JP6820546B2 - A method for adjusting a reflective member in a three-dimensional shape measuring device, a painting device, and a three-dimensional shape measuring device, and a method for supporting angle adjustment of a reflective member in a three-dimensional shape measuring device - Google Patents

Description

The present invention relates to a method for adjusting a reflective member in a three-dimensional shape measuring device, a coating device, and a three-dimensional shape measuring device, and a method for supporting angle adjustment of a reflecting member in the three-dimensional shape measuring device.

Patent Document 1 uses a scanning range sensor that calculates the distance to the object to be measured by emitting detection light in the radial direction toward the object to be measured while rotating and receiving the reflected light from the object to be measured. As a result, a technique for measuring the three-dimensional shape of the object to be measured is disclosed.

Japanese Patent No. 3908226

When the unevenness of the surface to be measured of the object to be measured is small, or when there are no overhang-shaped steps or protrusions on the surface to be measured, one scanning type range sensor may be arranged so as to face the surface to be measured. However, if the surface to be measured has large irregularities, overhang-like steps, protrusions, etc., there will be blind spots that the detection light cannot reach with just one scanning range sensor, so multiple scanning range sensors may be used. Must be placed. However, since the scanning type range sensor is expensive, the equipment cost becomes high when a plurality of scanning type range sensors are arranged.

The present invention has been completed based on the above circumstances, and an object of the present invention is to reduce costs.

The three-dimensional shape measuring device of the first invention is
A range sensor having a floodlight that emits detection light, a receiver that receives the detection light, and a rotatable mirror for projection and light reception .
A reflective member that reflects the detected light between the range sensor and the object to be measured is provided.
The light receiving / receiving mirror is tilted at an angle of 45 ° with respect to the rotation center axis of the light receiving / receiving mirror.
The detection light emitted from the floodlight is reflected by the rotating mirror for projection and reception, and is radiated outward in the radial direction toward the object to be measured.
The detection light reflected by the object to be measured is reflected by the rotating mirror for light emission and reception, and is received by the light receiver.
The direction in which the reflective surface of the reflective member is orthogonal to the two-dimensional locus of the detected light emitted radially from the range sensor.
Based on the phase information of the detection light received by the light receiver and the rotation position information of the light receiving / receiving mirror, the distance to the object to be measured is calculated, and the two-dimensional shape data of the object to be measured is obtained. It has a feature in the place to obtain .

The coating apparatus of the second invention is
The three-dimensional shape measuring device of the first invention and
It is characterized in that it is provided with a coating gun that applies paint to the object to be measured while moving relative to the object to be measured.

The method for adjusting the reflective member in the three-dimensional shape measuring device of the third invention is as follows.
In the three-dimensional shape measuring device of the first invention
Wherein the range sensor on a two-dimensional trajectory of the detection light emitted radially to the rotational center axis orthogonal to the direction of the light emitting and receiving mirror has established a reference member of the straight rod-shaped,
When the reflection surface of the reflection member is tilted with respect to the rotation center axis of the light receiving / receiving mirror, the detection light reflected by the reflection member is deviated from the two-dimensional locus and the reference member. Above,
It is characterized in that the orientation of the reflective member is adjusted so that the distance of the object to be measured can be detected by the detection light emitted from the range sensor and reflected by the reflective member.

The method for supporting the angle adjustment of the reflective member in the three-dimensional shape measuring device of the fourth invention is
In the three-dimensional shape measuring device of the first invention
The reflective member is supported so as to be tilted about a tilt axis set on the reflective surface.
A reference plane parallel to the light projection path from the range sensor to the tilt axis is provided so as to face the range sensor and the reflection surface.
By emitting the detection light from the range sensor on the projection path, the distance of the measurement path from the range sensor to the reference plane via the reflection surface is detected.
The angle of the reflective member is adjusted so that the detected value of the measurement path matches the calculated value calculated according to the angle of the reflective member.

According to the three-dimensional shape measuring device of the first invention, the range sensor and the object to be measured are relatively moved in parallel with the rotation center axis of the range sensor, and the distance to the object to be measured is detected by the range sensor. The three-dimensional shape of the object to be measured can be measured. The detection light reflected by the reflecting member hits the area of the object to be measured that becomes a blind spot when viewed from the range sensor, and the detection light reflected by the object to be measured is reflected by the reflecting member again and received by the range sensor. .. Since the distance of the blind spot is detected by the reflective member, the number of range sensors installed can be reduced and the cost can be reduced.

According to the painting apparatus of the second invention, the measurement data of the three-dimensional shape of the object to be measured measured by the range sensor is used as a means for teaching the movement locus of the painting gun at the time of painting and a means for assisting the teaching. be able to.

According to the method for adjusting the reflecting member in the three-dimensional shape measuring device of the third invention, the reflecting member can be adjusted in a direction perpendicular to the two-dimensional locus of the detection light radially emitted from the range sensor. As a result, the three-dimensional shape of the object to be measured can be measured with high accuracy.

According to the method for supporting the angle adjustment of the reflective member in the three-dimensional shape measuring device of the fourth invention, when setting the angle of the reflective member, the distance of the measurement path is detected while changing the angle of the reflective member. , Compare the detected value of the measurement path with the calculated value. When the angle of the reflective member reaches a predetermined angle, the detected value of the measurement path matches the calculated value. According to this method, the angle of the reflective member can be easily set.

