise building. The painting robot includes a cart installed on the roof of the building, a sprayer supported to be lifted and lowered from the cart, a pair of left and right guide rails that guides the elevation of the sprayer along the wall surface, etc. (Refer patent document 1).

Moreover, there are the following outer wall coating apparatuses. The outer wall coating device includes a horizontal rail that is horizontally attached to the work scaffold, a vertical rail that is vertically attached to the horizontal rail, a vertical rail that is horizontally movable, a coating machine that is attached to the vertical rail and can be operated vertically, and a vertical rail. A first control device that moves and moves the coating machine and a second control device that adjusts and controls the amount of paint applied by the coating machine (see Patent Document 2). In addition, the outer wall coating apparatus can have a structure in which a horizontal rail is hung horizontally with a reel-type wire and can be moved up and down with respect to the scaffold.
JP-A-64-47473 (first page, FIG. 1 etc.) Japanese Patent Laid-Open No. 11-32430 (first page, FIG. 1 etc.)

  A conventional painting robot (see Patent Document 1) is a robot that is directly operated or remotely operated by a person and moves a carriage and a spraying machine to perform painting. The truck and sprayer were moved and painted while distinguishing non-painting objects. That is, the painting robot requires human operation, and automatically moves to a painting target and cannot perform painting. Therefore, there is a problem that a human being directly operates, so that there is a problem that a window or the like which is not a painting object is painted by mistake. In such a case, not only the coating liquid is wasted, but there is a problem that the protective vinyl sheet stretched on the window is wasted. Further, in order not to fail the operation of the painting robot, the operator who operates the robot requires skill.

  Moreover, the outer wall coating apparatus (refer patent document 2) is equipped with the structure which can hang up and down with respect to a working scaffold by suspending a horizontal rail horizontally with a reel type wire. In other words, the outer wall coating apparatus needs to install a working scaffold, and there is a problem that painting cannot be performed when the working scaffold is not installed. The painting machine moves and paints up, down, left and right within the range of a horizontal rail consisting of a pair of upper and lower rails. However, for example, when painting a spherical wall surface, it is not possible to move the coating machine along the spherical shape, so the coating nozzle is appropriately stretched and the coating is performed while keeping the distance between the wall surface and the nozzle tip appropriately. The greater the difference in surface irregularities, the more difficult it is to apply a uniform and non-uniform coating. Further, the outer wall coating apparatus does not move the coating machine based on the data.

  The coating apparatus according to the present invention includes a moving unit that moves to a coating object that is an object to be coated, a coating unit that paints the coating object at a destination to which the moving unit has moved, and painting that is information relating to the coating object. Controls the painting object information storage unit that stores the object information, the movement control unit that controls the movement of the moving unit based on the painting object information, and the painting unit that paints the painting object based on the painting object information And a painting control unit.

  With this configuration, the painting apparatus moves and performs painting based on the painting target information, so that it is not necessary for a human to operate the painting apparatus, and a painting operation can be easily performed even if the person is not an expert in painting. Furthermore, since a predetermined painting area is painted, there is no failure such as painting a window or the like by mistake. Therefore, problems such as waste of the coating liquid and waste of the protective vinyl sheet on the window do not occur. In addition, as the object information to be painted, architectural drawings and design drawings, which are customizable CAD data, can be diverted, and it is not necessary to newly create data for the painting apparatus of the present invention, and there is no need to create data. . Further, unlike the outer wall coating apparatus of Patent Document 2, a work scaffold is not required, so that painting can be performed without installing a work scaffold. Furthermore, even if the difference in the unevenness of the surface shape of the object to be coated is large, it moves and paints based on the information to be painted, so that uniform and non-uniform coating can be performed. That is, the coating apparatus of the present invention is effective for painting a place where a working scaffold cannot be installed or for painting a building having a complicated surface shape.

  The coating apparatus according to another aspect of the present invention further includes a detection unit that detects a state of the coating object, and the coating control unit is configured such that when the state of the coating object detected by the detection unit satisfies a predetermined condition, The coating amount of the coating liquid is adjusted, and the coating portion is controlled so as to perform coating with the adjusted coating amount.

  With this configuration, the coating amount of the coating liquid can be adjusted according to the state of the object to be coated, so that appropriate coating can be performed. For example, when there are small irregularities on the surface of the object to be coated, the coating liquid can be increased from the standard amount, and uniform coating without unevenness can be performed.

