JP7355516B2 - Coating equipment and coating method - Google Patents

Description

The present invention relates to a coating device and a coating method.

For example, Patent Document 1 describes a coating device that applies paint from a coating gun to an object to be coated by an operator's operation. When a worker paints using such a paint gun, the worker holds the paint gun at a predetermined distance and at a predetermined angle to the object to be painted, and moves the paint gun at a predetermined speed. Paint while doing so.

Japanese Patent Application Publication No. 07-194997

Here, the movement of the worker during the painting work has a very high degree of freedom, and it is difficult to standardize the movement in order to obtain stable quality. Furthermore, since painting work is dangerous work, it is not easy for other workers to approach and evaluate the work, and maintaining the quality of the painting work has been left to the skill of the on-site worker. Therefore, there has been a need for a coating device that can improve the quality of coating on objects to be coated.

The present invention has been made to solve these problems, and an object of the present invention is to provide a coating device and a coating method that can improve the quality of coating on an object to be coated.

The coating device according to the present invention is a coating device in which a worker applies paint to an object to be painted, and includes a detection section that detects the state of the coating device when coating by the worker, and a detection section based on the detection result of the detection section. The apparatus includes a determination section that determines the state of the coating apparatus, and an output section that outputs information based on the determination section.

The coating device according to the present invention includes a detection section that detects the state of the coating device, and a determination section that determines the state of the coating device based on the detection result of the detection section. Thereby, when the operator is performing the painting work, the determination unit can determine whether or not there is a condition that deteriorates the quality of the painting during the painting work performed by the painting apparatus. The coating device includes an output section that outputs information based on the determination section. Therefore, the output unit can transmit the determination result during the painting operation to the operator. Thereby, the operator can perform painting work that improves the quality of the painting based on the determination result. With the above, the quality of coating on the object to be coated can be improved.

The output unit may output information during the painting operation. In this case, when the coating apparatus enters a condition that degrades the quality of coating, the operator can know the condition in real time. This allows the operator to modify the state of the coating device so as to improve the quality of the coating.

The painting device may further include a storage unit that stores information based on the determination unit, and the output unit may output the information after the painting operation is completed. In this case, after the painting work is finished, the information based on the determination unit stored in the storage unit can be effectively utilized. Since the worker can review the content of his/her own work, the worker can perform a painting work that improves the quality of the painting when performing the next painting work.

The painting device may further include a specifying section that specifies the work content of the painting work, and a setting section that sets instruction information regarding the work content based on the work content specified by the specifying section. In this case, the operator can know the instruction information regarding the content of the painting work to be performed before starting the painting work, and therefore can perform the painting work in a manner that improves the quality of the painting.

The detection unit includes at least one pair of distance sensors that measure the distance between the application unit that applies paint to the object to be painted and the object to be painted, and the pair of distance sensors are arranged to sandwich a reference axis of the application unit. good. In this case, even if the application part is tilted with respect to the object to be painted, the distance between the application part and the object to be painted on the reference axis can be determined based on the detection results of a pair of distance sensors placed across the reference axis. It becomes possible to detect. Further, even if one distance sensor becomes unable to detect the distance at the edge of the object to be painted, the other distance sensor can still detect the distance.

A painting method according to one embodiment of the present invention is a painting method in which a worker applies a paint to an object to be painted, and includes a coating process in which a paint is applied to the object to be painted with a painting device, and a state of the painting device is detected. The method includes a detection step, a determination step of determining the state of the coating apparatus based on the detection result of the detection step, and an output step of outputting information based on the determination result of the determination step.

According to this coating method, the same functions and effects as those of the above-mentioned coating device can be obtained.

In the coating method, the detection step may be started after the coating device is set at a reference position and in a reference posture. In this case, in the determination process, the painting work can be determined in consideration of these reference positions and reference postures.

According to the present invention, it is possible to provide a coating device and a coating method that can improve the quality of coating on an object to be coated.

FIG. 1 is a block diagram showing a coating device according to an embodiment of the present invention. FIG. 2 is a perspective view of the painting gun shown in FIG. 1; FIG. 2 is a diagram illustrating an example of a work site where painting is performed by a painting device. FIG. 2 is a schematic diagram showing a stand and an object to be painted. FIG. 3 is a conceptual diagram for explaining parameters detectable by each sensor. FIG. 6 is a conceptual diagram for explaining the effect of distance sensors being provided on both sides of the reference axis. FIG. 6 is a conceptual diagram for explaining the effect of distance sensors being provided on both sides of the reference axis.

