GB2613218A - Painting work management system and painting work management method - Google Patents

Painting work management system and painting work management method Download PDF

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Publication number
GB2613218A
GB2613218A GB2211893.9A GB202211893A GB2613218A GB 2613218 A GB2613218 A GB 2613218A GB 202211893 A GB202211893 A GB 202211893A GB 2613218 A GB2613218 A GB 2613218A
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United Kingdom
Prior art keywords
painting
film thickness
gun
work management
pattern
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Granted
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GB2211893.9A
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GB2613218B (en
GB202211893D0 (en
Inventor
Katsumura Nobuhito
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Hitachi Ltd
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Hitachi Ltd
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/084Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/126Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to target velocity, e.g. to relative velocity between spray apparatus and target
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05DPROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00Processes for applying liquids or other fluent materials
    • B05D1/02Processes for applying liquids or other fluent materials performed by spraying
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00Computer-aided design [CAD]
    • G06F30/20Design optimisation, verification or simulation

Landscapes

  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

The painting work management system and method holds information about a film thickness pattern associated with a painting condition and selects a film thickness pattern based on information about a film thickness pattern associated with the painting condition 101, a painting condition at a certain painting time, and a painting gun position and posture at the painting time 103. Further, the painting work management apparatus calculates a moving speed of the painting gun 105 from an occasional position and posture of the painting gun, integrates a film thickness value 106 indicated by the film thickness pattern for a certain period of time from the calculated moving speed of the painting gun and the selected film thickness pattern, and calculates a film thickness forming pattern formed on the object to be painted and a coordinate value thereof. The system may also feature a display which can be head mounted and the system can measure the air flow rate of the system.

Description

PAINTING WORK MANAGEMENT SYSTEM AND PAINTING WORK MANAGEMENT
METHOD
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a painting work management system and a painting work management method, and particularly relates to a painting work management system and a painting work management method suitable for forming an appropriate painting film thickness for an object to be painted when painting is performed by an operator.
2. Description of the Related Art
Many structures, including buildings, are painced for the 15 purpose of imparting design, protection, etc. In particular, in a moving body such as a railroad vehicle or an automobile, it is necessary to smooth a painting film surface in order to give an aesthetic appearance and reduce aerodynamic resistance. A painting film may be a single layer. However, in many 20 cases, the painting film is formed in a plurality of layers to ensure a property of smoothing the painting film surface. For example, when a painting film is formed on a metal surface, applying and drying a rust preventive primer after roughening the metal surface by blasting, etc., applying putty, drying, 25 and polishing for covering irregularities of the metal surface to ensure smoothness, surfacer coating, drying, polishing, intermediate coating, drying, and polishing for covering fine irregularities on a putty surface, and topcoat application, drying, and polishing for imparting design on an outermost surface are proceeded in order.
Painting is generally performed manually by an operator or by using an automatic machine such as a robot. When the operator paints, a spray, a brush, a roller, etc. are used. However, it is difficult to quantitatively identify the painting film thickness during painting in real time or immediately after painting, and the painting film thickness strongly depends on the skill of the operator.
On the other hand, when the robot is used, capital investment is expensive, and when a paint containing an organic solvent is used, it is necessary to have an explosion-proof specification, and the capital investment amount further increases. Further, when a place where the robot is installed or the object to be painted is heated, a process of retracting the robot or a process of moving and heating the object to be painted is required.
In robot painting, there Is a method of acquiring a painting film thickness distribution by simulation. For example, JP 2006-122830 A discloses a "painting film thickness simulation method" as a simulation technique. According to the simulation method of JP 2006-122830 A, a film thickness distribution value at a painting gun position is acquired based on a reference pattern, the film thickness distribution value is integrated, and a film thickness distribution value of an object to be painted is acquired.
The method of JP 2006-122830 A relates to robot painting and requires capital investment. In addition, in general, painting of a complicated structure frequently relies on manpower, and manpower cannot be excluded in the painting work.
In general, it is necessary to pay attention to a painting film thickness when painting is performed, regardless of whether the painting is manually performed by the operator or is performed using a robot. When the film thickness is thinner than a predetermined film thickness, there occur problems such as weak protection by painting and the inability to obtain the required aesthetic appearance. When the film thickness is thicker than the predetermined film thickness, a solvent may remain in a painting film and vaporize, causing defects such as so-called blisters and cracks, or increasing the cost by using a large amount of paint. In addition, when these defects occur in combination, the appearance may be impaired due to unevenness, etc. To prevent these defects, it is necessary to ensure an appropriate film thickness.
SUMMARY OF THE INVENTION
An object of the invention is to provide a painting work management system and a painting work management method enabling an operator to form an appropriate painting film thickness on an object to be painted when the operator manually performs painting.