In another coating apparatus of the present invention, the coating control unit controls the coating unit so that the coating unit is coated by a spray method in which a coating liquid is sprayed and / or a roller method in which the coating liquid is applied by a roller based on the information to be coated. It is characterized by that.
With this configuration, a coating method corresponding to the object to be painted can be selected, and appropriate coating such as uniform coating without unevenness can be achieved.

  In addition, another painting apparatus of the present invention further includes a painting target information receiving unit that receives painting target information, and a painting target information accumulation unit that accumulates the painting target information received by the painting target information receiving unit. I have to.

With this configuration, the coating apparatus may not store the painting target information in advance. The coating apparatus can receive painting target information from the outside and can paint based on the received painting target information.
Further, another coating method of the present invention is characterized in that it moves to a painting object and paints based on painting object information that is information relating to a painting object to be painted.

  According to the coating apparatus etc. by this invention, it can move to a coating target object automatically based on the coating target information, such as a building drawing, and can be painted. Therefore, an operator who is skilled in painting is not necessary and can be painted easily. Further, for example, a failure such as painting a window does not occur.

(Embodiment 1)
Embodiments of the present invention will be described below in detail with reference to the drawings. Note that in this embodiment, components using the same reference numerals and steps in the flowcharts perform the same function, and thus description of what has been described once may be omitted.

  FIG. 1 is a block diagram showing a configuration of a coating apparatus 100 in the present embodiment. The painting apparatus 100 includes a moving unit 101, a painting unit 102, a painting target information receiving unit 103, a painting target information storage unit 104, a painting target information storage unit 105, a movement control unit 106, a painting control unit 107, and a detection unit 108.

  The coating apparatus 100 includes hardware resources (not shown) such as a CPU, a main memory, and a recording medium (for example, ROM, EPROM, etc.) included in a normal electronic computer.

  The moving part 101 moves to the object to be painted. The moving unit 101 is realized by including, for example, a carriage on which the coating unit 102 is loaded, a tire, a driving unit, an engine, and the like. Since the moving part 101 is a prior art, detailed description is abbreviate | omitted.

  The painting unit 102 paints the painting object at the destination where the moving unit has moved. The painting unit 102 can be realized by a spray gun for spraying and / or a painting roller, a coating liquid tank, a compressed air tank, a guide rail, or the like. Since the coating part 102 is a prior art, detailed description is abbreviate | omitted.

  The painting target information receiving unit 103 receives the painting target information. “Painting target information” is information relating to the range to be painted, such as architectural drawings, design drawings, painting area data, and the like. “Accept” is, for example, acceptance by manual input, reception from the outside, reading from a DVD or the like. In the case where the painting target information receiving unit 103 receives manually, for example, a person such as a switch, a button, a touch panel, or the like usually gives an input instruction. Further, when the painting target information receiving unit 103 receives from the outside, it can be realized by a receiving means or the like. The receiving means may be wired or wireless. Further, when the painting target information receiving unit 103 reads from a DVD or the like, it can be realized by a DVD drive and its driver software.

  The painting target information accumulation unit 104 accumulates the painting target information received by the painting target information receiving unit 103 in the painting target information storage unit 105. “Accumulating” is a concept including temporary accumulation. The painting target information accumulating unit 104 can usually be realized by an MPU, a memory, or the like. The processing procedure for “accumulating” is usually realized by software, and the software is recorded in a recording medium such as a ROM. However, it may be realized by hardware (dedicated circuit). Note that the painting target information storage unit 104 may or may not be provided. When there is no painting target information storage unit 104, the painting target information storage unit 105 stores painting target information in advance.

  The painting target information storage unit 105 stores painting target information. The painting target information may be stored in advance in the painting target information storage unit 105. The painting target information may be the painting target information received by the painting target information receiving unit 103 and accumulated in the painting target information storage unit 105 by the dressing range information storage unit 104. The painting target information storage unit 105 may be a non-volatile recording medium or a volatile recording medium.

  The movement control unit 106 controls the movement of the moving unit 101 based on the painting target information. Details of the meaning of the phrase “controlling movement” will be described later. The movement control unit 106 can be usually realized by an MPU, a memory, or the like. The processing procedure for “controlling movement” is usually realized by software, and the software is recorded in a recording medium such as a ROM. However, it may be realized by hardware (dedicated circuit).

