JP7201168B2 - PAINTING PROGRAM CREATION DEVICE, PAINTING PROGRAM CREATION METHOD - Google Patents

Description

The present invention relates to a coating program creating apparatus and a coating program creating method.

Patent Document 1 discloses that, in creating a painting program, the operation of a hand gun in hand-blown painting is detected by a camera to continuously acquire position information, and based on this position information, a painting route in automatic painting is set. is disclosed. Further, Japanese Patent Laid-Open No. 2002-200000 discloses that not all of the acquired position information is reproduced, but some of the acquired position information is thinned out.

JP-A-61-273607

However, when position information is thinned out, if it is simply thinned out regularly, there is a risk that the turn-back positions will be thinned out and the reproducibility of the coating path will be reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and it is an object of the present invention to provide a technique capable of thinning out position information while suppressing deterioration in the reproducibility of the painting path. is.

The painting program creation device of the first invention comprises:
A coating program creation device for setting a coating route of an automatic gun in automatic coating based on an image captured by an imaging device of the operation of a hand gun in hand-blown coating,
an external information receiving unit that continuously receives the captured image captured by the imaging device during the hand-blown painting;
a gun position information acquisition unit that continuously acquires gun position information indicating the position of the hand gun during the hand-blown coating based on the captured image;
Three gun positions specified by the three pieces of gun position information are defined as a first position, a second position, and a third position in the order of acquisition, and the first position, the second position, and the third position are a thinning unit that determines whether or not to thin out the gun position information corresponding to the gun positions between the first position and the third position based on the formed angle;
It is characterized by having

A method for creating a painting program according to the second invention comprises:
A method for creating a coating program for setting a coating path of an automatic gun in automatic coating based on an image captured by an imaging device of the operation of a hand gun in hand-blown coating, comprising:
a first step of continuously receiving the captured image captured by the imaging device during the hand-blown painting;
a second step of continuously acquiring gun position information indicating the position of the hand gun during the hand-blown coating based on the captured image;
Three gun positions specified by the three pieces of gun position information are defined as a first position, a second position, and a third position in the order of acquisition, and the first position, the second position, and the third position are a third step of determining whether or not to thin out the gun position information corresponding to the gun positions between the first position and the third position based on the formed angle;
It is characterized by having

When the three gun positions specified by the three pieces of gun position information are arranged in a straight line, even if the position information between them is thinned out, the effect on the reproducibility of the coating path is small. On the other hand, if the three gun positions are not aligned in a straight line, the reproducibility of the coating path will deteriorate if the position information between them is thinned out. In the coating program creation device of the first invention, it is possible to determine whether or not these three gun positions are aligned based on the angle formed by the three gun positions. It can be determined whether or not to thin out the gun position information during that period. Therefore, it is possible to thin out the gun position information while suppressing deterioration in the reproducibility of the coating path.

According to the painting program creating method of the second invention, the same effects as those of the painting program creating apparatus of the first invention can be obtained.

1 is an explanatory diagram schematically showing the configuration of a coating program creation system of Example 1. FIG. 4 is a flow chart showing the flow of program creation processing performed by the coating program creation device. 7 is a flowchart showing the flow of thinning processing; (A) is an explanatory diagram conceptually showing the gun position corresponding to the gun position information acquired by the coating program creation device. (B) is an explanatory diagram conceptually showing the gun position corresponding to the post-thinning position information. (A) is an explanatory diagram showing a state in which three gun positions specified by three consecutive pieces of post-thinning position information form an angle equal to or greater than a predetermined angle. (B) is an explanatory diagram showing a state in which three gun positions specified by three consecutive pieces of post-thinning position information form an angle less than a predetermined angle. (C) is an explanatory diagram conceptually showing how the temporarily thinned-out gun position information is restored. 1 is an explanatory diagram schematically showing the configuration of an automatic coating device; FIG. FIG. 10 is an explanatory diagram schematically showing the configuration of a painting program creation system of Example 2; 7 is a flowchart showing the flow of thinning processing; (A) is an explanatory diagram conceptually showing how to determine whether or not to thin out the gun position information of the gun position PA2. (B) is an explanatory diagram conceptually showing how to determine whether or not to thin out the gun position information of the gun position PA3 after thinning out the gun position information of the gun position PA2. (C) is an explanatory diagram conceptually showing a state in which the gun position information of the gun position PA3 is further thinned out after the gun position information of the gun position PA2 is thinned out. (A) is an explanatory diagram conceptually showing how to determine whether or not to thin out the gun position information of the gun position PA29. (B) is an explanatory diagram conceptually showing a state in which the gun position information for the gun position PA2 is not thinned out, but the gun position information after the gun position PA30 is thinned out.