Front view of the coating apparatus and the three-dimensional shape measuring apparatus of the present invention Side view of painting equipment Schematic side view showing the state of measuring the three-dimensional shape of the area that does not become the blind spot of the range sensor in the first object to be measured. Schematic side view showing the state of measuring the three-dimensional shape of the area where the blind spot of the range sensor is taken in the first object to be measured. Schematic side view showing the state of measuring the three-dimensional shape of the area that does not become the blind spot of the range sensor in the second object to be measured. Schematic side view showing the state of measuring the three-dimensional shape of the area where the blind spot of the range sensor is taken in the second object to be measured. Schematic plan view showing the state in which the orientation of the upper reflective member is adjusted. Block diagram showing the configuration of the control device and painting device Flowchart showing the operation of the control device Schematic side view showing the state where the angle of the lower reflective member is adjusted.

In the first invention, the reflective member may be arranged so as to face the range sensor and the blind spot region of the range sensor in the object to be measured. According to this configuration, the reciprocation of the detected light between the range sensor and the object to be measured can be performed by only one reflecting member.

The first invention may include a conveyor that conveys the object to be measured in parallel with the rotation center axis of the range sensor. Since the detection light from the range sensor is emitted radially, if the distance to the object to be measured is detected while moving the range sensor and the reflective member, the detection error will be large due to the vibration of the range sensor during movement. There is concern that it will become. However, in the present invention, since the object to be measured is moved, the range sensor and the reflective member can be fixed. As a result, the detection error caused by the vibration of the range sensor can be avoided, so that the measurement accuracy of the shape of the object to be measured is improved.

The second invention stores three-dimensional shape data relating to a plurality of types of objects to be measured having different shapes and a plurality of control data corresponding to the plurality of types of objects to be measured, and is based on the control data. A control device for controlling the movement of the coating gun may be provided. According to this configuration, the measurement result of the three-dimensional shape of the object to be painted is compared with the stored shape data, and the type of the object to be painted is specified and specified. Good coating can be performed by moving the coating gun based on the control data suitable for the object to be measured.

The second invention stores the three-dimensional shape data of the object to be measured, and when the measurement result of the three-dimensional shape of the object to be painted does not match the stored shape data, A painting stop device for stopping painting by the painting gun may be provided. According to this configuration, if the object to be measured is in an irregular shape such as tilting, painting is stopped, so that poor painting can be prevented.

<Example 1>
Hereinafter, Example 1 embodying the present invention will be described with reference to FIGS. 1 to 9. In the following description, the left side in FIGS. 2 to 7 is defined as the front direction in the front-back direction. As for the vertical direction, the directions appearing in FIGS. 1 to 6 are defined as upward and downward as they are. Regarding the left and right directions, the directions appearing in FIG. 1 are defined as left and right as they are.

As shown in FIGS. 1, 2 and 8, the painting device 10 of the first embodiment includes a conveyor 12, a painting gun 13, a reciprocating engine 14, a three-dimensional shape measuring device 20, and a control device 34 (as claimed in the claims). It is configured with the described paint stop device). The conveyor 12 horizontally conveys a plurality of types of objects to be coated 40, 50 (objects to be measured according to claim) in the coating booth 11 in a state of being suspended at predetermined intervals to the right.

The coating gun 13 is attached to the reciprocating engine 14 installed in the coating booth 11, and ejects paint toward the coated surfaces 41 and 51 of the objects to be coated 40 and 50. In this embodiment, the surfaces to be coated 41 and 51 are substantially parallel to the transport direction of the objects to be coated 40 and 50. The reciprocating engine 14 moves the coating gun 13 in two-dimensional directions (vertical direction and front-rear direction) intersecting the transport directions of the objects to be coated 40 and 50.

<Three-dimensional shape measuring device 20>
The three-dimensional shape measuring device 20 is arranged to the left of the reciprocating engine 14 and the coating gun 13 in the coating booth 11 (upstream side in the transport direction of the objects to be coated 40 and 50). The three-dimensional shape measuring device 20 measures the three-dimensional shape of the surfaces to be coated 41 and 51 of the objects to be coated 40 and 50 to be conveyed. The three-dimensional shape measuring device 20 includes one range sensor 21, one upper reflecting member 31 (reflecting member according to claim), and one lower reflecting member 32 (reflecting member according to claim). It is configured with.

As shown in FIG. 8, the range sensor 21 includes a motor 22, a mirror 23 for throwing and receiving light driven by the motor 22, a rotation position detector 24, a floodlight 25, a receiver 26, and a receiver 26. It is configured to include a connected distance calculation circuit 27. The rotation center axis 28 of the motor 22 faces in the left-right direction (direction parallel to the transport direction of the objects to be coated 40 and 50). In this embodiment, the rotation center axis 28 of the motor 22 and the rotation center axis 28 of the range sensor 21 are used interchangeably. The light receiving / receiving mirror 23 is tilted at an angle of 45 ° with respect to the rotation center axis 28 of the motor 22. The rotation position detector 24 detects the position of the light emitting / receiving mirror 23 in the circumferential direction.

The floodlight 25 horizontally emits detection light L using a laser or LED as a light source. The detection light L emitted from the floodlight 25 is reflected by the rotating light emitting / receiving mirror 23, and is radiated outward in the radial direction orthogonal to the rotation center axis 28 toward the outside of the range sensor 21. The radiation locus of the detection light L reflected by the light emitting / receiving mirror 23 is defined as a two-dimensional locus 29 (see FIG. 7).