  The painting control unit 107 controls the painting unit 102 that paints the painting target based on the painting target information. Details of the meaning of the phrase “control paint” will be described later. In addition, the coating control unit 107 adjusts the coating amount of the coating liquid when the state of the coating object detected by the detection unit 108 satisfies a predetermined condition, and applies the coating with the adjusted coating amount. The unit 102 may be controlled. Here, “the state of the painting object” means, for example, the surface shape of the painting object (for example, unevenness, flat surface, crack, window / wall boundary, etc.), and the material of the painting object (for example, concrete, metal, wood, etc.) , Plastic, etc.). “Adjust the coating amount of the coating liquid when a predetermined condition is satisfied” means that, for example, when the surface shape of the object to be coated is uneven, for example, the coating amount is adjusted to increase by 50% from the standard. In addition, when a crack (crack) is generated, for example, the coating amount is adjusted to zero (so-called not to paint). In addition, when the object to be painted is concrete, for example, the coating amount is adjusted to the standard, and when the object to be painted is metal, for example, the coating amount is adjusted to be reduced by 20% from the standard. It is. When the painting unit 102 has a spray gun for spraying and / or a painting roller, the painting control unit 107 sprays the coating liquid with, for example, a spray gun based on the painting target information, or / and The coating unit 102 may be controlled so that the coating liquid is applied by a roller method in which the coating liquid is applied by a roller. For example, when the boundary between the window frame and the wall is painted, it is painted by a roller method or a spray method with a narrow spray range. In addition, when the surface shape of the object to be coated is flat, it is applied by a roller method, and when the surface shape of the object to be coated is uneven, it is applied by a spray method. The painting control unit 107 can be usually realized by an MPU, a memory, or the like. The processing procedure for “controlling movement” is usually realized by software, and the software is recorded in a recording medium such as a ROM. However, it may be realized by hardware (dedicated circuit).

The detection unit 108 detects the state of the painting object. “The state of the object to be painted” is the same as described above. The detection unit 108 can be realized by including, for example, a CCD camera and image processing means. The detection unit 108 can be realized by, for example, a reflective infrared sensor. Since the CCD camera, the image processing means, the reflective infrared sensor, and the like are existing technologies, detailed description thereof is omitted.
Hereinafter, operation | movement of the coating device 100 in this Embodiment is demonstrated using the flowchart of FIG.

(Step S201) The painting target information receiving unit 103 determines whether or not the painting target information has been received. The painting target information receiving unit 103 goes to step S202 when receiving the painting target information, and returns to step S201 otherwise.
(Step S202) The painting target information accumulation unit 104 accumulates the painting target information received in step S201 in the painting target information storage unit 105.
(Step S203) The movement control unit 106 acquires the painting target information accumulated in the painting target information storage unit 105 in Step S202.

  (Step S204) The movement control unit 106 controls the movement unit 101 based on the painting target information acquired in step S203. The detailed description of the movement of the coating apparatus 100 is as follows. The coating apparatus 100 is previously positioned at a coating start position, for example, the lower right corner of the front of the building. Next, based on the painting target information, the movement control unit 106 moves the moving unit 101 to the first painting position. The “first painting position” is, for example, a position moved to the left by 50 cm from the lower right corner of the front of the building. When painting at such a position is completed, the movement control unit 106 repeatedly moves the moving unit 101 to the next painting position.

  (Step S205) The detection unit 108 detects the state of the coating object at the position where the coating apparatus 100 has moved in step S204. For example, the detection unit 108 detects the state of the painting target at the position specified by the painting target information “(0, 50) (100, 150)”. It should be noted that the range to be detected may be the entire “(0, 50) (100, 150)” range, or a predetermined location.

  (Step S206) The painting control unit 107 controls the painting unit 102 to paint the painting object based on the painting target information acquired in step S203. The painting unit 102 paints, for example, in the range of the painting target information “(0, 50) (100, 150)”. Note that “(0, 50) (100, 150)” in the painting target information indicates (abscissa: 0 cm, height coordinate: 50 cm) (abscissa: 100 cm, height coordinate: 150 cm) (see FIG. 5). ). Here, the origin of coordinates is the lower right corner of the front of the building. In addition, when the detection result detected in step S205 satisfies a predetermined condition, the coating control unit 107 adjusts the coating amount of the coating liquid and controls the coating unit 102 to perform coating with the adjusted coating amount. . In addition, the coating control unit 107 controls the coating unit 102 so that the coating liquid is applied by, for example, a spray method in which the coating liquid is sprayed with a spray gun or the like and / or a roller method in which the coating liquid is applied with a roller based on the information to be applied. To do.