A configuration of a painting work management system of the invention is preferably a painting work management system for managing painting work of painting an object to be painted by spraying paint using a painting gun, the painting work management system including a paint supply apparatus that supplies paint to the painting gun, a measurement apparatus that occasionally measures a position and a posture of the painting gun, and a painting work management apparatus that inputs information related to paint from the paint supply apparatus and information related to the painting gun from the measurement apparatus for occasionally measuring a position and a posture of the painting gun, and calculates a formed film thickness forming pattern with respect to the object to be painted, in which the painting work management apparatus holds information about a film thickness pattern associated with a painting condition, and the painting work management apparatus selects a film thickness pattern based on information about a film thickness pattern associated with the painting condition, a painting condition at a certain painting time, and a painting gun position and posture at the painting time, calculates a moving speed of the painting gun from an occasional position and posture of the painting gun, integrates a film thickness value indicated by the film thickness pattern for a certain period of time from the calculated moving speed of the painting gun and the selected 5 film thickness pattern, and calculates a film thickness forming pattern formed on the object to be painted and a coordinate value of the film thickness forming pattern. According to the invention, it is possible to provide a painting work management system and a painting work management 10 method enabling an operator to form an appropriate painting film thickness on an object to be painted when the operator manually performs painting.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 is an overall configuration diagram of a painting Fig. 2 is a functional configuration diagram of a painting work management apparatus; Fig. 3 is a hardware/software configuration diagram of 20 the painting work management apparatus; Fig. 4 is a diagram illustrating an example of a painting work information table; Fig. 5 is a diagram illustrating an example of a film thickness pattern table; Fig. 6A is a diagram illustrating each example of a film thickness pattern (No. 1); Fig. 6B is a diagram illustrating each example of the film thickness pattern (No. 2); Fig. 60 is a diagram illustrating each example of the film thickness pattern (No. 3); Fig. 6D is a diagram illustrating each example of the film thickness pattern (No. 4); Fig. 6E is a diagram illustrating each example of the film thickness pattern (No. 5); Fig. 7 is a diagram illustrating an example of a painting
condition table;
Fig. 8 is a diagram illustrating an example of a painting gun moving speed table; Fig. 9 is a diagram illustrating an example of a film 15 thickness result table; Fig. 10 is a diagram illustrating an example of a film thickness forming pattern; Fig. 11 is a diagram illustrating a side surface of a railroad vehicle as an example of an object to be painted; Fig. 12 is a diagram describing an example of a coordinate system; Fig. 13 is a diagram describing a relationship between an object to be painted and a painting gun; Fig. 14A is a diagram illustrating a relationship among a 25 position of the painting gun, a posture of the painting gun, and a film thickness formed on a surface of the object to be painted (No. 1); Fig. 143 is a diagram illustrating a relationship among a position of the painting gun, a posture of the painting gun, 5 and a film thickness formed on the surface of the object to be painted (No. 2); Fig. 14C is a diagram illustrating a relationship among a position of the painting gun, a posture of the painting gun, and a film thickness formed on the surface of the object to be 10 painted (No. 3); Fig. 15A is a flowchart illustrating processing of the painting work management apparatus (No. 1); Fig. 153 is a flowchart illustrating processing of the painting work management apparatus (No. 2); fig. 16 is a diagram describing an equation used in a process of selecting a film thickness pattern; Fig. 17 is a diagram describing an equation used in a process of calculating a film thickness forming pattern; Fig. 18A is a diagram describing a process of calculating the film thickness forming pattern (No. 1); Fig. 183 is a diagram describing a process of calculating the film thickness forming pattern (No. 2); Fig. 180 is a diagram describing a process of calculating the film thickness forming pattern (No. 3); and Fig. 19 is a diagram illustrating an example of a display image when an operator uses an augmented reality head mounted display (AR-HMD).
DETAILED DESCRIPTION OF 7HE PREFERRED EMBODIMENTS
Hereinafter, an embodiment of the invention will be described with reference to Figs. 1 to 19.
First, a configuration of the painting work management system will be described with reference to Figs. 1 to 3.
First, an overall configuration of the painting work 10 management system will be described with reference to Fig. 1. The painting work management system is a system that supports painting work when the painting work is mainly manually performed on an object to be painted 10. An operator 1 ejects paint 4 from a painting gun 40 and sprays the paint 4, 15 and at the same time, moves the painting gun parallel to a painted surface of the object to be painted 10, thereby applying the paint 4 to the painted surface of the object to be painted 10. Note that in the following embodiment, the case where the object to be painted 10 is a railroad vehicle will 20 be described as an example.
As illustrated in Fig. 1, the painting work management system includes an AR-HMD 20, a camera 30 (denoted as 30a and 30b in Fig. 1), the painting gun 40, a painting work management apparatus 100, and a paint supply apparatus 300.
The painting gun 40 is a painting device that uses compressed air of a compressor (not illustrated) to spray a liquid such as the paint 4 into a mist and blow the paint 4 onto an object. A typical form of the painting gun 40 is a pistol-like shape, and the paint is sprayed by pulling a trigger.
The painting gun 40 is connected to the paint supply apparatus 300 by a hose 50, and the discharge amount of paint discharged from the painting gun 40 (flow rate of paint) is recorded by the paint supply apparatus that auyomatically mixes a plurality of paint components, and reporced to the painting work management apparatus 100 via a wired or wireless network or connection line. Further, in the present embodiment, it is assumed that the painting gun 40 is an air gun, which is connected to a compressor (not illustrated) by an air hose, and air, etc. discharged at the same time as the paint and an air flow rate are also recorded and reported to the painting work management apparatus 100.
Further, the painting gun 40 of the present embodiment is equipped with a marker 41 so that a position and orientation with respect to the object to be painted 10 can be identified. The marker 41 indicates a gun position by transmitting, for example, visible light, an infrared ray, and a radio wave, and a plurality of markers (for example, three places) is attached to indicate the orientation.
Further, a position and orientation of the painting gun are calculated based on position information received from the marker 41 of the painting gun 40. As a receiving method, for example, there is a conceivable mode in which a radio wave transmitted from the marker 41 is captured by a sensor or a plurality of cameras 30.
Note that the painting gun 40 of the present embodiment may be any of an air gun, an airless gun, an electrostatic gun, etc. The camera 30 is a device that photographs painting work of the operator 1 and transfers an image thereof to the painting work management apparatus 100 by a wired or wireless network. Further, as described above, the position, orientation and moving speed of the painting gun 40 may be transmitted to the painting work management apparatus 100 by the camera 30.
The AR-HMD 20 is a display attached to a head of the operator 1 to display necessary information for painting work. For example, according to an instruction from the painting work management apparatus 100, the operator 1 is informed of a current film thickness of the object to be painted 10, and the information is displayed to the operator so as not to cause an excess or deficiency of the film thickness during the painting work. Note that details of a user interface provided by the AR-END 20 will be described later.
The paint supply apparatus 300 is an apparatus that mixes a paint stock solution with a solvent, etc., and supplies paint to the painting gun 40 by the hose 50. The amount of paint discharged is occasionally recorded and reported to the painting work management apparatus 100 via a network or a connecting line.
The painting work management apparatus 100 is an apparatus that manages the entire painting work of the operator 1 and displays information necessary for the AR-HMD 20. In particular, the painting work management apparatus 100 determines the painting film thickness of the object to be painted 10 from a discharged paint flow rate and air flow rate from the painting gun 40, and the position, the orientation, and the moving speed of the painting gun 40 with respect to the object to be painted 10. Note that a method of calculating the painting film thickness for the object to be painted 10 will be described in detail later.
Next, a description will be given of a functional configuration of the painting work management apparatus with reference to Fig. 2.
As illustrated in Fig. 2, the painting work management apparatus 100 includes respective functional units of a painting information input unit 101, a painting amount/air amount interface (IF) unit 102, an imaging/sensor information IF unit 103, a film thickness pattern search unit 104, a painting gun speed calculation unit 105, a film thickness calculation unit 106, an HMD data edition unit 107, an HMD data output unit 108, and a storage unit 110.