A part of the detection light L radiated to the outside of the range sensor 21 is directly applied to the coated surfaces 41 and 51 of the objects to be coated 40 and 50, and the detection light L reflected by the coated surfaces 41 and 51 is the range. After being incident on the sensor 21 and reflected by the light emitting / receiving mirror 23 , the light is received by the light receiving receiver 26. Further, another part of the detection light L radiated to the outside of the range sensor 21 is once reflected by the reflecting members 31 and 32, and then irradiated to the coated surfaces 41 and 51 of the objects to be coated 40 and 50. The detection light L reflected by the coated surfaces 41 and 51 is once again reflected by the reflecting members 31 and 32, then incident on the range sensor 21, reflected by the light emitting and receiving mirror 23 , and then received by the light receiving receiver 26. Will be done.

As described above, the light receiver 26 passes only on the two-dimensional locus 29, enters the range sensor 21, and receives only the detection light L reflected by the light emitting / receiving mirror 23. The phase information of the detection light L received by the light receiver 26 and the rotation position information of the light emitting / receiving mirror 23 from the rotation position detector 24 are input to the distance calculation circuit 27. The rotation position information of the light emitting / receiving mirror 23 is processed as information on the radiation angle and the incident angle of the detection light L on the two-dimensional locus 29.

In the distance calculation circuit 27, calculation is performed based on the input information, and data on the two-dimensional shape of the surface to be coated 41, 51 (objects 40, 50 to be coated) on the two-dimensional locus 29 of the detection light L is obtained. Be done. Further, based on the two-dimensional shape data and the information of the conveyor 12 transport speed (relative displacement speeds of the objects to be coated 40 and 50 with respect to the range sensor 21) input from the speed sensor 30 (see FIG. 8), the subject is covered. The three-dimensional shapes of the coated surfaces 41 and 51 are measured.

The upper reflective member 31 is arranged above the range sensor 21 as shown in FIGS. 3 to 6. The reflection surface 31R of the upper reflection member 31 is a plane parallel to the transport direction of the objects to be coated 40 and 50, and faces diagonally downward and rearward so as to face the range sensor 21 and the surfaces to be coated 41 and 51. .. The upper end of the upper reflective member 31 is located higher than the upper ends of the surfaces 41 and 51 to be coated, and the lower end of the upper reflective member 31 is located lower than the upper ends of the objects 40 and 50 to be coated. Has been done. The reflecting surface 31R of the upper reflecting member 31 reflects the detection light L incident from below or diagonally below on the two-dimensional locus 29 diagonally downward and backward or downward.

The lower reflective member 32 is arranged below the range sensor 21 as shown in FIGS. 3 to 6. The reflective surface 32R of the lower reflective member 32 is a flat surface parallel to the transport direction of the objects to be coated 40 and 50, and faces diagonally upward and backward so as to face the range sensor 21 and the surfaces to be coated 41 and 51. There is. The lower end of the lower reflective member 32 is located lower than the lower ends of the surfaces 41 and 51 to be coated, and the upper end of the lower reflective member 32 is higher than the lower ends of the objects 40 and 50 to be coated. It is arranged in. The reflecting surface 32R of the lower reflecting member 32 reflects the detection light L incident on the two-dimensional locus 29 from above or diagonally above diagonally upward and backward or upward.

The orientation of the reflecting surface 31R of the upper reflecting member 31 and the reflecting surface 32R of the lower reflecting member 32 is adjusted by using the reference member 33 having a straight rod shape. As shown in FIG. 7, the reference member 33 is installed on the two-dimensional locus 29 of the detection light L radially emitted from the range sensor 21, and the detection light L emitted from the range sensor 21 is reflected by the reflection members 31 and 32. Be reflected.

At this time, if the reflecting members 31 and 32 are installed in the correct orientation (angle) and the reflecting surfaces 31R and 32R are parallel to the rotation center axis 28 of the range sensor 21, the reflecting surfaces 31R and 32R are two. Since the orientation is orthogonal to the dimensional locus 29, the locus of the detection light L reflected by the reflecting members 31 and 32 matches the two-dimensional locus 29. Therefore, the detection light L reflected by the surfaces to be coated 41 and 51 and then reflected by the reflection members 31 and 32 again is received by the light receiver 26 of the range sensor 21. As a result, the distance calculation circuit 27 measures the distances to the objects to be coated 40 and 50, and can obtain data on the two-dimensional shapes of the objects to be coated 40 and 50.

However, if the directions of the reflecting members 31 and 32 are incorrect and the reflecting surfaces 31R and 32R are tilted with respect to the rotation center axis 28 of the range sensor 21, the reflecting member 31 is shown by a broken line in FIG. The locus of the detection light L reflected at 32, 32 deviates from the two-dimensional locus 29. Since the detection light L deviating from the two-dimensional locus 29 is not received by the light receiver 26 of the range sensor 21, the distance calculation circuit 27 cannot obtain the two-dimensional shape data of the objects to be coated 40 and 50. In this case, the directions of the reflecting members 31 and 32 are changed while emitting the detection light L from the range sensor 21. When the distance calculation circuit 27 can obtain the two-dimensional shape data of the objects to be coated 40 and 50, the adjustment of the reflection members 31 and 32 is completed.