Hereinafter, preferred embodiments of the coating apparatus according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a coating apparatus according to this embodiment. FIG. 2 is a perspective view of the painting gun shown in FIG. 1.

The coating apparatus 100 according to this embodiment includes a coating gun 1, a control device 2, an input section 3, and an output section 4. The coating device 100 is a device for applying paint to an object to be painted W (see FIG. 3).

The painting gun 1 is a device that applies paint to an object W to be painted by an operator. The coating gun 1 includes a switching detection sensor 11 that detects ON/OFF switching of coating, a distance sensor 12, an angle sensor 13, and a speed sensor 14.

Referring to FIG. 2, the configuration of the coating gun 1 will be described in detail. The coating gun 1 includes a coating nozzle 16 (application section), a handle 17, a lever 18, and a metal fitting 19. The application nozzle 16 is a part that applies the paint to the object W to be painted by jetting the paint from the application port 16a at the tip. The coating nozzle 16 applies the paint with the center line as the reference axis CL. The paint is ejected so as to spread radially around the reference axis CL. Paint is supplied to the coating nozzle 16 from the side opposite to the coating port 16a via a tube (not shown).

The handle 17 is a part for an operator to grasp by hand when holding the coating gun 1. The handle 17 is provided so as to extend from the application nozzle 16 in a direction intersecting the reference axis CL. The lever 18 is a part that switches between coating and stopping the coating nozzle 16. The lever 18 extends from the application nozzle 16 to face the handle 17. When applying paint, the operator grips the lever 18 together with the handle 17. When the operator wants to stop applying the paint, the operator releases the lever 18 and returns it to its original position. Note that the lever 18 is provided with the aforementioned switching detection sensor 11. The switching detection sensor 11 detects that paint application is turned on when the lever 18 is squeezed, and detects that paint application is turned off when the lever 18 is returned.

The metal fitting 19 is a portion that extends from the application nozzle 16 so as to be separated from and opposite to the handle 17, and also extends toward the handle 17 at the lower end side and is connected to the handle 17. The metal fitting 19 extends around the lever 18 so as not to interfere with the operator's fingers when the operator grips the lever 18. The metal fitting 19 also functions as a jig when setting the coating gun 1 on a stand (see FIG. 3), which will be described later.

As mentioned above, the distance sensor 12, the angle sensor 13, and the speed sensor 14 are attached to the coating gun 1. These distance sensor 12, angle sensor 13, and speed sensor 14 function as a detection unit that detects the state of coating apparatus 100 when coating by an operator. Note that the detection unit is a part that detects a state of the coating apparatus 100 that may affect the quality of coating on the object W to be coated.

The distance sensor 12 is a sensor that measures the distance between the coating nozzle 16 and the object W to be painted. A pair of distance sensors 12 are arranged so as to sandwich the reference axis CL of the coating nozzle 16 . Specifically, above the coating nozzle 16, a mounting plate 21 is provided that extends in a direction perpendicular to the reference axis CL. The mounting plate 21 is arranged so as to extend in the horizontal direction when the reference axis CL is in a horizontal state and the handle 17 is in a state in which it extends in the vertical direction when viewed from the direction in which the reference axis CL extends. The mounting plate 21 extends on both sides with respect to the reference axis CL. One distance sensor 12 is provided at one end of the mounting plate 21, and the other distance sensor 12 is provided at the other end of the mounting plate 21. The type of distance sensor 12 is not particularly limited, but for example, a type of sensor using a laser may be applied. In this case, the distance sensor 12 measures the distance to the object W to be painted by emitting a laser toward the front and receiving the laser reflected by the object W to be painted. Note that the distance sensor 12 emits a laser beam in a direction parallel to the reference axis CL.

The angle sensor 13 is a sensor that detects the angle of the coating nozzle 16 with respect to the horizontal direction. The angle sensor 13 detects the angle of the reference axis CL with respect to the horizontal direction, that is, the angle at which the application nozzle 16 is directed by the operator. The angle sensor 13 is configured by, for example, a gyro sensor. The speed sensor 14 detects the speed at which the coating nozzle 16 moves, that is, the speed at which the coating nozzle 16 is being moved by the operator. The speed sensor 14 is composed of, for example, a three-axis acceleration sensor. The speed sensor 14 can detect speed by performing calculations based on the detected acceleration. In this way, the speed sensor 14 is not limited to one that directly detects speed, but may also be a sensor that can indirectly detect speed through calculation. The same applies to other detection parameters. The angle sensor 13 and the speed sensor 14 are provided at the lower end of the metal fitting 19.

