# US 12,005,469 B2 · Coating determination device of coating head and coating system

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,005,469 B2
- Document ID: US12005469B2
- Status: Granted
- Kind: B2
- Application number: 17/807,729
- Filed: 2022-06-19
- Published: 2023-01-12
- Granted: 2024-06-11
- Earliest claimed: 2021-07-08
- Assignees: ABB Schweiz AG
- Applicants: ABB Schweiz AG
- Inventors: Kisumi Iida
- Web page: https://patentgrep.com/patent/US12005469B2

## CPC

- B05B 15/50: Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
- B05C 11/00: Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00 (means for manipulating or holding work B05C13/00; enclosures for apparatus, booths B05C15/00; spray booths B05B16/00)
- B05B 12/084: {responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern}
- B05C 5/02: {the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g.} from an outlet device in contact or almost in contact, with the work
- G06T 7/0004: {Industrial image inspection}
- B05B 13/0433: {the work being vehicle components, e.g. vehicle bodies}
- B05B 15/555: discharged by cleaning nozzles
- G06T 2200/04: involving 3D image data
- G06T 2207/10012: Stereo images
- G06T 2207/30156: Vehicle coating
- G06T 2207/30164: Workpiece; Machine component
- H04N 13/204: using stereoscopic image cameras (stereoscopic photography G03B35/00)
- Y02E 60/10: Energy storage using batteries
- B05B: SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES (spray-mixers with nozzles B01F25/72; processes for applying liquids or other fluent materials to surfaces by spraying B05D)
- B05C: APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL (spraying apparatus, atomising apparatus, nozzles B05B; plant for applying liquids or other fluent materials to objects by electrostatic spraying B05B5/08)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- Y02E: REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION

## Abstract

According to the present disclosure, there is provided a coating determining device of a coating head that can prevent coating defect caused by clogging in multiple successive coatings. The coating determining device according to the present disclosure can determine a coating state of the coating head, wherein the coating head having a plurality of nozzles for ejecting paint, the plurality of nozzles being configured to eject the paint out of the nozzles so as to coat a workpiece with the ejected paint while moving in a direction, the coating determining device of the coating head being characterized by comprising: an image acquiring unit for acquiring an image of the coated workpiece; and a determination unit for determining, based on the image acquired by the image acquiring unit, whether coating the workpiece is implemented normally.

## Claims

### Claim 1

A coating determining device of a coating head for determining a coating state of the coating head, the coating head having a plurality of nozzles for ejecting paint and being configured to eject the paint out of the plurality of nozzles so as to coat a workpiece with the ejected paint while moving in a first direction, wherein the coating determining device comprises:
at least one camera unit for capturing an image of the workpiece;
an image acquiring unit configured to acquire one or more images of the workpiece and generate a 3-dimensional model of the workpiece,
wherein the image acquiring unit determines a coating pattern for coating the workpiece using the 3-dimensional model; and
a determination unit configured to determine, based on the image acquired by the image acquiring unit, whether coating the workpiece is implemented normally;
wherein the coating head is provided with a plurality of nozzle rows in a second direction orthogonal to the first direction, the plurality of nozzle rows in the second direction each including a predetermined number of nozzles arranged in a third direction inclined relative to the second direction;
wherein the coating head comprises a control unit for controlling ejection of the paint at the plurality of nozzles for each nozzle;
wherein the control unit cooperates with the coating head to move in the first direction, and applies to the workpiece with a pattern for determining whether there is an ejecting defect for the paint using the plurality of nozzles comprised by the coating head;
wherein the image acquired by the image acquiring unit comprises an image of the workpiece coated with the pattern for determination; and
wherein the pattern for determination comprises a plurality of baselines configured in a 2-dimensional shape and extending along the first direction;
wherein when the coating head is moving in the first direction, the control unit, while switching the nozzles, coats the plurality of baselines onto the workpiece by continuously ejecting paint baselines from any one of the predetermined number of nozzles comprised by each of the plurality of nozzle rows.

### Claim 2 (depends on 1)

The coating determining device of the coating head of claim 1, further comprising:
an extraction unit for extracting a coating defect in the workpiece from the image of the workpiece coated with the pattern for determination,
wherein when the extraction unit determines that the coating defect occurs in the workpiece, the determination unit determines nozzles in which an ejecting defect occurs from the plurality of nozzles comprised by the coating head.