<Control device 34>
As shown in FIG. 8, the control device 34 includes a storage unit 35, a comparison unit 36, and a control unit 37. The storage unit 35 is individually used for a plurality of types (for example, four types) of objects to be coated 40, 50 (the other two types are not shown for convenience) having different shapes of the surfaces 41 and 51 to be coated. A plurality of three-dimensional shape data S1, S2, S3, S4 obtained by measurement, and a plurality of control data C1, C2, C3, C4 individually corresponding to the plurality of shape data S1, S2, S3, S4. Is remembered.

The three-dimensional shape data S1, S2, S3, and S4 are data measured by the three-dimensional shape measuring device 20. In the control data C1, C2, C3, and C4, the coating gun 13 moves in the vertical direction and the front-rear direction according to the shapes of the surfaces to be coated 41 and 51 corresponding to the shape data S1, S2, S3, and S4. This is data for controlling the reciprocating engine 14.

The measurement results of the three-dimensional shapes of the objects to be coated 40 and 50 are input to the comparison unit 36 from the distance calculation circuit 27 of the range sensor 21. The comparison unit 36 determines whether or not the input measurement result matches the plurality of shape data S1, S2, S3, S4 stored in the storage unit 35. The comparison information determined by the comparison unit 36 is input to the control unit 37. The control unit 37 controls the operations of the conveyor 12, the reciprocating engine 14, and the painting gun 13 based on the comparison information input from the comparison unit 36.

<Measurement of three-dimensional shape of objects 40 and 50 to be coated>
The shape measurement of the objects to be coated 40 and 50 by the three-dimensional shape measuring device 20 is performed as a teaching means or a teaching assisting means of the reciprocating engine 14 and the coating gun 13, and the objects to be coated 40 and 50 conveyed in the coating process. It is also used as a detection means for identifying the type. In this embodiment, a case where the shapes of the first object to be coated 40 and the second object to be coated 50 having different shapes of the surfaces to be coated 41 and 51 are measured will be described. In this embodiment, only the shapes of the surfaces to be coated 41 and 51 on the surface side facing the range sensor 21 among the outer surfaces of the objects to be coated 40 and 50 are measured.

As shown in FIGS. 1 to 4, the first object to be coated 40 has a plate shape with the plate surface facing in the vertical direction as a whole. An upper protrusion 42 that projects forward in a rib shape is formed on the upper end edge of the surface 41 to be coated of the first object to be coated 40, and a rib shape is formed forward in the central portion in the height direction of the surface 41 to be coated. A protruding central protrusion 43 is formed, and a lower protrusion 44 that protrudes forward in a rib shape is formed at the lower end edges of the surfaces 41 and 51 to be coated.

The range sensor 21 is arranged at a position slightly below the protrusion at the center. Since most of the surface to be coated 41 of the first object to be coated 40 is a direct irradiation region D1 directly facing the range sensor 21, the detection light L emitted from the range sensor 21 is in this direct irradiation region. However, it is directly irradiated. The detection light L reflected in this direct irradiation region is directly received by the range sensor 21. As a result, the three-dimensional shape of the direct irradiation region is measured.

As shown in FIGS. 3 and 4, of the surface to be coated 41, the upper surface of the upper protrusion 42, the upper surface of the central protrusion 43, and the lower surface of the lower protrusion 44 are directly exposed to the detection light L emitted from the range sensor 21. The blind spot areas B1, B2, and B3 are not irradiated. In view of this point, an upper reflective member 31 is provided above the range sensor 21 so as to face the range sensor 21 and the first object to be coated 40 from diagonally above and forward. From the mirror image M of the range sensor 21 reflected on the reflection surface 31R of the upper reflection member 31, the blind spot region B1 on the upper surface of the upper protrusion 42 and the blind spot region B2 on the upper surface of the central protrusion 43 do not become blind spots.

Therefore, the detection light L radiated from the range sensor 21 and reflected by the reflection surface 31R of the upper reflection member 31 is applied to the blind spot region B1 of the upper protrusion 42 and the blind spot region B2 of the central protrusion 43. Then, the detection light L reflected by the blind spot region B1 of the upper protrusion 42 and the blind spot region B2 of the central protrusion 43 is reflected again by the reflection surface 31R of the upper reflection member 31 and received by the range sensor 21. As a result, the three-dimensional shapes of the blind spot region B1 of the upper protrusion 42 and the blind spot region B2 of the central protrusion 43 are measured.

Of the surface to be coated 41, the lower surface of the lower protrusion 44 is also a blind spot region B3 in which the detection light L emitted from the range sensor 21 is not directly irradiated. In view of this point, a lower reflective member 32 is provided below the range sensor 21 so as to face the range sensor 21 and the first object to be coated 40 from diagonally lower front. From the mirror image M of the range sensor 21 reflected on the reflection surface 32R of the lower reflection member 32, the blind spot region B3 on the lower surface of the lower protrusion 44 does not become a blind spot.

Therefore, the detection light L radiated from the range sensor 21 and reflected by the reflecting surface 32R of the lower reflecting member 32 is applied to the blind spot region B3 on the lower surface of the lower projection 44. Then, the detection light L reflected in the blind spot region B3 of the lower projection 44 is reflected again by the reflection surface 32R of the lower reflection member 32, and is received by the range sensor 21. As a result, the three-dimensional shape of the blind spot region B3 of the lower protrusion 44 is measured.