As shown in FIG. 1, the control device 2 is a device that controls the entire coating device 100. The control device 2 includes a processor, memory, storage, communication interface, and user interface, and is configured as a general computer. The processor is a computing unit such as a CPU (Central Processing Unit). The memory is a storage medium such as ROM (Read Only Memory) or RAM (Random Access Memory). The storage is a storage medium such as an HDD (Hard Disk Drive). A communication interface is a communication device that realizes data communication. The processor controls memory, storage, communication interface, and user interface, and implements the functions described below. The control device 2 realizes various functions by, for example, loading a program stored in a ROM into a RAM, and executing the program loaded into the RAM by a CPU. The control device 2 may be composed of a plurality of computers.

The control device 2 includes a determining section 31, a specifying section 32, a setting section 33, a calculating section 34, and a storage section 36.

The determination unit 31 determines the state of the coating apparatus 100 based on the detection results of the distance sensor 12, angle sensor 13, and speed sensor 14. The determination unit 31 can determine whether the coating nozzle 16 is too close to or too far from the object W to be painted, based on the detection result of the distance sensor 12. The determining unit 31 can determine whether the coating nozzle 16 is too inclined with respect to the object W to be painted based on the detection result of the angle sensor 13. The determination unit 31 can determine whether the application nozzle 16 is moving too slowly or too quickly based on the detection result of the speed sensor 14 .

The identification unit 32 identifies the content of the painting work. The specifying unit 32 can specify the content of the work based on the information input through the input unit 3 . Based on the work content specified by the specifying unit 32, the setting unit 33 sets instruction information regarding the work content. Detailed processing contents of the specifying unit 32 and setting unit 33 will be described later.

The calculation unit 34 is a part that performs various calculations performed by the control device 2. The storage unit 36 is a part that stores various information. The storage unit 36 can store a reference value (threshold value) set in advance for determining the state of the coating apparatus 100. Specifically, the storage unit 36 stores in advance a distance threshold for the detection result of the distance sensor 12, an angle threshold for the detection result of the angle sensor 13, and a speed threshold for the detection result of the speed sensor 14. good. Furthermore, the storage unit 36 stores information based on the determination results. Further, the storage unit 36 stores instruction information set by the setting unit 33.

The input section 3 is a section for inputting predetermined information into the control device 2. Before starting work, the worker can input work details, work conditions, etc. using the input unit 3. The input unit 3 is configured by an interface such as a keyboard, mouse, touch panel, etc., for example.

The output unit 4 is a part that outputs information based on the determination unit 31. The output unit 4 can output information during painting work. When outputting information during painting work, the output unit 4 may be configured with a police lamp (registered trademark), a buzzer, or the like, for example. For example, if the determination unit 31 detects that any of the distance, angle, and speed of the application nozzle 16 exceeds the appropriate value, the output unit 4 will notify the operator of the appropriate value by flashing a patrol lamp or sounding a buzzer. Conveys information that the value has been exceeded. Further, the output unit 4 may output the information after the work is completed. In this case, the output section 4 is configured by a monitor or the like. If the determination unit 31 determines that there is a location where any of the distance, angle, and speed of the application nozzle 16 exceeds an appropriate value between the start of the work and the end of the work, the output unit 4 outputs the information to the monitor.

Next, the operation mode of the coating apparatus 100 will be explained with reference to FIGS. 3 to 7.

FIG. 3 is a diagram showing an example of a work site where painting is performed by the painting apparatus 100. The coating apparatus 100 is particularly effectively used for coating ships, for example. When painting a ship, a worker must enter the interior space of a large-capacity tank to perform the painting work. Such an internal space has an intricate structure including reinforcing members and the like. For example, as shown in FIG. 3, a reinforcing member 53 is provided for a floor 51 and a wall 52. The reinforcing member 53 has a rising portion 53a and an enlarged portion 53b that widens at the tip. Since the floor 51, wall 52, and reinforcing member 53 are the objects W to be painted, the coating nozzle 16 must apply the paint from various positions and angles. Unlike the case where small parts are painted by a painting robot on a factory line, it is difficult to bring in a painting robot to such a work site. Therefore, it is effective to use the painting apparatus 100 according to this embodiment to perform the painting work while determining the painting work of the operator.