  (Step S207) The painting control unit 107 determines whether or not painting objects in all painting areas have been painted. If the object to be painted in all the painting areas is painted, the operation ends. Otherwise, the process returns to step S204.

  Hereinafter, a specific operation of the coating apparatus 100 in the present embodiment will be described. FIG. 3 is a diagram illustrating an appearance of the coating apparatus 100. In FIG. 3, the coating apparatus 100 includes a moving unit 101, a coating unit 102, a moving monitor 1061, a coating monitor 1071, and a CCD camera 118. FIG. 4 is a conceptual diagram showing a painting apparatus for painting the wall surface of a building. In FIG. 4, the coating apparatus 100 moves along the wall surface of the building, and applies the coating liquid to the building wall surface that is the object to be painted.

  FIG. 5 is a diagram illustrating an example of painting target information. In FIG. 5, the painting target information includes, for example, architectural drawings, painting area data, and the like. Here, “architectural drawing” is information indicating the structure of a building (for example, information on dimensions, building materials, etc.), is a design drawing created by CAD, and is not separately created for painting. FIG. 6 is a diagram illustrating an example of an architectural drawing. In FIG. 6, the architectural drawing includes a front view, a left and right side view, a rear view, and the like of the building. “Paint area data” is data indicating the paint area of the object to be painted. The “liquid amount” of the coating liquid is set in advance. The painting target information may or may not include data of “painting area data”. When the “painting area data” is not included, the coordinates “(X1, Y1) (X2, Y2)” of the painting area are interpreted from the architectural drawing which is the CAD data. Here, “interpret” is to filter the paint area data from the architectural drawing which is CAD data. The technique of “filtering” is a conventional technique and will not be described in detail.

  Below, the process which moves the coating device 100 is demonstrated. When the painting target information receiving unit 103 receives the painting target information shown in FIG. 5 from the outside, the painting target information accumulation unit 104 accumulates the received painting target information in the painting target information storage unit 105. Next, the movement control unit 106 acquires the painting target information from the painting target information storage unit 105. Next, the movement control unit 106 acquires the movement coordinates (X1, Y1, Z1) from the architectural drawing of the acquired painting target information, and moves the coating apparatus 100 to the movement coordinates (X1, Y1, Z1). Move. Next, the painting control unit 107 acquires the painting area “(X1, Y1) (X2, Y2)”, and moves to the position of the painting area data “(X1, Y1) (X2, Y2)”. Move.

  Next, processing for selecting a coating method will be described. The painting control unit 107 acquires the state of the destination painting object from the architectural drawing of the painting object information. The architectural drawing of the painting object information includes the state of the painting object (for example, surface shape, material, etc.) in advance. For example, when the surface shape of the object to be coated is uneven, the painting control unit 107 searches for painting method data recorded in advance on a recording medium built in the painting apparatus 100 and selects spray-type painting. Further, when the surface shape of the object to be painted is, for example, a flat surface, the painting control unit 107 selects roller-type painting. FIG. 7 shows a data example of the painting method. In FIG. 7, the painting method data indicates that, for example, when the detected surface shape of the painting object is a flat surface, the roller method painting is selected. Note that the data of the painting method is not limited to the example of FIG. 7, and other painting methods may be selected. The painting control unit 107 may select a painting method from the detection result detected by the detection unit 108. For example, when the surface shape of the coating object detected by the detection unit 108 is uneven, for example, the coating control unit 107 detects the detection result and the coating method that are recorded in advance on a recording medium built in the coating apparatus 100. For example, data (not shown) indicating the relationship is retrieved and spray-type painting is selected. FIG. 9 shows an example of the appearance of the coating part 102. In FIG. 9, the coating unit 102 has a spray nozzle 1021 and a painting roller 1022. “Spray-type painting” is painting in which a coating liquid is sprayed from a spray nozzle 1021 onto an object to be coated. The “roller-type coating” is a coating in which the coating roller 1022 coated with the coating liquid is moved up and down while being pressed against the coating object, and the coating liquid is transferred to the coating object.