As shown in FIGS. 1, 5 and 6, the second object to be coated 50 has a plate shape with the plate surface facing in the vertical direction as a whole. An upper protrusion 52 that projects rearward in a rib shape is formed on the upper end edge of the second object to be coated 50. Since most of the surface to be coated 51 of the second object to be coated 50 is a direct irradiation region D2 directly facing the range sensor 21, the detection light emitted from the range sensor 21 is in this direct irradiation region D2. L is directly irradiated. The detection light L reflected in this direct irradiation region is directly received by the range sensor 21. As a result, the three-dimensional shape of the direct irradiation region is measured.

The upper surface of the upper protrusion 52 constitutes the surface to be coated 51, but since it is located above the range sensor 21 and is horizontal, it is a blind spot region B4 when viewed from the range sensor 21. Since the detection light L emitted from the range sensor 21 is not directly irradiated to the blind spot region B4, the detection light L emitted from the range sensor 21 is not directly irradiated to the range sensor 21, so that the range sensor 21 and the second object to be coated 50 are obliquely above and from the front. The facing upper reflective member 31 is provided. From the mirror image M of the range sensor 21 reflected on the reflection surface 31R of the upper reflection member 31, the blind spot region B4 on the upper surface of the upper protrusion 52 does not become a blind spot.

Therefore, the detection light L radiated from the range sensor 21 and reflected by the reflection surface 32R of the upper reflection member 31 is applied to the blind spot region B4 on the upper surface of the upper projection 52. Then, the detection light L reflected in the blind spot region B4 of the upper projection 52 is reflected again by the reflection surface 31R of the upper reflection member 31 and received by the range sensor 21. As a result, the three-dimensional shape of the blind spot region B4 of the upper protrusion 52 is measured.

The lower end portion of the surface to be coated 51 is a back surface region DR that is recessed rearward in a stepped shape with the stepped portion 53 as a boundary. The lower surface of the step portion 53 also constitutes the surface to be coated 51, but since it is located below the range sensor 21 and is horizontal, it is a blind spot region B5 when viewed from the range sensor 21. Further, the upper end portion of the back surface region DR is also a blind spot region B6 hidden behind the step portion 53 when viewed from the range sensor 21.

Since the detection light L emitted from the range sensor 21 is not directly irradiated to these blind spot areas B5 and B6, the range sensor 21 and the second object to be coated 50 are obliquely below the range sensor 21. A lower reflective member 32 facing from the lower front is provided. From the mirror image M of the range sensor 21 reflected on the reflection surface 32R of the lower reflection member 32, the blind spot region B5 on the lower surface of the step portion 53 and the blind spot region B6 on the upper end portion of the back surface region DR do not become blind spots.

Therefore, the detection light L radiated from the range sensor 21 and reflected by the reflection surface 32R of the lower reflection member 32 is applied to the blind spot region B5 of the step portion 53 and the blind spot region B6 of the back surface region DR. Then, the detection light L reflected by the blind spot region B5 of the step portion 53 and the blind spot region B6 of the back surface region DR is reflected again by the reflection surface 32R of the lower reflection member 32 and received by the range sensor 21. As a result, the three-dimensional shapes of the blind spot region B5 of the step portion 53 and the blind spot region B6 of the back surface region DR are measured.

<Painting process>
When painting is performed, the conveyor 12 is operated, the first object to be coated 40 and the second object to be coated 50 are appropriately arranged on the conveyor 12, suspended, and conveyed to the coating booth 11. In the transport process, first, the three-dimensional shapes of the objects to be coated 40 and 50 are measured by the three-dimensional shape measuring device 20, and the measurement results of the three-dimensional shapes are measured from the range sensor 21 to the control device 34 as shown in FIG. Is input to the comparison unit 36 of (step S101). The input measurement result is compared with whether or not it matches the shape data S1, S2, S3, S4 stored in the storage unit 35 (step S102).

If the input measurement result matches any of the shape data S1, S2, S3, S4, the matching shape data S1, S2, S3, S4 and the corresponding control data C1, C2, C3, C4 A coating control signal is output from the control unit 37 according to the selected control data C1, C2, C3, and C4 (step S103). By this coating control signal, the objects to be coated 40 and 50 are conveyed by the conveyor 12, and as shown by the solid line and the imaginary line in FIG. 2, the reciprocating engine 14 conforms to the three-dimensional shape of the surfaces to be coated 41 and 51. The paint gun 13 is properly moved, and the paint gun 13 ejects the paint properly.

Further, when the objects to be coated 40 and 50 are hung on the conveyor 12, the directions of the objects to be coated 40 and 50 are opposite to each other, and the objects to be coated 40 and 50 are in an oblique posture. In this case, the measurement result input from the range sensor 21 to the comparison unit 36 does not match any of the stored shape data S1, S2, S3, and S4. In this case, the control unit 37 determines that the transport state of the objects to be coated 40 and 50 by the conveyor 12 is inappropriate, and outputs a coating stop signal (step S104). Due to this coating stop signal, the conveyor 12 stops the transportation of the objects to be coated 40 and 50, the reciprocating engine 14 stops, and the spraying of the paint on the coating gun 13 stops.

<Action and effect of Example 1>
The three-dimensional shape measuring device 20 of the present embodiment emits detection light L radially toward the objects to be coated 40 and 50 while rotating, and receives the detection light L reflected by the objects to be coated 40 and 50 to be covered. It includes a range sensor 21 that detects the distance to the coating objects 40 and 50, and reflective members 31 and 32 that reflect the detection light L between the range sensor 21 and the objects to be coated 40 and 50.