As shown in FIG. 3, a stand 60 for determining the origin is provided at the work site. This stand 60 is a member for setting the coating gun 1 at the start of work. The stand 60 is a member that determines the reference position and reference posture of the coating gun 1 of the coating apparatus 100 at the work site. The stand 60 is provided near the end of the reinforcing member 53, which is the object W to be painted, on the upper surface of the reinforcing member 53.

As shown in FIG. 4, the stand 60 includes a holder 61 for arranging and holding the coating gun 1, a mounting member 62 for attaching the holder 61 to the reinforcing member 53 where it is installed, and a processing device 63. . When a button or the like is pressed by an operator, the processing device 63 detects that the painting gun 1 is installed in the holder 61 and transmits the detection result to the control device 2. Thereby, the determining unit 31 understands that the coating gun 1 is in the standard posture at the standard position. At this time, the determination unit 31 performs zero point adjustment of the angle sensor 13, and sets the detected angle of the angle sensor 13 in this state as a reference angle. Further, the determination unit 31 calculates the subsequent movement distance and movement direction of the coating gun 1 using the position as a reference position. When the paint gun 1 is removed from the stand 60 and moved for painting, the determination unit 31 determines in which direction the paint gun 1 is moving from the reference position by performing calculations using the detection results from the speed sensor 14. You can track how far you have traveled.

When the coating process is started, the determination unit 31 determines the distance L1 of the object W to be painted from the coating nozzle 16 based on the detection result of the distance sensor 12, as shown in FIG. 5(a). Further, the determination unit 31 determines the angle θ1 from the reference angle (horizontal in this case) of the application nozzle 16 when viewed from the lateral direction, based on the detection result of the angle sensor 13. The determination unit 31 determines the speed of the coating nozzle 16 based on the detection result of the speed sensor 14 . The determination unit 31 compares a predetermined threshold value for each parameter with a parameter based on the detection result from each sensor, and if any parameter exceeds the threshold value, the output unit 4 uses a patrol light or the like to detect a quality degradation. Communicate the possibilities to workers. As mentioned above, these threshold values are stored in advance in the storage unit 36. Note that these thresholds may be set in advance as standard thresholds, but when using instruction information that corresponds to the content of the work, it is necessary to use thresholds that are appropriately adjusted according to the content of the work. It is also possible to use Details of the instruction information will be described later. Note that in the following description, a location where any parameter exceeds a threshold may be referred to as a "caution location" as a location where attention should be paid regarding quality deterioration. At this time, the output unit 4 may output without identifying which parameter exceeds the threshold, or may identify and output. When identifying, for example, the color of the patrol light is changed. Note that the determination unit 31 may take into consideration the detection result of the switching detection sensor 11 and interrupt the above determination when application is turned off.

As shown in FIG. 5(b), the determination unit 31 obtains the painting length L2 of the object W to be painted from the reference position SP to the predetermined position P1 based on the detection result of the speed sensor 14. Since the determination unit 31 cumulatively acquires the detection results of which direction and at what speed the speed sensor 14 is moving, it is possible to calculate the coating length L2 from the reference position SP. Thereby, the determination unit 31 can grasp the area to be coated by the coating nozzle 16. Therefore, the determination unit 31 can determine which position of the object W to be painted corresponds to the caution area by linking the painting area and the above-mentioned caution area in chronological order.

Here, with reference to FIGS. 6 and 7, the effect of the pair of distance sensors 12 being provided on both sides of the reference axis CL will be described. FIG. 6 is a diagram illustrating a case where the distance sensor 12 is provided only on one side. As shown in FIG. 6(a), when the horizontal inclination angle θ2 of the coating nozzle 16 with respect to the object W to be painted changes, the distance L1 detected by the distance sensor 12 on one side is from the actual coating nozzle 16 The distance to the object W has an error. The larger the inclination angle θ2, the larger the error. Furthermore, as shown in FIG. 6(b), when painting near the end of the object W to be painted, the distance L1 may not be measurable because the object W no longer exists in front of the distance sensor 12. be. On the other hand, if the distance sensor 12 is provided at a position that substantially coincides with the reference axis CL, the paint will be applied in a certain range at the position near the reference axis CL of the object W to be painted, so measurement cannot be performed. . Therefore, the distance sensor 12 cannot be provided at a position that substantially coincides with the reference axis CL.