The painting information input unit 101 is a functional unit for inputting information related to the painting work by the operator 1 of the painting work or a work manager. The painting amount/air amount IF unit 102 is a functional unit that receives the paint discharge amount or the air flow rate from the paint supply apparatus 300. The imaging/sensor information IF unit 103 is a functional unit that receives imaging information from the camera 30 or receives information from various sensors. The film thickness pattern search unit 104 is a functional unit that searches for a film thickness pattern (details will be described later) based on a condition related to painting. The painting gun speed calculation unit 105 is a functional unit that calculates the moving speed of the painting gun 40 based on information input from a measurement apparatus such as the camera 30 or a sensor. The film thickness calculation unit 106 is a functional unit that calculates the film thickness formed on the object to be painted based on the film thickness pattern and the moving speed of the painting gun 40. The HMD data edition unit 107 is a functional unit that edits data for information displayed on the AR-HMD 20. The HMD data output unit 108 is a functional unit that outputs data to the AR-END 20. The storage unit 110 is a functional unit that stores data used in the painting The storage unit 110 holds respective tables such as a painting work information table 500, a film thickness pattern table 501, a film thickness pattern 502, a painting condition table 503, a painting gun moving speed table 504, a film thickness result table 505, and a film thickness forming pattern 506.
Note that details of each table will be described later. Next, a description will be given of a hardware/software configuration of the painting work management apparatus 100 with reference to Fig. 3.
The hardware configuration of the painting work management apparatus 100 is realized by, for example, a general information processing device such as a personal computer illustrated in Fig. 3. However, as long as the functions illustrated in Fig. 2 can be executed, it is possible to adopt a system that executes the functions by a cloud system.
The painting work management apparatus 100 has a mode in 20 which a processor 402, a main storage device 404, a network T/F 406, a display T/F 408, an input/output T/F 410, and an auxiliary storage T/F 412 are combined by a bus.
The processor 402 controls each unit of the painting work management apparatus 100, and loads and executes a program 25 required for the main storage device 404. As an example of the processor, a central processing unit (CPU) or a graphics processing unit (GPU) may be considered. However, it is possible to adopt another semiconductor device as long as the semiconductor device is a main body that executes 5 predetermined processing.
The main storage device 404 normally includes a volatile memory such as a RAM, and stores a program executed by the CPU 402 and data to be referred to.
The network I/F 406 is an interface for connecting to network 5.
The display I/F 408 is an interface for connecting a display device 420 such as a liquid crystal display (LCD).
The input/output I/F 410 is an interface for connecting an input/output device. In an example of Fig. 3, a keyboard 15 430 and a mouse 432, which is a pointing device, are connected to each other.
The auxiliary storage I/F 412 is an interface for connecting an auxiliary storage device such as a hard disk drive (HDD) 450 or a solid state drive (SOD).
The HDD 450 has a large storage capacity, and stores a program for executing the present embodiment. A painting information input program 461, a painting amount/air amount IF program 462, an imaging information IF program 463, a film thickness pattern search program 464, a painting gun speed calculation program 465, a film thickness calculation program 466, an HMD data edition program 467, and an HMD data output program 468 are installed in the painting work management apparatus 100.
The painting information input program 461, the painting 5 amount/air amount IF program 462, the imaging information IF program 463, the film thickness pattern search program 464, the painting gun speed calculation program 465, the film thickness calculation program 466, the HMD data edition program 467, and the HMD data output program 468 are programs for implementing functions of the painting information input unit 101, the painting amount/air amount IF unit 102, the imaging/sensor information IF unit 103, the film thickness pattern search unit 104, the painting gun speed calculation unit 105, the film thickness calculation unit 106, the HMD data edition unit 107, and the HMD data output unit 108, respectively.
Each program may be provided by a storage medium such as a CD-ROM or a DVD-ROM, or may be distributed by a program distribution server via the Internet, etc. Next, a data structure used in the painting work management system will be described with reference to Figs. 4 to 10.
The painting work information table 500 is a table that holds information for managing the painting work, and has 25 respective fields of a work ID 500a, an operator 500b, a painted vehicle type 500c, a painting gun product name 500d, a nozzle diameter 500e, a painting location 500f, a paint product name 500g, a dilution rate h, a work start date and time 500i, a work end date and time 500j, a film thickness lower limit 500k, a film thickness upper limit 5001, and a post-work instruction 500m as illustrated in Fig. 4.
An ID that uniquely identifies the painting work is stored in the work ID 500a. A character string representing the operator or an ID of the operator is stored in the operator 500b. A character string representing a vehicle involved in the painting work or an ID of the vehicle is stored in the painted vehicle type 500c. A product name of the painting gun 40 input from an input device of the painting work management apparatus 100 is stored in the painting gun product name 500d. A value of a diameter of a discharge port of the painting gun 40 of the painting gun product name 500d is stored in units of mm in the nozzle diameter 500e. Information about a part of the vehicle related to the painting work is stored in the painting location 500f.
Information about a product name of the paint is stored in the paint product name 500g. Information about a date and time when the work starts is stored in the format of yyyymmddhhmm in the work start date and time 500i. Information about a date and time when the work ends is stored in the format of yyyymmddhhmm in the work end date and time 500j. A value of a lower limit of painting defined in the painting work (a limit defined that the film thickness should not be thinner than this lower limit) is stored in units of gm in the film thickness lower limit 500k. A value of an upper limit of 5 painting defined in the painting work (a limit defined that the film thickness should not be thicker than this upper limit) is stored in units of gm in the film thickness upper limit 5001. A character string or an ID indicating content of the work is stored in the post-work instruction 500m when it is 10 necessary after the painting work.
The film thickness pattern table 501 is a table that holds a correspondence between a painting condition and a formed film thickness pattern, and has respective fields of a paint product name 501a, a dilution rate 501b, a paint flow rate 501c, a discharged air flow rate 501d, a controlled air flow rate 501e, a painting gun product name 501f, a nozzle diameter 501g, a gun distance 501h, a horizontal angle 501i, a vertical angle 501j, and a film thickness pattern 501k as illustrated in Fig. 5.