### Claim 3 (depends on 2)

The coating determining device of the coating head of claim 2, wherein:
the coating head comprises a control unit for controlling ejection of the paint at the plurality of nozzles for each nozzle,
the control unit cooperates with the coating head to move in a first direction, and applies to the workpiece with a pattern for determining whether there is an ejecting defect for the paint using the plurality of nozzles comprised by the coating head, and
the determination unit determines, based on an image of the workpiece coated with the pattern for determination, whether coating the workpiece is implemented normally.

### Claim 4 (depends on 1)

The coating determining device of the coating head of claim 1, wherein:
in the image of the pattern for determination acquired by the image acquiring unit, for the baselines formed using any one from the predetermined number of nozzles comprised in a same nozzle row, when the coating defect occurs in more than a predetermined number of baselines, the determination unit determines that coating the workpiece is not implemented normally using the coating head.

### Claim 5 (depends on 1)

The coating determining device of the coating head of claim 1, further comprising:
a 3-dimensional image generating unit for generating, using the image acquired by the at least one camera unit, a 3-dimensional image of the workpiece coated by the coating head; and
a state determining unit for determining, using the 3-dimensional image of the workpiece generated by the 3-dimensional image generating unit, a coated state of the workpiece;
wherein the at least one camera unit is configured for capturing images of the workpiece at a plurality of different positions.

### Claim 6 (depends on 4)

The coating determining device of the coating head of claim 4, further comprising:
wherein the image acquiring unit comprises a 3-dimensional image generating unit for generating, using the image acquired by the at least one camera unit, a 3-dimensional image of the workpiece coated by the coating head; and
a state determining unit for determining, using the 3-dimensional image of the workpiece generated by the 3-dimensional image generating unit, a coated state of the workpiece.

### Claim 7 (depends on 6)

The coating determining device of the coating head of claim 6, further comprising:
an instruction unit for instructing to apply the pattern for determining presence or absence of an ejecting defect for the paint when the state determining unit determines that a thickness of the paint is below a predetermined thickness, wherein the state determining unit determines, using the 3-dimensional image, whether the thickness of the paint coated over the workpiece is below the predetermined thickness.

### Claim 8 (depends on 6)

The coating determining device of the coating head of claim 6, further comprising:
an extraction unit for extracting a coating defect in the workpiece from the image of the coated workpiece,
wherein when the extraction unit determines that the coating defect occurs in the workpiece, the determination unit determines the nozzles in which the ejecting defect occurs from the plurality of nozzles comprised by the coating head.

### Claim 9 (depends on 1)

A coating system, comprising:
a coating head comprising a plurality of nozzles;
a moving unit disposed within a coating chamber subjected to an explosion-proof treatment and configured to move the coating head along a workpiece in a direction;
the coating determining device of the coating head of claim 1; and
a cleaning unit for cleaning the plurality of nozzles comprised by the coating head,
wherein when the coating determining device of the coating head determines that coating the workpiece is not implemented normally, the cleaning unit cleans the plurality of nozzles comprised by the coating head.

### Claim 10 (depends on 1)

The coating determining device of the coating head of claim 1, further comprising:
wherein the image acquiring unit comprises a 3-dimensional image generating unit for generating, using the image acquired by the at least one camera unit, a 3-dimensional image of the workpiece coated by the coating head; and
a state determining unit for determining, using the 3-dimensional image of the workpiece generated by the 3-dimensional image generating unit, a coated state of the workpiece.

### Claim 11 (depends on 10)

The coating determining device of the coating head of claim 10, further comprising:
an instruction unit for instructing to apply the pattern for determining presence or absence of an ejecting defect for the paint when the state determining unit determines that a thickness of the paint is below a predetermined thickness, wherein the state determining unit determines, using the 3-dimensional image, whether the thickness of the paint coated over the workpiece is below the predetermined thickness.

### Claim 12 (depends on 10)

The coating determining device of the coating head of claim 10, further comprising:
an extraction unit for extracting a coating defect in the workpiece from the image of the coated workpiece,
wherein when the extraction unit determines that the coating defect occurs in the workpiece, the determination unit determines the nozzles in which the ejecting defect occurs from the plurality of nozzles comprised by the coating head.