In contrast, in this embodiment, a pair of distance sensors 12 are provided on both sides of the reference axis CL. As shown in FIG. 7(a), when the coating nozzle 16 sprays the paint, the coating area PE on the object W to be painted spreads out in an oval shape with the longitudinal direction in the vertical direction. Therefore, the pair of distance sensors 12 are arranged with the reference axis CL in between so as to measure narrow positions on both sides of the painting area PE in the lateral direction. At this time, by obtaining the average value of the detection distances of the distance sensors 12 on both sides, the determination unit 31 can determine the distance L1 between the tip of the coating nozzle 16 and the object W to be painted even if the inclination angle θ2 becomes large. Measurements can be made with little error. Further, as shown in FIG. 7B, even if one distance sensor 12 is unable to measure the distance, the other distance sensor 12 can still measure the distance.

The determination unit 31 sequentially stores the determination results in the storage unit 36. When the painting work is completed, the output unit 4 may output the determination result stored in the storage unit 36 to a monitor or the like. At this time, the output unit 4 may output information in a state in which the caution area is linked to the painting area of the object W to be painted. At this time, which parameter exceeds the threshold may be identified and indicated, or may be indicated without being identified. Alternatively, the output unit 4 may output information such as how many times a caution point occurs during work.

Note that, before starting the work, the operator inputs various work conditions such as the type of object W to be painted using the input unit 3. The specifying unit 32 specifies work content indicating what kind of work is to be performed based on the conditions input through the input unit 3. At this time, the specifying unit 32 may refer to data stored in the storage unit 36 and obtain information indicating what kind of work will be done when what kind of input is made. Further, the setting unit 33 sets instruction information indicating what kind of work the worker should perform. For example, the setting unit 33 may set, as instruction information, the range to which the work content specified by the specifying unit 32 should be suppressed in terms of angle, speed, and distance. For example, the instruction information may include information about the range within which the angle, speed, and distance parameters should be kept while moving the painting position from one point to another on the object W to be painted. Each painting position has one. For example, when painting a certain painting position, it is better to keep the application nozzle 16 as straight as possible, and when painting another painting position, it is better to tilt the application nozzle 16 slightly. An appropriate angle threshold can be instructed to the operator according to the position. Note that the output unit 4 may output the instruction information set by the setting unit 33.

Next, a coating method according to this embodiment will be explained.

First, before starting painting, the painting gun 1 is installed on the stand 60. As a result, the coating gun 1 is set at a reference position and in a reference attitude. Thereby, the determination unit 31 recognizes the position as the reference position and performs zero point adjustment of each sensor. After that, a coating process and a detection process are performed. The coating process is a process of applying paint from the coating nozzle 16 to the object W to be painted. Further, the detection process is a process of detecting the state of the coating apparatus 100. The coating process and the detection process are performed simultaneously. While the coating process and the detection process are performed, a determination process is performed to determine the state of the coating apparatus 100 based on the detection result in the detection process. The determination process is performed continuously while the application process and the detection process are being performed. Furthermore, when a determination result is obtained in the determination step, an output step is executed to output information based on the determination result. When transmitting the determination result to the operator during the painting operation, the output step is executed at a timing when the distance, angle, or speed exceeds the threshold value during the application step and the detection step. When transmitting the determination result to the operator after the painting operation, the output step is executed after the application step and the detection step are completed.

Next, the functions and effects of the coating apparatus 100 and the coating method according to this embodiment will be explained.

The coating apparatus 100 according to the present embodiment includes a distance sensor 12, an angle sensor 13, and a speed sensor 14 that function as detection units that detect the state of the coating apparatus 100, and based on the detection results of each sensor. A determination unit 31 that determines the state is provided. Thereby, when the operator is performing the painting work, the determination unit 31 can determine whether there is a condition that would deteriorate the quality of the painting during the painting work performed by the painting apparatus 100. . The coating apparatus 100 includes an output section 4 that outputs information based on the determination section 31. Therefore, the output unit 4 can transmit the determination result during the painting operation to the operator. Thereby, the operator can perform painting work that improves the quality of the painting based on the determination result. With the above, the quality of coating on the object W to be coated can be improved.

The output unit 4 outputs information during painting work. In this case, when the coating apparatus 100 enters a condition that degrades the quality of coating, the operator can know the condition in real time. Thereby, the operator can modify the state of the coating apparatus 100 so as to improve the quality of coating.