Information about a product name of the paint is stored in the paint product name 501a. A dilution rate of the paint is stored in the dilution rate 501b. In general, the dilution rate is defined as (volume of stock solution of paint + volume of diluent)/(volume of diluent). A value of a paint flow rate per unit time recorded by the paint supply apparatus 300 is stored in units of mL/s in the paint flow rate 501c. A value of an air flow rate per unit time discharged from the painting gun 40 is stored in units of mL/s in the discharged air flow rate 501d. A value of an air flow rate per unit time, which is controlled by the paint supply apparatus 300, is stored in units of mL s in the controlled air flow rate 501e. A product name of the painting gun 40 is stored in the painting gun product name 501f. A value of the diameter of the discharge port of the painting gun 40 is stored in units of mm in the nozzle diameter 501g. A vertical distance between the painting gun 40 and the object to be painted 10 is stored in units of m in the gun distance 501h. A value of a horizontal angle of a tip of the painting gun 40 is stored in units of degrees in the horizontal angle 5011. A value of a vertical angle of the tip of the painting gun 40 is stored in units of degrees in the vertical angle 501]. A character string or ID uniquely indicating a film thickness pattern described below is stored in the film thickness pattern 501k.
Note that in an example of Fig. 5, each value of the paint product name 501a, the dilution rate 501b, the paint flow rate 501c, the discharged air flow rate 501d, the controlled air flow rate 501e, the painting gun product name 501f, the nozzle diameter 501g, the gun distance 501h, the horizontal angle 5011, and the vertical angle 501] is converted as a character string, and a character string in which these are connected by "-" is used as a value of the film thickness pattern 501k.
As illustrated in Figs. 6A to 6E, the film thickness pattern 502 is a data structure in which the film thickness of 5 the paint formed on the surface of the object to be painted 10 per unit time during painting is indicated in units of im for each unit cell. In Figs. 6A to 6E, 1 s is taken as the unit time, and the unit cell is a 10 mm square cell. Further, a center of the film thickness pattern 502 is an intersection of 10 an extension line in a nozzle direction of the painting gun 40 and the surface of the object to be painted 10.
Note that as described above, with regard to the painting condition, a type of film thickness pattern to be formed may be obtained by conducting a painting experiment on an actual object to be painted according to a painting condition thereof and performing measurement by means such as a film thickness meter, or by numerical calculation or computer simulation.
The painting condition table 503 is a table that holds a condition in actual painting work, and has respective fields of a work ID 503a, a date and cime 503b, a paint product name 503c, a dilution rate 503d, a painting gun product name 503e, a nozzle diameter 503f, a paint flow rate 503g, a discharged air flow rate 503h, a controlled air flow rate 503i, a gun position (x) 503j, a gun position (y) 503k, a gun distance 5031, a horizontal angle 503m, and a vertical angle 503i as illustrated in Fig. 7.
An ID that uniquely identifies the painting work is stored in the work ID 503a. A date and time when the work is performed is stored in the format of yyyymmddhhmmss in the date and time 503b. Information about a paint product name input by the operator or the manager before the work is stored in the paint product name 503c. The dilution rate of the paint stored in the painting work information table 500 is stored in the dilution rate 503d. The product name of the painting gun 40 input by the operator or the manager before the work is stored in the painting gun product name 503e. The value of the diameter of the discharge port of the painting gun 40 stored in the painting work information table 500 is stored in the units of mm in the nozzle diameter 503f. A value of a paint flow rate per unit time measured by a paint flow rate meter, which is built in the paint supply apparatus 300 or provided outside the paint supply apparatus 300, is stored in units of mL/s in the paint flow rate 503g. A value of an air flow rate per unit time discharged from the painting gun 40 and measured by an air flow rate meter is stored in units of mL/s in the discharged air flow rate 503h. A value of an air flow rate per unit time supplied by a compressor (not illustrated) is stored in the controlled air flow rate 5031. A position of an x-coordinate of a reference point of the painting gun 40 (for 25 example, a nozzle tip of the painting gun 40) measured by the camera 30 or the sensor is stored in units of m in the gun position (x) 503j. A position of a y-coordinate of the reference point of the painting gun 40 measured by the camera 30 or the sensor is stored in units of m in the gun position (y) 503k. The reference point of the painting gun 40 measured by the camera 30 or the sensor and a position to the surface of the object to be painted (equal to a z-coordinate in the present embodiment (details will be described later)) are stored in the gun distance 5031. A value of a horizontal angle of the tip of the painting gun 40 measured by the camera 30 or the sensor is stored in units of degrees in the horizontal angle 503m. A value of a vertical angle of the tip of the painting gun 40 measured by the camera 30 or the sensor is stored in units of degrees in the vertical angle 503i.
The painting gun moving speed table 504 is a table that holds information about a moving speed of the painting gun 40 calculated from time information and position information of the painting gun 40, and has respective fields of a work ID 504a, a date and time 504b, a moving speed (x-direction) 504c, a moving speed (y-direction) 504d, and a moving speed (z-direction) 504e as Illustrated in Fig. 8.
An ID that uniquely identifies the painting work is stored in the work ID 504a. A date and time when the moving speed of the painting gun 40 is calculated is stored in the 25 format of yyyymmddhhmmss in the date and time 504b. Values of the moving speed of the painting gun 40 in the x-direction, the y-direction, and the z-direction calculated from the time information and the position information of the painting gun 40 are stored in the format of m/s in the moving speed (x-direction) 504c, the moving speed (y-direction) 504d, and the moving speed (z-direction) 504e, respectively.
The film thickness result table 505 is a table that holds information about the film thickness of the paint formed on the surface of the object to be painted 10 calculated from the painting condition, the moving speed of the painting gun 40, and the film thickness pattern, and has respective fields of a work ID 505a, a date and time 505b, a film thickness forming pattern 505c, and a pattern coordinate 505d as illustrated in Fig. 9.
An ID that uniquely identifies the painting work is stored in the work ID 505a. A date and time when it is calculated that the film thickness indicated in the film thickness forming pattern 505c is formed is stored in the format of yyyymmddhhmmss in the date and time 505b. A character string or an ID indicating the film thickness forming pattern 505c is stored in the film thickness forming pattern 505c. In the present embodiment, a character string is obtained by adding a prefix (RS) to a character string indicating the film thickness pattern used to generate the film thickness forming pattern. In the pattern coordinate 505d, for example, a value of a pair of the x-coordinate and the y-coordinate indicating a central portion of the film thickness forming pattern 505c is stored.