  Next, a process for adjusting the coating liquid amount will be described. The detection unit 108 detects the state of the painting object in the painting region “(X1, Y1) (X2, Y2)”. Next, when the value of the state of the coating object detected by the detection unit 108 is, for example, “wall (standard)”, the coating control unit 107 records in advance on a recording medium built in the coating apparatus 100. Search the liquid volume adjustment data, and adjust the liquid volume to the standard volume. Here, the “standard amount” is an amount that varies depending on the material of the wall and the type of coating liquid and is used in the coating industry as a standard. FIG. 8 is a diagram illustrating an example of the liquid amount adjustment data. In FIG. 8, the liquid amount adjustment data indicates that when the value of the state of the coating object is “wall (unevenness)”, the liquid amount is adjusted to an amount increased from the standard amount. The liquid amount adjustment data indicates that when the value of the state of the object to be coated is “wall (crack)”, the coating control unit 107 adjusts the liquid amount to zero and does not paint. In such a case, a warning sound indicating a crack may be output. The liquid volume adjustment is not limited to this embodiment, and other forms may be used. In the present embodiment, the coating control unit 106 performs the liquid amount adjustment, but may not perform the liquid amount adjustment. In such a case, the liquid volume may be a predetermined liquid volume or a manually input liquid volume.

  Further, in the present embodiment, the coating apparatus 100 uses one type of coating liquid, but the coating apparatus 100 may use one or more types of coating liquid. In such a case, the coating control unit 107 is characterized by selecting a coating liquid from one or more types of coating liquids based on the coating target information.

  When the painting unit 102 finishes painting the painting object in the painting region “(X1, Y1)” (X2, Y2), the painting apparatus 100 moves to the next painting object and performs the above operation. repeat.

  FIG. 10 is a display example of the movement monitor 1061. In FIG. 10, the monitor 1061 shows the position of the painting apparatus 100, the painting position, and the like corresponding to the architectural drawing. FIG. 11 shows a display example of the paint monitor 1071. In FIG. 11, the painting monitor 1071 shows the painting status, the coordinates of the painting area, the painting method, the liquid amount, and the like. In addition, the slanted line of the painting situation means that it has been painted.

  As described above, according to the present embodiment, the painting apparatus moves and paints based on the painting object information, so that an operator skilled in painting is not necessary and painting can be performed easily. Further, for example, a failure such as painting a window does not occur. Therefore, problems such as waste of the coating liquid and waste of the protective vinyl sheet on the window do not occur. Further, as the painting target information, architectural drawings and design drawings, which are customizable CAD data, can be diverted, and it is not necessary to newly create data for the painting apparatus of the present invention. In addition, the coating apparatus of the present invention is effective for painting a place where a work scaffold cannot be installed and for painting a building having a complicated surface shape.

Moreover, since the detection part 108 is provided, the coating amount of a coating liquid can be adjusted according to the state of a coating target object, Therefore Appropriate coating can be performed. For example, in the case of an uneven coating object, the coating liquid can be increased from the standard amount to make the finish beautiful.
In addition, a coating method corresponding to the object to be coated can be selected, and appropriate coating such as uniform coating without unevenness becomes possible.

  Furthermore, the operation of the coating apparatus 100 described in the present embodiment may be realized by software, the software may be placed on, for example, a server, and the software may be distributed by software download. Further, the software may be recorded on a recording medium such as a CD-ROM and distributed. The program when the operation in the present embodiment is realized by software is as follows. Based on the painting object information that is information about the painting object that is the object to be painted on the computer, the movement control step for moving to the painting object, and the painting control for painting the painting object based on the painting object information This is a program for executing steps.

  The computer also adjusts the coating amount of the coating liquid when the detection step for detecting the state of the object to be painted and the wall surface detected at the detection step satisfy the predetermined condition. The above-described program for further executing a paint control step for controlling the paint to be applied with the adjusted paint amount.

  In addition, the painting control that sprays the coating liquid on the computer and / or the roller system that applies the coating liquid with the roller based on the painting target information that is the information about the painting target that is the object to be painted. The program according to any one of the above, further causing the step to be executed.

  In addition, a painting target information receiving step for receiving painting target information, which is information related to a painting target, which is a target to be painted, a movement control step for moving to the coating target based on the painting target information, and a painting The program according to any one of the above, for further executing a painting control step of painting a painting object based on the object information.