### Claim 13

A coating system, comprising:
a coating head comprising a plurality of nozzles;
a moving unit disposed within a coating chamber subjected to an explosion-proof treatment and configured to move the coating head along a workpiece in a direction;
at least one camera unit for capturing an image of the workpiece;
a coating determining device comprising:
an image acquiring unit for acquiring one or more images of the workpiece and generate a 3-dimensional model of the workpiece,
wherein the image acquiring unit determines a coating pattern for coating the workpiece using the 3-dimensional model,
a determination unit for determining, based on the one or more images acquired by the image acquiring unit, whether coating the workpiece is implemented normally, and
wherein the coating head comprises a control unit for controlling ejection of paint at the plurality of nozzles for each nozzle,
wherein the control unit cooperates with the coating head to move in a first direction, and applies to the workpiece with a pattern for determining whether there is an ejecting defect for the paint using the plurality of nozzles comprised by the coating head, and
wherein the determination unit determines, based on one or more images of the workpiece coated with the pattern for determination, whether coating the workpiece is implemented normally; and
a cleaning unit for cleaning the plurality of nozzles comprised by the coating head,
wherein when the coating determining device of the coating head determines that coating the workpiece is not implemented normally, the cleaning unit cleans the plurality of nozzles comprised by the coating head.

### Claim 14

A coating system, comprising:
a coating head comprising a plurality of nozzles;
a moving unit disposed within a coating chamber subjected to an explosion-proof treatment and configured to move the coating head along a workpiece in a direction;
a coating determining device comprising:
at least one camera unit for capturing an image of the workpiece,
an image acquiring unit for acquiring one or more images of the workpiece and generate a 3-dimensional model of the workpiece,
wherein the image acquiring unit determines a coating pattern for coating the workpiece using the 3-dimensional model,
a determination unit for determining, based on an image acquired by the image acquiring unit, whether coating the workpiece is implemented normally, and
wherein the coating head comprises a control unit for controlling ejection of paint at the plurality of nozzles for each nozzle,
wherein the control unit cooperates with the coating head to move in a first direction, and applies to the workpiece with a pattern for determining whether there is an ejecting defect for the paint using the plurality of nozzles comprised by the coating head,
wherein the determination unit determines, based on an image of the workpiece coated with the pattern for determination, whether coating the workpiece is implemented normally,
wherein the coating head is provided with a plurality of nozzle rows in a second direction orthogonal to the first direction, the nozzle rows each including a predetermined number of nozzles arranged in a third direction inclined relative to the second direction,
wherein a pattern for determination comprises a plurality of baselines configured in a 2-dimensional shape and extending along the first direction, and
wherein when the coating head is moving in the first direction, the control unit, while switching the nozzles, coats the plurality of baselines onto the workpiece by continuously ejecting paint baselines from any one of the predetermined number of nozzles comprised by each of the plurality of nozzle rows; and
a cleaning unit for cleaning the plurality of nozzles comprised by the coating head,
wherein when the coating determining device of the coating head determines that coating the workpiece is not implemented normally, the cleaning unit cleans the plurality of nozzles comprised by the coating head.

### Claim 15

A coating system, comprising:
a coating head comprising a plurality of nozzles;
a moving unit disposed within a coating chamber subjected to an explosion-proof treatment and configured to move the coating head along a workpiece in a direction;
at least one camera unit for capturing an image of the workpiece;
a coating determining device comprising:
an image acquiring unit for acquiring the image of the workpiece and generate a 3-dimensional model of the workpiece,
wherein the image acquiring unit determines a coating pattern for coating the workpiece using the 3-dimensional model,
a determination unit for determining, based on the image acquired by the image acquiring unit, whether coating the workpiece is implemented normally, and
wherein the coating head comprises a control unit for controlling ejection of paint at the plurality of nozzles for each nozzle,
wherein the control unit cooperates with the coating head to move in a first direction, and applies to the workpiece with a pattern for determining whether there is an ejecting defect for the paint using the plurality of nozzles comprised by the coating head,
wherein the determination unit determines, based on an image of the workpiece coated with the pattern for determination, whether coating the workpiece is implemented normally,
wherein the coating head is provided with a plurality of nozzle rows in a second direction orthogonal to the first direction, the plurality of nozzle rows each including a predetermined number of nozzles arranged in a third direction inclined relative to the second direction,
wherein a pattern for determination comprises a plurality of baselines configured in a 2-dimensional shape and extending along the first direction,
wherein when the coating head is moving in the first direction, the control unit, while switching the nozzles, coats the plurality of baselines onto the workpiece by continuously ejecting paint baselines from any one of the predetermined number of nozzles comprised by each of the plurality of nozzle rows, and
wherein in the image of the pattern for determination acquired by the image acquiring unit, for the baselines formed using any one from the predetermined number of nozzles comprised in a same nozzle row, when the coating defect occurs in more than a predetermined number of baselines, the determination unit determines that coating the workpiece is not implemented normally using the coating head; and
a cleaning unit for cleaning the plurality of nozzles comprised by the coating head,
wherein when the coating determining device of the coating head determines that coating the workpiece is not implemented normally, the cleaning unit cleans the plurality of nozzles comprised by the coating head.