As Illustrated in Fig. 10, the film thickness forming pattern 506 is a data structure in which the film thickness of the paint formed on the surface of the object to be painted 10 during painting is Indicated in units of mm for each unit cell. Each unit cell of Fig. 10 corresponds to the unit cell of the film thickness pattern Illustrated in Figs. 6A to 6E.
Next, processing of the painting work management system will be described with reference to Figs. 11 to 14C.
First, a structure of the railroad vehicle will be described with reference to Fig. 11 as an example of the object to be painted.
An outer wall 605 of a railroad vehicle 601 Illustrated in Fig. 11 is formed by a side surface and an upper surface which is a ceiling, which are formed of a processed material obtained by processing a metal plate. A door 603 and a window 604, which are opening/closing doors, are provided on the side surface of the railroad vehicle. Further, a pantograph 606 is provided on the upper surface of the railroad vehicle. The railroad vehicle is supported by a bogie 602, and wheels 607 rotate on rails to move the railroad vehicle 601.
In the present embodiment, a painting film is formed on 25 the outer wall of the railroad vehicle by the operator spraying the paint using the painting gun 40 with specifications within a predetermined film thickness. By painting the surface of the metal material with the painting film of the embodiment, the surface of the metal material is 5 physically protected, and foreign matter and rainwater are prevented from being in direct contact with the surface of the metal material. Therefore, it is possible to effectively prevent occurrence of metal corrosion on the surface of the metal material. Further, by using the colored topcoat, the 10 design can be imparted to the railroad vehicle.
Next, a description will be given of the premise that the painting work management apparatus calculates the film thickness of the paint formed on the object to be painted with reference to Figs. 12 to 140.
In the present embodiment, as illustrated in Fig. 12, as a coordinate system, an x-axis and a y-axis of an orthogonal coordinate system are arranged on the surface of the object to be painted (railroad vehicle) 10, and a z-axis is arranged to be vertically oriented to the surface. Therefore, a distance between the surface of the object to be painted 10 and the nozzle at the tip of the painting gun 40 is equal to a value on the z-axis.
Further, as illustrated in Fig. 13, the marker 41 is set on the painting gun 40, and the position and posture of the 25 painting gun 40 are measured at each time by the camera 30 or the sensor. Further, a paint flow rate per unit time sent to the painting gun 40 is measured by the paint flow rate meter, and a value of an air flow rate (discharged air flow rate) per unit time discharged from the painting gun 40 measured by the 5 air flow rate meter is used and a value of an air flow rate (controlled air flow rate) per unit time supplied by the compressor are measured.
The operator 1 sprays the paint by the painting gun 40 while moving the painting gun 40 in the x-axis or y-axis direction and keeping a certain distance from the surface of the object to be painted 10. At this time, the operator 1 may see information supporting the painting work together with the work situation by the AR-HMD 20.
A relationship between the distance between the painting gun 40 and the object to be painted 10 and the posture of the painting gun 40 is illustrated in Figs. 14A to 140. As Illustrated in Fig. 14A, when the distance between the painting gun 40 and the object to be painted 10 is long, the film thickness formed on the surface of the object to be painted 10 becomes thin, and as illustrated in Fig. 14B, when the distance between the painting gun 40 and the object to be painted 10 is long, the film thickness formed on the surface of the object to be painted 10 becomes thin. Further, as Illustrated in Fig. 140, when the painting gun 40 is tilted with respect to the surface of the object to be painted 10, a thin film thickness portion and a thick film thickness portion are formed, and the film thickness formed on the surface of the object to be painted 10 becomes non-uniform.
As described above, when the painting work management apparatus 100 of the present embodiment performs painting at the position and posture of the painting gun 40 and under other painting conditions, the painting work management apparatus 100 holds the film thickness pattern indicating the film thickness formed per unit time.
Next, a description will be given of processing of the painting work management apparatus with reference to Figs. 15A to 180.
First, the operator 1 or the manager of the painting work inputs the painted vehicle type, information related to the operator, and the product name of the painting gun by an input screen (not illustrated) or a command line output to a display device of the painting work management apparatus 100 (3100).
Next, based on the input information, the painting work management apparatus 100 refers to painting work specification 20 data (not illustrated) and painting gun specification data (not illustrated), and sets information related to painting of the painting work information table 500 and information related to the painting gun (3101).
When the information related to the painting and the 25 information related to the painting gun are not obtained with reference to the painting work specification data and the painting gun specification data (for example, the product name of the paint is not uniquely determined even when the painted vehicle type is known), the operator 1 or the manager of the painting work inputs such information to the painting work management apparatus 100.
Subsequently, when the operator 1 of the painting work starts the painting work, the painting work management apparatus 100 sets a work start date and time in the work start date and time 500i of the painting work information table 500 (S102).
Subsequent processes of S103, S104, and S105 to 8113 are parallel processes.
The painting work management apparatus 100 reads 15 coordinate data and the posture of the painting gun 40 from the camera 3 or the sensor at a certain time (S103).
Further, the painting work management apparatus 100 reads a paint flow rate from a paint meter and an air flow rate (discharged air flow rate and controlled air flow rate) from the air flow rate meter (8104).
Further, in parallel with the processes of 8103 and S104, a value is set in the painting condition table 503 based on values read in 5103 and 8104, clock information of the painting work management apparatus 100, and a value set in the painting work information table 500 (8105).
Subsequently, the painting work management apparatus 100 selects an optimum film thickness pattern from film thickness patterns stored in the film thickness pattern table 501 based on the value set in the painting condition table 503 (5106).
As a method of selecting the film thickness pattern, for example, a film thickness pattern of a record of the film thickness pattern table having a smallest distance from the value set in the painting work information table 500 Illustrated in (Equation 1) of Fig. 16 is selected.
Here, et (field value of the painting condition table) is an evaluation value of a field value of the painting condition table 503, et (field value of the film thickness pattern table) is an evaluation value of a field value of the film thickness pattern table 501, and ki (0 1) is a weighting coefficient for evaluation.