(1) In the first aspect, the thinning section may include a temporary thinning section and a restoration section. The provisional thinning section may temporarily thin out the plurality of pieces of gun position information acquired by the gun position information acquisition section according to a predetermined rule, thereby leaving the plurality of post-thinning position information. The restoration unit defines three gun positions specified by successive three pieces of post-thinning position information among a plurality of pieces of post-thinning position information as a first position, a second position, and a third position, and then defines the first position. , on the condition that the angle formed by the second and third positions is less than a predetermined angle, at least part of the gun position information provisionally thinned out between the first and third positions may be restored. good.
According to this configuration, after the gun position information is temporarily thinned out regularly, the necessary position information is restored later. By doing so, the processing load required for thinning can be reduced.

(2) The restoration unit restores gun position information corresponding to a predetermined number of gun positions on the first position side and the third position side with the second position as a base point, among the plurality of post-thinning position information. good too.
According to this configuration, it is possible to selectively revive the position information that is highly likely to be the turn-around position.

(3) The thinning unit defined three gun positions specified by three consecutive gun position information among the gun position information acquired by the gun position information acquisition unit as the first position, the second position and the third position. Above, the second position may be thinned out on condition that the angle formed by the first position, the second position, and the third position is equal to or greater than a predetermined angle.
According to this configuration, position information arranged in a straight line can be thinned out, while position information not arranged in a straight line can be reliably left. Therefore, the gun position information required for reproduction can be reduced while ensuring the reproducibility of the coating path.

<Example 1>
A first embodiment embodying the present invention will be described below with reference to FIGS. 1 to 6. FIG.

<Configuration of Painting Program Creation System 100>
A painting program creation system 100 shown in FIG. 1 is a system for creating a painting program used for automatic painting by an automatic painting device 110 . This coating program creation system 100 includes a coating device 20 for performing hand-blown coating, an imaging device 60 for imaging the operation of hand-blown coating by the coating device 20, and coating based on the captured image captured by the imaging device 60. A painting program creating device 70 for creating a painting program and an input device 90 for operating the painting program creating device 70 are provided.

The coating device 20 is, for example, a device that electrostatically coats the object 10 to be coated. This coating apparatus 20 includes a turntable 22 on which an object 10 to be coated is placed, a hand gun 30 for discharging paint toward the object 10 to be coated placed on the turntable 22, and a paint and an air supply source 50 for supplying compressed air toward the handgun 30.

The turntable 22 is rotatably held on the base 23 . The turntable 22 is rotatable in both clockwise and counterclockwise directions, and can be rotated in any direction according to the operator's operation. The operation method is not limited, and for example, the operator may operate directly by hand, or a motor for driving the turntable 22 may be provided and the operator may remotely operate the turntable 22 using a remote controller.

The hand gun 30 is, for example, an electrostatic coating gun, and includes a gun body 31, a lever-shaped operating portion 32 provided on the gun body 31, a nozzle 33 for discharging paint, and adjusting the amount of paint discharged from the nozzle 33. a male screw-shaped paint adjusting portion 34 for adjusting the amount of air discharged from the nozzle 33; a male screw-shaped air adjusting portion 35 for adjusting the amount of air discharged from the nozzle 33; The nozzle 33 is formed with a paint ejection port for ejecting paint, an atomizing air ejection port for ejecting atomizing air, and a pattern air ejection port for ejecting pattern air.

A paint inlet 36 is formed in the gun body 31 , and a paint supply source 40 is connected to the paint inlet 36 via a paint supply passage 42 . The paint supply source 40 has a paint pump and a paint tank (not shown). Paint (for example, conductive paint) is stored in the paint tank, and the paint in the paint tank is supplied to the hand gun 30 through the paint supply passage 42 by the paint pump. The paint supplied to the hand gun 30 is dammed by a needle valve (not shown), and the operation part 32 is operated to cause the needle valve to open the paint flow path, whereby the paint is discharged from the paint discharge port of the nozzle 33. . Conversely, when the operation portion 32 is no longer operated, the needle valve closes the paint flow path, and the paint is no longer discharged from the paint discharge port of the nozzle 33 . The amount of paint discharged from the nozzle 33 can be adjusted by the operator by operating the paint adjusting section 34 .