The painting apparatus 100 further includes a storage section 36 that stores information based on the determination section 31, and the output section 4 outputs the information after the painting operation is completed. In this case, after the painting work is finished, the information based on the determination unit 31 stored in the storage unit 36 can be effectively utilized. Since the worker can review the content of his/her own work, the worker can perform a painting work that improves the quality of the painting when performing the next painting work.

The painting apparatus 100 further includes a specifying section 32 that specifies the work content of the painting work, and a setting section 33 that sets instruction information regarding the work content based on the work content specified by the specifying section 32. In this case, the operator can know the instruction information regarding the content of the painting work to be performed before starting the painting work, and therefore can perform the painting work in a manner that improves the quality of the painting.

At least one pair of distance sensors 12 for measuring the distance between the coating nozzle 16 and the object W to be coated is provided as a detection unit, and the pair of distance sensors 12 are arranged so as to sandwich the reference axis CL of the coating nozzle 16. In this case, even if the coating nozzle 16 is tilted with respect to the object W to be painted, the coating nozzle 16 on the reference axis CL can be adjusted based on the detection results of the pair of distance sensors 12 arranged to sandwich the reference axis CL. It becomes possible to detect the distance L1 to the object W to be painted. Further, even if one distance sensor 12 becomes unable to detect the distance at the edge of the object W to be painted, the distance can still be detected by the other distance sensor 12.

The coating method according to the present embodiment is a coating method in which a worker applies paint to the object W to be painted, and includes a coating process in which the paint is applied to the object W to be painted with the coating device 100, and a state of the coating device 100. The present invention includes a detection step of detecting, a determination step of determining the state of the coating apparatus 100 based on the detection result of the detection step, and an output step of outputting information based on the determination result of the determination step.

According to this coating method, the same functions and effects as those of the coating apparatus 100 described above can be obtained.

In the coating method, the detection process is started after the coating gun 1 of the coating apparatus 100 is set at a reference position and in a reference posture. In this case, in the determination process, the painting work can be determined in consideration of these reference positions and reference postures.

The invention is not limited to the embodiments described above.

For example, the coating device only needs to include at least a coating gun, a determination section, and an output section, and the specifying section, setting section, etc. may be omitted as appropriate.

Furthermore, the coating device does not need to include all of the distance sensor, angle sensor, and speed sensor; it is sufficient to include at least one of them.

Further, the object to be painted is not limited to the above-mentioned ship, and various structures may be used as the object to be painted.

4... Output section, 16... Application nozzle (application section), 12... Distance sensor (detection section), 13... Angle sensor (detection section), 14... Speed sensor (detection section), 31... Judgment section, 32... Specification section , 33... Setting section, 36... Storage section, 100... Painting device.

Claims (7)

A coating device for applying paint to an object to be painted on a ship by a worker,
a detection unit that detects the state of the coating device when coating by the operator;
a determination unit that determines the state of the coating device based on the detection result of the detection unit;
an output unit that outputs information based on the determination unit to a person without adjusting parameters of the coating device based on the determination result of the determination unit ,
As the detection unit,
a distance sensor that measures the distance between an application unit that applies the paint to the object to be painted and the object to be painted;
an angle sensor that detects the angle of the application part;
A coating device comprising at least one speed sensor that detects the speed at which the coating section moves . The painting apparatus according to claim 1, wherein the output unit outputs the information during painting work. further comprising a storage unit that stores the information based on the determination unit,
The painting apparatus according to claim 1, wherein the output unit outputs the information after finishing the painting work. a specific part that specifies the work content of the painting work;
The coating apparatus according to any one of claims 1 to 3, further comprising a setting section that sets instruction information regarding the work content based on the work content specified by the specifying section. At least one pair of the distance sensors is provided as the detection unit,
The coating apparatus according to any one of claims 1 to 4, wherein the pair of distance sensors are arranged to sandwich a reference axis of the application section. A painting method in which a worker applies paint to an object to be painted on a ship,
a coating step of applying the paint to the object to be painted with a coating device;
a detection step of detecting the state of the coating device;
a determination step of determining the state of the coating device based on the detection result in the detection step;
an output step of outputting information based on the determination result of the determination step to a person without adjusting parameters of the painting apparatus based on the determination result of the determination step ,
In the detection step, the coating method includes detecting at least one of a distance between an application part that applies the paint to the object to be painted and the object to be painted, an angle of the application part, and a speed at which the application part moves. . The coating method according to claim 6, wherein the detection step is started after the coating device is set at a reference position and in a reference posture.

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