Further, the fields of the film thickness pattern table 501 and the fields of the painting condition table 503 of each item correspond to each other (the paint product name 501a: the paint product name 503c, the dilution rate 501b: the dilution rate 503d, the paint flow rate 501c: the paint flow rate 503g, the discharged air flow rate 501d: the discharged air flow rate 503h, the controlled air flow rate 501e: the controlled air flow rate 5031, the painting gun product name 501f: the painting gun product name 503e, the nozzle diameter 501g: the nozzle diameter 503f, the gun distance 501h: the gun distance 5031, the horizontal angle 5011: the horizontal angle 503m, and the vertical angle 501] : the vertical angle 503n).
When the field value of the painting condition table 503 5 and the field value of the film thickness pattern table 501 are equal to each other, the square of the term taking the sum is 0. Further, as the value becomes farther, the value becomes larger, and the distance Increases. Therefore, referring to evaluation values of the paint product name (paint product 10 name 501a: paint product name 503c) and the painting gun product name (painting gun product name 501] : painting gun product name 503f), it is desirable to give evaluation values close to each other for paints and paint guns having similar specifications.
Further, the weighting coefficient kr for each evaluation can be set to a desirable value by a supervised machine learning method.
Next, the painting work management apparatus 100 calculates coordinate data of the painting gun 40 from the 20 camera 3 or the sensor at each time, and the moving speed of the painting gun 40 at (x, y, z) at the time of the date and time 503b of the painting condition table 503 from the posture, and sets values in the painting gun moving speed table 504 (S107).
Next, the painting work management apparatus 100 calculates a coordinate position and a film thickness at which the film thickness is formed based on the value of the painting gun moving speed table 504 and the film thickness pattern selected in S106, and sets a film thickness forming pattern and a coordinate position thereof in the film thickness result table 505 (S108).
The coordinate position at which the film thickness is formed is an intersection of a nozzle direction of the painting gun 40 and the surface of the object to be painted 10, which is also a center position of the film thickness forming pattern.
The value of the film thickness forming pattern in a unit cp11 (i, j) of the film thickness forming pattern is calculated by (Equation 2) of Fig. 17.
k of / in (Equation 2) is an integer of 1 or more that satisfies (Equation 3) of Fig. 17.
Here, T is an interval of time for calculating the film thickness forming pattern, and At is an increment unit of time.
Further, r, and of (Equation 2) are painting efficiency coefficients in the x-direction and the y-direction, respectively, and are indicated by (Equation 4) of Fig. 17. This is equal to a time when the paint is sprayed on one unit cell within an increment unit At of time.
Hereinafter, a process of calculating the film thickness 25 forming pattern will be specifically described with reference to Figs. 18A to 180.
In this example, only the film thickness forming pattern formed by movement in the x-direction is indicated, an interval of time for calculating the film thickness forming pattern is T = 60 [s] = 1 [minute], and At = 1/100 [s]. When the moving speed in the x-direction is set to 100 [mm/s], and one side of the unit cell is set to 10 mm, r, = 10 [mm]/100 [mm/s] = 1/10 [1/6], which is a time interval in which the paint is sprayed by the painting gun 40 in the increment unit At of the time.
Therefore, since the film thickness value formed as a result of being formed in a unit time under a condition that the film thickness pattern is present is illustrated for each unit cell, the film thickness forming pattern is obtained by multiplying the painting efficiency coefficient r, in the x-direction by the painting efficiency coefficient r, in the y-direction for each corresponding unit cell and adding resultant values together as illustrated in (Equation 2) and Fig. 180. Figs. 18A to 180 illustrate that a film thickness formation pattern of RS-A-1.0-7.5-5-2.5-G1-1.3-C.2-0-0 is calculated at time: 10:10:02:00 from a film thickness pattern A-1.0-7.5-5-2.5-G1-1.3-0.2-0-0 for each 1/100 [s] at time: 10:10:01:00 to 10:10:02:00.
Next, the painting work management apparatus 100 refers 25 to the painting work information table 500, the painting condition table 503, and the film thickness result table 505, and edits HMD data to be output to the AR-END 20 (5109). Subsequently, the painting work management apparatus 100 outputs the END data edited in S109 to the AR-END 20 (5110).
Subsequently, the painting work management apparatus 100 determines whether or not the painting work ends (S111). As a criterion for determining the end of the painting work, a work time of the painting work may he set in advance and compare a time with the work time, or the operator or the manager may determine the end of the painting work and input a command of the painting work management apparatus 100.
When the painting work does not end (S111: NO), the painting work management apparatus 100 determines whether or not an interval T has elapsed from a previous process (S113), and when the interval T has elapsed (S113: YES), the operation returns to S105.
When the painting work ends (5111: YES), the painting work management apparatus 100 sets a work end date and time in the work end date and time 500] of the painting work information table 500 (8120).
Subsequently, the painting work management apparatus 100 stores information related to a subsequent instruction when the painting work ends in the post-work instruction 500m of the painting work Information table 500, and ends the process.
For example, the following examples can be considered.
1) In the film thickness forming pattern illustrated in the film thickness result table 505, when the number of unit cells whose film thickness is less than a lower limit of a film thickness regulation is larger than a predetermined threshold value, repainting of a predetermined portion is instructed.
2) In the film thickness forming pattern Illustrated in the film thickness result table 505, when the number of unit cells whose film thickness exceeds an upper limit of the film thickness regulation is larger than a predetermined threshold value, repair such as polishing after the paint dries is commanded.
3) When the work is ended due to a break time of a worker, a time to restart the painting work is commanded.
Next, a display image of the AR-HMD displayed to the painting worker will be described with reference to Fig. 19. As an HMD display image 700 of the AR-HMD 20, as illustrated in Fig. 19, a time view 710, a work information view 720, a remote view 730, an enlarged view 740, a painting 20 condition view 750, and a STATUS view 760 are displayed.
In the time view 710, a current time and a time since the start of painting are displayed to the operator. The work information view 720 displays necessary information from the painting work information table 500 to the operator. A display image when the object to be painted 10 is visually recognized is displayed in the remote view 730. In the enlarged view 740, a painting situation of the object to be painted 10 is enlarged and displayed with reference to the film thickness forming pattern illustrated in the film thickness result table 505. For example, as illustrated in Fig. 19, for each unit cell, whether the film thickness is appropriate, exceeds the specified specifications, or does not reach the specified specifications is displayed in different colors. For example, a unit cell in the film thickness specifications is displayed in white, a unit cell that does not reach a lower limit of the film thickness is displayed in blue, and a unit cell that exceeds an upper limit of the film thickness is displayed in red. The area of the object to be painted 10 displayed in the enlarged view 740 may display the vicinity of a region currently being painted, or the operator may specify an area of the object to be painted 10 desired to be viewed.