  In the present embodiment, the moving unit 101 includes a carriage, a tire, a driving unit, and the like and moves on the ground. However, the moving unit 101 may move on a wall surface. In such a case, the moving unit 101 can be realized by having means for climbing the wall surface, for example, magnet means when the object to be painted is an iron bridge or the like.

  Moreover, in this Embodiment, although the coating target object painted is a wall surface, a coating target object is not limited to a wall surface. The painting object may be anything as long as there is a design drawing such as a floor, a roof, an indoor wall, an indoor ceiling, a bridge, an airplane, or a vehicle.

  In the present embodiment, the painting target information receiving unit 103 may or may not be present. When there is no painting target information receiving unit 103, the movement control unit 106 acquires the painting target information stored in advance in the painting target information storage unit 105 and controls the movement of the moving unit 101. Also, the painting control unit 107 acquires painting target information stored in advance in the painting target information storage unit 105 and controls the painting unit 102.

  As described above, the present invention has an effect of easily performing painting based on information to be painted such as architectural drawings and design drawings, and is useful for, for example, a painting robot for painting and repairing buildings. It is.

The block diagram which shows the structure of the coating device 100 in Embodiment 1. FIG. The flowchart which shows operation | movement of the coating device 100 in Embodiment 1. FIG. The figure which shows the external appearance of the coating device 100 in Embodiment 1. FIG. The conceptual diagram which shows the coating device which is coating the wall surface of the building in Embodiment 1 The figure which shows the example of the painting target information in Embodiment 1 The figure which shows the example of the architectural drawing in Embodiment 1. The figure which shows the example of data of the coating system in Embodiment 1 The figure which shows the example of the liquid quantity adjustment data in Embodiment 1 The figure which shows the example of an external appearance of the coating part 102 in Embodiment 1. FIG. Display example of movement monitor 1061 in Embodiment 1 Display example of painting monitor 1071 in the first embodiment

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Coating apparatus 101 Moving part 102 Painting part 103 Painting object information reception part 104 Painting object information storage part 105 Painting object information storage part 106 Movement control part 107 Painting control part 108 Detection part 1061 Movement monitor 1071 Painting monitor 1071

Claims (10)

A moving part that moves to the object to be painted,
A painting unit that paints an object to be painted at a destination where the moving unit has moved;
A painting object information storage unit that stores painting object information that is information about the painting object;
Based on the painting object information, a movement control unit that controls movement of the moving unit;
A painting apparatus comprising: a painting control unit that controls a painting unit that paints the painting object based on the painting object information. A detector for detecting the state of the object to be coated;
The coating control unit
2. The coating unit is controlled such that when the state of the coating object detected by the detection unit satisfies a predetermined condition, the coating amount of the coating liquid is adjusted and coating is performed with the adjusted coating amount. The coating equipment described. The coating apparatus according to claim 2, wherein the state of the coating object detected by the detection unit is a surface state of the coating object. The coating control unit
The coating unit according to any one of claims 1 to 3, wherein the coating unit is controlled so as to be applied by a spray method in which a coating liquid is sprayed and / or a roller method in which a coating liquid is applied by a roller based on the coating target information. apparatus. A painting object information receiving unit for receiving the painting object information;
The coating apparatus according to any one of claims 1 to 4, further comprising a painting target information accumulating unit that accumulates the painting target information received by the painting target information receiving unit in the painting target information storage unit. On the computer,
A movement control step of moving to the painting object based on the painting object information which is information on the painting object which is the object to be painted;
A program for executing a painting control step of painting the painting object based on the painting object information. On the computer,
A detection step for detecting the state of the painted object, which is the object to be painted;
7. The paint control step for adjusting the coating amount of the coating liquid and performing the coating with the adjusted coating amount when the state of the wall surface detected in the detection step satisfies a predetermined condition. Program. On the computer,
A painting control step for controlling to paint by a spray method in which a coating liquid is sprayed and / or a roller method in which a coating liquid is applied by a roller, based on the painting object information which is information on a painting object to be painted. 8. The program according to claim 6, wherein the program is further executed. On the computer,
A painting object information receiving step for receiving painting object information, which is information about a painting object that is an object to be painted;
Based on the painting object information, a movement control step for moving to the painting object;
The program according to any one of claims 6 to 8, for further executing a painting control step of painting the painting object based on the painting object information. A painting method that moves to the painting object and paints it based on the painting object information, which is information about the area to be painted.

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