An air inlet 37 is formed in the gun body 31 , and an air supply source 50 is connected to the air inlet 37 via an air supply path 52 . The air supply source 50 has a compressor, and supplies compressed air to the hand gun 30 via the air supply path 52 . The air supplied to the handgun 30 is dammed by an on-off valve (not shown), and the operation part 32 is operated to open the air flow path by the on-off valve, thereby opening the atomizing air outlet of the nozzle 33 and the pattern. It is discharged from an air discharge port for air. The atomizing air discharged from the atomizing air discharge port changes the paint discharged from the paint discharge port into a mist. Also, the paint discharged from the paint discharge port forms a pattern corresponding to the pattern air discharged from the pattern air discharge port. When the operating portion 32 is no longer operated, air is no longer discharged from the atomizing air outlet and the pattern air outlet of the nozzle 33 . The amount of air discharged from the nozzle 33 can be adjusted by the operator operating the air adjusting section 35 .

The imaging devices 60 are cameras, for example, and at least three (four in the example shown in FIG. 1) are provided. Each of the imaging devices 60 continuously captures the hand-blown coating operation with the hand gun 30, and transmits captured images to the coating program creation device 70 as needed.

The painting program creation device 70 is configured as, for example, a personal computer, and has an input/output interface for transmitting and receiving signals to and from an external device, a processor such as a CPU, memories such as ROM and RAM, and the like. The coating program creating device 70 has an external information receiving section 72 , a gun position information acquiring section 74 and a thinning section 76 .

The external information receiving section 72 continuously receives captured images captured by the imaging device 60 during hand-blown coating (corresponding to an example of the first step in the coating program creation method).

The gun position information acquisition unit 74 continuously acquires gun position information indicating the position of the hand gun 30 during hand-spray coating based on the captured image received by the external information reception unit 72 (the first step in the coating program creation method). (equivalent to an example of 2 processes). Specifically, the position and orientation of the handgun 30 in the three-dimensional space are specified based on the images captured by at least three imaging devices 60, and the specified information is acquired as gun position information. That is, the gun position information includes not only information indicating the position of the handgun 30 but also information indicating the orientation of the handgun 30 at each position. Further, the gun position information acquisition unit 74 uses the position of the marker 39 of the handgun 30 as a reference when specifying the position and orientation of the handgun 30 .

The thinning unit 76 defines the three gun positions specified by the three gun position information as the first position, the second position, and the third position in the order in which they are acquired, and then defines the first position, the second position, and the third position. It is determined whether or not to thin out the gun position information corresponding to the gun positions between the first position and the third position based on the angle formed by the two (corresponding to an example of the third step in the painting program creation method).

The thinning portion 76 has a temporary thinning portion 78 and a restoration portion 80 . The provisional thinning unit 78 temporarily thins out the plurality of pieces of gun position information acquired by the gun position information acquisition unit 74 according to a predetermined rule, thereby leaving a plurality of post-thinning position information. In other words, the gun position information remaining after temporary thinning is the post-thinning position information. Here, the term "temporary thinning" refers to thinning in a state in which there is a possibility of recovery later. That is, the temporary thinning only temporarily excludes only part of the gun position information that constitutes the coating path, and does not completely erase the excluded gun position information. As the "predetermined rule", "after one piece of gun position information is left untemporarily thinned out in the order of acquisition, a predetermined number (11 in this embodiment) of gun position information is successively temporarily thinned out. It adopts the rule of repeating the work of According to this rule, a plurality of pieces of gun position information can be provisionally thinned out easily at equal intervals. In addition, the gun position information is thus provisionally thinned to 1/12 (1/12 in this embodiment) of the gun position information.

The restoration unit 80 defines three gun positions specified by consecutive three pieces of post-thinning position information among a plurality of pieces of post-thinning position information as the first position, the second position, and the third position in the order in which they are acquired. , restores at least part of the gun position information temporarily thinned out between the first position and the third position on the condition that the angle formed by the first position, the second position, and the third position is less than a predetermined angle. .

The input device 90 is configured, for example, as a remote control, and when a trace start operation (for example, pressing a trace start button provided on the input device 90) is performed on the input device 90, output a signal to instruct the start of tracing. Further, the input device 90 instructs the painting program creation device 70 to end tracing when a tracing end operation (for example, pressing of a tracing end button provided in the input device 90) is performed toward the input device 90. output a signal to Here, tracing refers to the operation of continuously acquiring the gun position information of the hand gun 30 during manual spray coating.

<Painting program creation process>
Next, the painting program creation process performed by the painting program creation device 70 will be described. When the power is turned on, the painting program creating device 70 repeatedly executes the painting program creating process shown in FIG.

In the painting program creation process, the painting program creation device 70 first determines whether or not a trace start operation has been performed (step S10). When receiving a trace start instruction signal from the input device 90, the painting program creation device 70 determines that a trace start operation has been performed. When the coating program creation device 70 determines that the trace start operation has not been performed (step S10: NO), the processing of step S10 is repeated until it determines that the trace start operation has been performed. When it is determined that a trace start operation has been performed (step S10: YES), trace (processing of steps S11 to S13) is started.