The painting work management apparatus 100 may give an instruction for repainting to the painting operator 1 when a unit cell within the film thickness specification is generated at a predetermined threshold value or more during painting. In addition, it is possible to give an instruction to wipe off a portion exceeding the upper limit of the film thickness during painting.
Necessary information from the painting condition table 25 503 is displayed in the painting condition view 750. A current situation to be reported to the operator, for example, a warning display when the painting film thickness exceeds the upper limit of the specification, as illustrated in Fig. 19, is displayed in the STATUS view 760. Alternatively, when an area where the painting film thickness is less than the lower limit of the specification occurs in a certain area or more, a warning thereto is given.
As the HMD display image 700 of the AR-HMD 20, only the remote view 730 may be normally displayed, and a necessary 10 view area may be displayed by inputting a command from the operator 1.
As described above, according to the present embodiment, the painting work management apparatus selects a film thickness pattern to be applied by the painting work, calculates a film thickness forming pattern in the painting actually formed on the object to be painted in consideration of the moving speed of the painting gun, and displays the information in real time on the AR-HMD of the operator.
As a result, in manual painting by the operator, the 20 painting quality may be improved by making the painting film thickness uniform, the protection and aesthetics may be ensured by ensuring a minimum value of a predetermined film thickness, and the cost of painting may be minimized by minimizing the amount of paint used.
Example 1
[Creation of film thickness pattern] First, an aluminum plate was prepared as the object to be painted 10. Specifically, among Al-Mg-Si based alloys (6000 series aluminum alloys), a 6N01 alloy having a smooth surface 5 was used. The size is 1 m in length x 1.2 m in width and 2 mm in thickness.
The aluminum plate of the object to be painted 10 was vertically erected and primer painting was performed. The primer painting was set so that a Uniepoc 30 primer NC red rust paint liquid (manufactured by Nippon Paint) and a Uniepoc 30 primer curing agent (manufactured by Nippon Paint) were mixed at a weight ratio of 6: 1 using an automatic mixer. A paint flow rate was varied between 5 and 30 mL/sec, which corresponds to a value defined in the paint flow rate 501c of the film thickness pattern table 501 of Fig. 5 Illustrated in the embodiment. In addition, a discharge air flow rate was changed between 7.5 and 32.5 mL/sec. Further, the painting gun 40 having a nozzle diameter of 1.3 mm was changed by 0.2 to 0.5 m from the aluminum plate of the object to be painted, a horizontal angle was changed by 0 to 30°, and a vertical angle was changed by 0 to 30°.
The film thickness of the painting film painted under the above conditions was measured using an eddy current type film thickness meter over the entire range where the painting film 25 is present at Intervals of 10 mm above, below, left, and right with a center of a painted film as the origin.
The film thickness was held in the film thickness pattern table 501 as a film thickness pattern as illustrated in Figs. 6A to 6E in correspondence with the conditions.
[Painting on object to be painted] First, a similar aluminum plate was prepared as the object to be painted 10. The specific specifications are similar to those in the case of creating the film thickness pattern, and among Al-Mg-Si based alloys (6000 series aluminum alloys), a 6N01 alloy was used. The size was 1 m in length x 1.2 m in width and 2 mm in thickness, and a smooth surface was used.
Blasting was performed to ensure adhesion between the object to be painted and the painting film. Blasting was performed by spraying crushed steel particles having a particle size of 0.5 mm as a grinding material onto a target aluminum plate at a projection speed of 35 m/s. After spraying was completed, air blow was performed, and the fact that there was no residual abrasive was visually confirmed.
Painting was performed in the same manner as when the film thickness pattern was created. The primer painting was set so that a Uniepoc 30 primer NC red rust paint liquid (manufactured by Nippon Paint) and a Uniepoc 30 primer curing agent (manufactured by Nippon Paint) were mixed at a weight 25 ratio of 6: 1 using an automatic mixer. As illustrated in the example of the painting condition table 503 of Fig. 7, the paint flow rate was set to 5 mL sec, and the discharge air flow rate was set to 7.5 mL/sec. Further, an air painting gun having a nozzle diameter of 1.3 mm was kept at a distance of 0.2 to 0.3 m from the aluminum plate of the object to be painted, and a change range was set between 0° ± 30° in the horizontal angle and the vertical angle.
The coordinate position and orientation of the painting gun 40 were calculated from camera images of the three LED light emitters attached to the painting gun 40 as markers 41. In addition, a moving speed was calculated from the time and the measured coordinate position. As the film thickness, as illustrated in figs. 18A to 18C, a film thickness forming pattern was calculated by selecting a film thickness pattern per unit time produced under the same condition as the painting condition, reducing the film thickness to 1/10, and aligning and integrating the coordinate position according to a moving direction and a moving speed.
A painting film thickness specification value was set to 40 to 50 pm. Further, a display on the AR-HMD 20 was set as a white display when the film thickness was within the specification range, a blue display when the film thickness was less than 40 pm, and a red display when the film thickness was thicker than 50 pm, and a numerical value of the film 25 thickness and each color were displayed for each unit cell as illustrated in Fig. 19. The painting was repeated a plurality of times, and a plurality of film thickness patterns were added according to the number of paintings, the painting was completed when the film thickness was 35 to 55 gm.
The film thickness after painting was measured using an eddy current type film thickness meter. On the AR-HMD 20, a film thickness of a part displayed in blue was confirmed by the film thickness meter as 35 to 39 Rm, a film thickness of a part displayed in white was confirmed by the film thickness meter as 40 to 50 gm, and a film thickness of a part displayed in red was confirmed by the film thickness meter as being thicker than 50 gm.