The range sensor 21 calculates the two-dimensional shape data of the coated surfaces 41 and 51 of the objects to be coated 40 and 50 based on the detected distance information and the radiation angle of the detected light L. The range sensor 21 and the objects to be coated 40 and 50 move relative to each other in parallel with the rotation center axis 28 of the range sensor 21. The range sensor 21 is based on the relative movement speed with the objects to be coated 40 and 50 and the two-dimensional shape data obtained by detecting the distances to the objects to be coated 40 and 50, and the objects to be coated 40 and 50. Measure the three-dimensional shape of.

Since one object to be coated 40, 50 is measured only by one range sensor 21, the detection light L emitted from the range sensor 21 is directly applied to a part of the surface to be coated 41, 51 of the object to be coated 40, 50. The blind spot areas B1 to B6 are not irradiated. As a countermeasure, the three-dimensional shape measuring device 20 of this embodiment is provided with two upper and lower reflecting members 31, 32. That is, two reflecting members 31 and 32 are provided for one range sensor 21, in other words, two reflecting members 31 and 32 are provided for one object to be coated 40 and 50.

When measuring the three-dimensional shapes of the objects to be coated 40 and 50, the detection light L emitted by the range sensor 21 and reflected by either the upper or lower reflecting member 31 or 32 hits the blind spot areas B1 to B6 and is coated. The detection light L reflected by the blind spot areas B1 to B6 of the objects 40 and 50 is reflected again by the reflection members 31 and 32 and received by the range sensor 21. The reciprocation of the detection light L between the range sensor 21 and one blind spot area B1 to B6 is performed via only one reflection member 31 or 32. Since the three-dimensional shape measuring device 20 of this embodiment can detect the distance between the blind spot regions B1 to B6 by using the reflecting members 31 and 32, the number of installations of the range sensors 21 is reduced and the cost is reduced. it can.

Further, the reflective surface 31R of the upper reflective member 31 and the reflective surface 32R of the lower reflective member 32 both face the range sensor 21 and the blind spot regions B1 to B6 of the range sensors 21 in the objects to be coated 40 and 50. It is arranged like this. According to this configuration, the reciprocation of the detection light L between the range sensor 21 and the objects to be coated 40 and 50 (blind spot regions B1 to B6) can be performed by only one reflecting member 31 and 32.

Since the detection light L is emitted radially from the range sensor 21, when the distance to the objects to be coated 40 and 50 is detected while moving the range sensor 21 and the reflecting members 31 and 32, the range sensor 21 vibrates during the movement. There is a concern that the detection error will increase due to this. As a countermeasure, in this embodiment, a conveyor 12 for transporting the objects to be coated 40 and 50 in parallel with the rotation center axis 28 of the range sensor 21 is provided, and the range sensor 21 and the reflection members 31 and 32 are fixed. It is installed. As a result, the detection error caused by the vibration of the range sensor 21 can be avoided, so that the measurement accuracy of the shapes of the objects to be coated 40 and 50 is improved.

Further, the coating device 10 of the first embodiment includes a three-dimensional shape measuring device 20 and a coating gun 13 that applies paint to the objects to be coated 40 and 50 while moving relative to the objects to be coated 40 and 50. It is composed of. The coating device 10 uses the measurement data of the three-dimensional shapes of the objects to be coated 40 and 50 measured by the range sensor 21 as a means for teaching the movement locus of the coating gun 13 at the time of painting and a means for assisting the teaching. be able to.

Further, the coating device 10 includes a control device 34, and the control device 34 includes three-dimensional shape data S1, S2, S3, S4 relating to a plurality of types of objects to be coated 40, 50 having different shapes, and a plurality of types of objects to be coated. A plurality of control data C1, C2, C3, C4 corresponding to the coating materials 40 and 50 are stored, and the movement of the coating gun 13 is controlled based on the control data C1, C2, C3, C4. According to this configuration, the measurement results of the three-dimensional shapes of the objects to be coated 40 and 50 to be coated are compared with the stored shape data S1, S2, S3 and S4, and the objects to be coated 40 and 50 are compared. The coating gun 13 can be moved based on the control data C1, C2, C3, and C4 that are compatible with the identified objects 40 and 50. As a result, good painting can be performed.

Further, the control device 34 that stores the three-dimensional shape data S1, S2, S3, and S4 of the objects to be coated 40 and 50 can obtain the measurement result of the three-dimensional shapes of the objects to be coated 40 and 50 to be coated. When it does not conform to the stored shape data S1, S2, S3, S4, it also has a function as a painting stop device for stopping painting by the painting gun 13. According to this control device 34, painting can be stopped when the objects to be coated 40 and 50 are in an improper form such as tilting, so that coating defects can be prevented.

Further, in the three-dimensional shape measuring device 20 of the first embodiment, the orientations of the reflecting members 31 and 32 are adjusted by the following method. First, a straight rod-shaped reference member 33 is installed on the two-dimensional locus 29 of the detection light L radially emitted from the range sensor 21, and is covered by the detection light L emitted from the range sensor 21 and reflected by the reflection members 31 and 32. The orientations of the reflective members 31 and 32 are changed so that the distances of the coatings 40 and 50 can be detected. According to this adjustment method, the orientations of the reflecting members 31 and 32 can be adjusted so as to be perpendicular to the two-dimensional locus 29 of the detection light L radially emitted from the range sensor 21. As a result, the three-dimensional shapes of the objects to be coated 40 and 50 can be measured with high accuracy.