When the painting program creation device 70 determines that the tracing start operation has been performed (step S10: YES), it starts receiving the captured image captured by the imaging device 60 (step S11). Then, the gun position information of the handgun 30 is obtained (step S12). Then, it is determined whether or not a trace end operation has been performed (step S13).

When the coating program creation device 70 determines that the tracing end operation has not been performed (step S13: NO), the process returns to step S12. That is, the painting program creation device 70 repeats the process of step S12 at predetermined intervals (for example, 1/120 second) until it determines that the tracing end operation has been performed. As a result, the gun position information is obtained for each predetermined period.

When the painting program creation device 70 receives a trace end instruction signal from the input device 90, it determines that a trace end operation has been performed. When the coating program creation device 70 determines that the tracing end operation has been performed (step S13: YES), it performs thinning processing for thinning the acquired gun position information as necessary (step S14).

In the thinning process, as shown in FIG. 3, the acquired gun position information is provisionally thinned to 1/12 (1/12 in the first embodiment) according to the above-described rule (step S21). Here, as shown in FIG. 4A, gun position information corresponding to gun positions PA1, PA2, PA3, . An example of the case will be described. First, as shown in FIG. 4B, the gun position information corresponding to the first gun position PA1 is left, and the gun position information corresponding to the second to twelfth gun positions PA2 to PA12 is temporarily thinned out. . Then, the gun position information corresponding to the 13th gun position PA13 is left, and the gun position information corresponding to the 14th to 24th gun positions PA14 to PA24 is temporarily thinned out. Further, the gun position information corresponding to the 25th gun position PA25 is left, and the gun position information corresponding to the 26th to 36th gun positions PA26 to PA36 is temporarily thinned out. When this process is repeated until the gun position PAm corresponding to the final gun position information is reached, the provisional thinning is completed. The gun positions corresponding to the gun position information (post-thinning position information) remaining after this temporary thinning are defined as PB1, PB2, PB3, . do.

When the provisional thinning is completed, restoration processing (steps S22 to S27) is performed to restore necessary gun position information among the temporarily thinned gun position information. In the recovery process, the angle formed by the three gun positions PBk-1, PBk, and PBk+1 (k is a variable and is a natural number from "2" to "n-1") specified by three consecutive pieces of post-thinning position information is It is determined whether or not the angle is less than a predetermined angle (eg, 90°) (step S23). In the first embodiment, the gun position PBk-1 corresponds to the "first position", the gun position PBk corresponds to the "second position", and the gun position PBk+1 corresponds to the "third position".

As a result of the determination in step S23, when it is determined that the angle is less than the predetermined angle, it is determined that the gun position PBk or a gun position in the vicinity of the gun position PBk is the turn-back position, and the gun position PBk-1 to the gun position PBk+1 is determined. A part or all of the temporarily thinned gun position information is extracted from the gun position information corresponding to the gun positions during the interval (step S25). In the first embodiment, a predetermined number before and after PBk (which is equal to or less than the number of gun position information temporarily thinned out between gun positions PBk-1 and PBk, and between gun positions PBk and PBk+1) The number of pieces of gun position information equal to or less than the number of thinned-out gun position information (5 in the example shown in FIG. 3) is extracted. Then, the extracted gun position information is integrated with the post-thinning position information to revive it (step S25). Conversely, when it is determined that the angle is not less than the predetermined angle as a result of the determination in step S23, it is determined that the gun position PBk and the gun position near the gun position PBk are not at the turn-back position, and the gun near the gun position PBk is Do not restore position.

Specifically, first, an initial value of "2" is set to k (step S22). Then, it is determined whether or not the angle formed by PB1, PB2, and PB3 is less than a predetermined angle (step S23). An angle θB1 formed by PB1, PB2, and PB3 is greater than or equal to a predetermined angle θth1 (for example, 90°) as shown in FIG. 5(A). Therefore, it is determined that the angle formed by PB1, PB2, and PB3 is not less than the predetermined angle (step S23: NO), and the process proceeds to step S26. Then, it is determined whether or not k is the final value of "n-1" (step S26). As a result, when it is determined that the value is not the final value (step S26: NO), "k+1" is set to "k" (step S27). That is, since 1 is added to k, k becomes "3" here. Then, the process returns to step S23.