Claims (9)

  1. What is claimed is: 1. A painting work management system for managing painting work of painting an object to be painted by spraying paint using a painting gun, the painting work management system 5 comprising: a paint supply apparatus that supplies paint to the painting gun; a measurement apparatus that occasionally measures a position and a posture of the painting gun; and a painting work management apparatus that inputs information related to paint from the paint supply apparatus and information related to the painting gun from the measurement apparatus for occasionally measuring a position and a posture of the painting gun, and calculates a formed film thickness forming pattern with respect to the object to be painted, wherein the painting work management apparatus holds information about a film thickness pattern associated with a painting condition, and the painting work management apparatus: selects a film thickness pattern based on information about a film thickness pattern associated with the painting condition, a painting condition at a certain painting time, and a painting gun position and posture at the painting time; calculates a moving speed of the painting gin from an occasional position and posture of the painting gun; and integrates a film thickness value indicated by the film thickness pattern for a certain period of time from the calculated moving speed of the painting gun and the selected 5 film thickness pattern, and calculates a film thickness forming pattern formed on the object to be painted and a coordinate value of the film thickness forming pattern.
  2. 2. The painting work management system according to claim 1, wherein the painting condition includes information about a paint used for painting, information about the painting gun, and an air flow rate sent to the painting gun.
  3. 3. The painting work management system according to claim 1, further comprising a head-mounted display worn by an operator of painting work, an object to be painted and information necessary for painting work being displayed on the head-mounted display, wherein the painting work management apparatus outputs 20 information about a film thickness illustrated in a film thickness forming pattern to the head-mounted display, and the head-mounted display displays information about a film thickness illustrated in an input film thickness forming pattern.
  4. 4. A painting work management method of a painting work management system for managing painting work of painting an object to be painted by spraying paint using a painting gun, the painting work management system including: a paint supply apparatus that supplies paint to the painting gun; a measurement apparatus that occasionally measures a position and a posture of the painting gun; a painting work management apparatus that inputs information related to paint from the paint supply apparatus and information related to the painting gun from the measurement apparatus for occasionally measuring a position and a posture of the painting gun, and calculates a formed film thickness forming pattern with respect to the object to be painted; and a head-mounted display worn by an operation of painting work, an object to be painted and information necessary for painting work being displayed on the head-mounted display, the painting work management apparatus holding: a film thickness pattern table for storing information about a film thickness pattern associated with a painting condition; a painting condition table for storing a painting time, a painting condition at the painting time, a painting gun 25 position and posture at the painting time, and the film thickness pattern in association with each other; a painting gun moving speed table for storing a speed of the painting gun at a certain time; and a film thickness result table for storing a painting time, 5 a coordinate value, and a film thickness forming pattern in association with each other, the painting work management method comprising: storing, by the painting work management apparatus, a painting condition at a painting time, and a painting gun 10 position and posture at the painting time in the painting condition table; selecting, by the painting work management apparatus, a film thickness pattern based on the film thickness pattern table, a painting condition at the painting time stored in the painting condition table, and a painting gun position and posture at the painting time; calculating, by the painting work management apparatus, a moving speed of the painting gun at the painting time and storing the calculated moving speed in the painting gun movingspeed table;integrating, by the painting work management apparatus, a film thickness value indicated by a selected film thickness pattern for a certain period of time based on a speed of the painting gun at a certain time stored in the painting gun moving speed table, calculating the film thickness forming pattern and a coordinate value of the film thickness forming pattern, and storing a painting time, a coordinate value, and a film thickness forming pattern in the film thickness result table in association with each other; and editing, by the painting work management apparatus, display data for the head-mounted display to be displayed on the head-mounted display including information related to a film thickness value indicated by the film thickness forming pattern to editing data, and outputting the editing data to the head-mounted display.
  5. 5. The painting work management method according to claim 4, wherein information about a film thickness pattern associated with a painting condition stored in the film thickness pattern table is measured by performing a painting experiment on an actual object to be painted according to a painting condition thereof, or is obtained by numerical calculation or computer simulation.
  6. 6. The painting work management method according to claim 4, wherein the selecting of the film thickness pattern includes calculating a distance between a painting condition indicated by the film thickness pattern table and a painting condition at the painting time stored in the painting condition table to select a film thickness pattern of the film thickness pattern table, the distance of which is close.
  7. 7. The painting work management method according to claim 6, wherein a distance between a painting condition indicated by the film thickness pattern table and a painting condition at the painting time stored in the painting condition table is calculated by a sum of squares of weighted differences for each condition.
  8. 8. The painting work management method according to claim 7, wherein the weighted differences used to calculate the distance is obtained by learning of supervised data.
  9. 9. The painting work management method according to claim 4, wherein the film thickness pattern is a film thickness value of paint formed in each unit cell in a unit time, and for each of an x-direction and a y-direction of a surface of an object to be painted, a film thickness value indicated 20 by each unit cell of the film thickness pattern is multiplied by a coefficient obtained by dividing a moving speed of the painting gun in the x-direction by a size of one side of the unit cell and is multiplied by a coefficient obtained by dividing a moving speed of the painting gun in the v-direction 25 by a size of one side of the unit cell, and a value integrated for a certain period of time is used as a film thickness value Indicated by each unit cell of the film thickness forming pattern for each increment of time.
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Publication number Priority date Publication date Assignee Title
GB2620833A (en) * 2022-06-20 2024-01-24 Hitachi Ltd Coating operation management device, coating operation management method, and program

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US20050242205A1 (en) * 2003-08-21 2005-11-03 Bae Systems Plc Visualisation of a sprayed coating
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CN107684991A (en) * 2017-10-30 2018-02-13 北海南坡腕网络技术有限公司 A kind of robot shells spray painting spray gun for paint
EP4035778A1 (en) * 2021-01-27 2022-08-03 Proxcontrol IP B.V. Method of electronically tracking physical deposition of coating material

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Publication number Priority date Publication date Assignee Title
JPH04193372A (en) * 1990-11-27 1992-07-13 Kawasaki Steel Corp Method for controlling coating thickness in spray coating
US20050242205A1 (en) * 2003-08-21 2005-11-03 Bae Systems Plc Visualisation of a sprayed coating
US20070209586A1 (en) * 2006-03-10 2007-09-13 Ebensberger Jason M Virtual coatings application system
CN107684991A (en) * 2017-10-30 2018-02-13 北海南坡腕网络技术有限公司 A kind of robot shells spray painting spray gun for paint
EP4035778A1 (en) * 2021-01-27 2022-08-03 Proxcontrol IP B.V. Method of electronically tracking physical deposition of coating material

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2620833A (en) * 2022-06-20 2024-01-24 Hitachi Ltd Coating operation management device, coating operation management method, and program
GB2620833B (en) * 2022-06-20 2024-09-11 Hitachi Ltd Coating operation management device, coating operation management method, and program

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