Further, in the first embodiment, the angle α of the inclination of the lower reflective member 32 with respect to the horizontal plane H can be adjusted by the following angle adjustment support method. As shown in FIG. 10, in this angle adjustment support method, the lower reflecting member 32 arranged below the range sensor 21 is supported so as to be tilted about the tilting shaft 54 set on the reflecting surface 32R. .. The tilting shaft 54 is arranged directly below the range sensor 21, is perpendicular to the horizontal plane H connecting the range sensor 21 and the moving paths of the objects 40 and 50, and is a throwing shaft connecting the range sensor and the tilting shaft 54. It is perpendicular to the optical path 55. On the movement paths of the objects to be coated 40 and 50, a reference surface 56 is installed so as to face the range sensor 21 and the lower reflection member 32 and to be parallel to the light projection path 55.

When adjusting the angle α of the lower reflecting member 21, the range sensor 21 emits the detection light L toward the tilting shaft 54 while tilting the lower reflecting member 32 with the tilting shaft 54 as a fulcrum. The detection light L travels on the light projection path 55, is reflected at the installation position of the tilt axis 54 on the reflection surface 32R, travels on the reflection path 57, is reflected by the reference surface 56, and is reflected by the reflection path 57 and the light projection path 55. Is reversed and returns to the range sensor 21. As a result, the range sensor 21 detects the distance G from the range sensor 21 to the measurement path 58 (the path in which the projection path 55 and the reflection path 57 are combined) from the range sensor 21 to the irradiation position of the detection light L on the reference surface 56. The distance G of the measurement path 58 increases or decreases as the angle α of the lower reflective member 32 changes.

The distance G of the measurement path 58 detected by the range sensor 21 is compared with a preset calculated value according to the angle α of the lower reflection member 32. While the lower reflective member 32 does not reach the angle to be set, the detected value of the distance G of the measurement path 58 does not match the calculated value. When the angle α of the lower reflective member 32 matches the angle α to be set, the detected value of the distance G of the measurement path 58 matches the calculated value. Therefore, the tilt of the lower reflective member 32 is performed on condition that the angle α matches the calculated value. Stop. As described above, the lower reflective member 32 is set to a predetermined angle α. The angle of the upper reflective member 31 can also be adjusted by the same angle adjustment support method as described above.

As shown in FIG. 10, the vertical distance of the projection path 55 from the range sensor 21 to the tilt axis 54 (reflection surface 32R) is E1, the horizontal distance from the range sensor 21 to the reference surface 56 is F, and the tilt axis 54. The distance from (reflection surface 32R) to the irradiation position of the detection light L on the reference surface 56 is E2, the inclination angle of the reflection surface 32R (lower reflection member 32) with respect to the horizontal plane H is α, and the inclination angle of the reflection path 57 with respect to the horizontal plane H. Let be β. The distance G of the measurement path 58 is expressed by the equation G = E1 + E2. The distance E2 of the reflection path 57 is E2 = F / cosβ. Further, since the inclination angle α of the lower reflecting member 32 and the angle β of the reflection path 57 with respect to the horizontal plane H are expressed by the relational expression of 2 (α + β) + (90-β) = 180, β = 90-2α. ..

The calculated values are pre-calculated according to the values of the plurality of angles α of the lower reflective member 32 that can be assumed. As a specific example, the distance E1 of the light projection path 55 is 2,000 mm, the horizontal distance F from the range sensor 21 to the reference surface 56 is 2,440 mm, and the angle α to be set and the reflection path of the lower reflection member 32. When the inclination angle β of 57 is 30 °, the calculated value of the distance E2 of the reflection path 57 is 2817.5 mm, so the calculated value of the distance G of the measurement path 58 is set to 4817.5 mm. In this case, when the detected value of the distance G of the measurement path 58 is detected to be 4817.5 mm, the tilting of the lower reflective member 32 is stopped.

Further, the distance E1 of the light projection path 55 and the horizontal distance F from the range sensor 21 to the reference surface 56 are constant, and the angle α to be set of the lower reflection member 32 is 37.5 °, and the reflection path 57 When the tilt angle β is 15 °, the calculated value of the distance E2 of the reflection path 57 is 2526.1 mm, so that the calculated value of the distance G of the measurement path 58 is set to 4526.1 mm. When the angle α to be set of the lower reflection member 32 is 22.5 ° and the inclination angle β of the reflection path 57 is 45 °, the calculated value of the distance E2 of the reflection path 57 is 3450.7 mm. The calculated value of the distance G of the measurement path 58 is set to 5450.7 mm. In these cases, when the detected value of the distance G of the measurement path 58 becomes 4526.1 mm or 5450.7 mm, it can be seen that the angle α of the lower reflective member 32 during tilting becomes 15 ° or 45 °.

In the angle adjustment support method for the reflecting members 31 and 32 of the first embodiment, in the three-dimensional shape measuring device 20, the reflecting members 31 and 32 are tilted about a tilting shaft 54 set on the reflecting surfaces 31R and 32R. A reference surface 56 parallel to the light projection path 55 from the range sensor 21 toward the tilt axis 54 is provided so as to face the range sensor 21 and the reflection surfaces 31R and 32R, and then projected from the range sensor 21. The detection light L is emitted on the optical path 55. With this detection light L, the distance G of the measurement path 58 from the range sensor 21 to the reference surface 56 via the reflection surfaces 31R and 32R is detected. Then, the angles α of the reflective members 31 and 32 are adjusted so that the detected value of the distance G of the measurement path 58 matches the calculated value of the distance G of the measurement path 58 calculated according to the angle α of the reflective member. To do. According to this angle adjustment support method, the angles of the reflecting members 31 and 32 can be easily set.

<Other Examples>
The present invention is not limited to the examples described by the above description and drawings, and for example, the following examples are also included in the technical scope of the present invention.
(1) In the above embodiment, one object to be measured is measured by one range sensor, but one object to be measured may be measured by a plurality of range sensors.
(2) In the above embodiment, the reciprocation of the detection light between the range sensor and one blind spot area is performed by only one reflecting member, but the detection between the range sensor and one blind spot area is performed. The light reciprocates may be performed by a plurality of reflecting members.
(3) In the above embodiment, two reflective members are provided for one range sensor, but the number of reflective members provided for one range sensor may be only one or three or more. May be good.
(4) In the above embodiment, two reflective members are provided for one object to be measured, but the number of reflective members provided for one object to be measured may be only one or three or more. There may be.
(5) In the above embodiment, only the shape of the outer surface of the object to be measured on the front surface side facing the range sensor was measured, but in addition to the shape on the front surface side of the object to be measured, the shape on the back surface side was also measured. You may. In this case, the installation position and number of range sensors, the installation position of the reflective member, the direction of installation, and the number of installations may be appropriately set.
(6) In the above embodiment, the object to be measured is the object to be coated, but the first and third inventions can be applied even when the object to be measured is something other than the object to be coated.

10 ... Painting device 12 ... Conveyor 13 ... Painting gun 20 ... Three-dimensional shape measuring device 21 ... Range sensor 28 ... Rotation center axis 29 ... Two-dimensional locus 31 ... Upper reflective member (reflecting member)
32 ... Lower reflective member (reflecting member)
32R ... Reflective surface 33 ... Reference member 34 ... Control device (painting stop device)
40 ... First object to be coated (object to be measured)
50 ... Second object to be coated (object to be measured)
54 ... Tilt axis 55 ... Light projection path 56 ... Reference surface 58 ... Measurement path α ... Angle of reflective member B1, B2, B3, B4, B5, B6 ... Blind spot area C1, C2, C3, C4 ... Control data L ... Detection light S1, S2, S3, S4 ... Shape data

Claims (8)

A range sensor having a floodlight that emits detection light, a receiver that receives the detection light, and a rotatable mirror for projection and light reception .
A reflective member that reflects the detected light between the range sensor and the object to be measured is provided.
The light receiving / receiving mirror is tilted at an angle of 45 ° with respect to the rotation center axis of the light receiving / receiving mirror.
The detection light emitted from the floodlight is reflected by the rotating mirror for projection and reception, and is radiated outward in the radial direction toward the object to be measured.
The detection light reflected by the object to be measured is reflected by the rotating mirror for light emission and reception, and is received by the light receiver.
The direction in which the reflective surface of the reflective member is orthogonal to the two-dimensional locus of the detected light emitted radially from the range sensor.
Based on the phase information of the detected light received by the light receiver and the rotation position information of the light receiving / receiving mirror, the distance to the measured object is calculated, and the two-dimensional shape data of the measured object is obtained. A three-dimensional shape measuring device characterized by obtaining . The three-dimensional shape measuring device according to claim 1, wherein the reflecting member is arranged so as to face the range sensor and the blind spot region of the range sensor in the object to be measured. The three-dimensional shape measuring device according to claim 1 or 2, further comprising a conveyor that conveys the object to be measured in parallel with the rotation center axis of the range sensor. The three-dimensional shape measuring device according to claim 1 and
A coating apparatus including a coating gun that applies paint to the object to be measured while moving relative to the object to be measured. Three-dimensional shape data relating to a plurality of types of objects to be measured having different shapes and a plurality of control data corresponding to the plurality of types of objects to be measured are stored, and the movement of the coating gun is based on the control data. The coating device according to claim 4, further comprising a control device for controlling the above. The three-dimensional shape data of the object to be measured is stored, and if the measurement result of the three-dimensional shape of the object to be coated does not match the stored shape data, painting with the coating gun is performed. The coating device according to claim 4 or 5, further comprising a coating stop device for stopping. In the three-dimensional shape measuring device according to any one of claims 1 to 3.
Wherein the range sensor on a two-dimensional trajectory of the detection light emitted radially to the rotational center axis orthogonal to the direction of the light emitting and receiving mirror has established a reference member of the straight rod-shaped,
When the reflection surface of the reflection member is tilted with respect to the rotation center axis of the light receiving / receiving mirror, the detection light reflected by the reflection member is deviated from the two-dimensional locus and the reference member. Above,
A reflective member in a three-dimensional shape measuring device, characterized in that the orientation of the reflective member is adjusted so that the distance of the object to be measured can be detected by the detection light emitted from the range sensor and reflected by the reflective member. Adjustment method. In the three-dimensional shape measuring device according to any one of claims 1 to 3.
The reflective member is supported so as to be tilted about a tilt axis set on the reflective surface.
A reference plane parallel to the light projection path from the range sensor to the tilt axis is provided so as to face the range sensor and the reflection surface.
By emitting the detection light from the range sensor on the projection path, the distance of the measurement path from the range sensor to the reference plane via the reflection surface is detected.
A reflective member in a three-dimensional shape measuring device, characterized in that the angle of the reflective member is adjusted so that the detected value of the measurement path matches the calculated value calculated according to the tilt angle of the reflective member. Angle adjustment support method.

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