In step S23, it is determined whether or not the angle formed by PB2, PB3, and PB4 is less than a predetermined angle. As shown in FIG. 5B, the angle θB2 formed by PB2, PB3, and PB4 is less than the predetermined angle θth1. Therefore, it is determined that the angle formed by PB2, PB3, and PB4 is less than the predetermined angle (step S23: YES), and five gun positions (PA20 to PA24, PA26 to PA 30) is extracted (step S24), and the extracted gun position information is restored and integrated with the post-thinning position information to set a coating path for automatic coating (automatic gun 116) (step S24). S25). Then, in step S26, it is determined whether or not k is the final value of "n-1" (step S26). In this way, the processing of steps S23 to S27 is repeated, and when it is determined in step S26 that k is the final value of "n-1" (step S26: YES), the thinning processing ends, and the program creation processing ends. do.

In the painting program created in this way, each set value can be modified by the user. Therefore, based on the result of actually performing automatic painting according to the painting program, it is possible to make corrections so as to further improve the painting accuracy.

<Automatic painting using a painting program>
Next, the operation of automatic painting performed using the painting program created by the painting program creation device 70 will be described.
The automatic coating device 110 shown in FIG. 6 is a device for automatically coating the object 10 to be coated according to the coating program created by the coating program creating device 70 . This automatic painting apparatus 110 comprises an automatic table 112 , a painting robot 114 for painting the object 10 placed on the automatic table 112 , and a control device 140 for controlling the operation of the painting robot 114 .

The coating robot 114 is an articulated robot having a plurality of axes, and has an automatic gun 116 at its tip. A paint supply source 120 is connected to the painting robot 114 via a paint supply path 122 , and paint is supplied from the paint supply source 120 to the painting robot 114 . The configuration of the paint supply source 120 is the same as the paint supply source 40 for hand spray painting. An air supply source 130 is connected to the painting robot 114 via an air supply path 132 , and compressed air is supplied from the air supply source 130 to the painting robot 114 . The configuration of the air supply source 130 is the same as that of the air supply source 50 for hand spray coating.

The control device 140 includes, for example, a microcontroller, and includes an input/output interface for transmitting and receiving signals to and from external devices, a processor such as a CPU, memories such as ROM and RAM, and the like. The control device 140 stores a coating program created by the coating program creation device 70. According to this coating program, the automatic table 112 rotatably held on the base 113, the coating robot 114, the paint It controls the operation of the solenoid valve 124 that opens and closes the supply path 122 and the solenoid valve 134 that opens and closes the air supply path 132 .

Specifically, when a condition for starting automatic painting (for example, the user performs an operation to start automatic painting) is established, the control device 140 supplies the paint at the discharge amount per unit time stored in the painting program. The solenoid valve 124 is driven to supply the painting robot 114 and the solenoid valve 134 is driven to supply compressed air to the painting robot 114 . Then, the automatic gun 116 is moved along the coating path stored in the coating program while the direction of the automatic gun 116 is appropriately changed, and the automatic table 112 is driven along with the movement of the automatic gun 116. By controlling the motor, the automatic table 112 is moved to a rotational position corresponding to the position of the automatic gun 116 . Then, when the automatic painting end condition (for example, the automatic gun 116 reaches the final position of the painting path) is established, the automatic painting is ended.

<Effect of Example 1>
The coating program creation device 70 is a device for setting the coating path of the automatic gun 116 in automatic coating based on an image captured by the imaging device 60 of the operation of the hand gun 30 in hand spray coating, and is an external information receiving unit. 72 , a gun position information acquisition unit 74 , and a thinning unit 76 . The external information receiving section 72 continuously receives captured images captured by the imaging device 60 during hand-blowing painting. The gun position information acquisition unit 74 continuously acquires gun position information indicating the position of the hand gun 30 during manual spray coating based on the captured image. The thinning unit 76 defines the three gun positions specified by the three gun position information as the first position, the second position, and the third position in the order in which they are acquired, and then defines the first position, the second position, and the third position. It is determined whether or not to thin out the gun position information corresponding to the gun positions between the first position and the third position based on the angle formed by the two.

When the three gun positions specified by the three pieces of gun position information are arranged in a straight line, even if the position information between them is thinned out, the effect on the reproducibility of the coating path is small. On the other hand, if the three gun positions are not aligned in a straight line, the reproducibility of the coating path will deteriorate if the position information between them is thinned out. In this coating program creating device 70, based on the angle formed by the three gun positions, it is possible to determine whether or not these three gun positions are aligned in a straight line. It can be determined whether or not to thin out the position information. Therefore, it is possible to thin out the gun position information while suppressing deterioration in the reproducibility of the coating path.

Furthermore, the thinning section 76 includes a temporary thinning section 78 and a restoration section 80 . The provisional thinning unit 78 temporarily thins out the plurality of pieces of gun position information acquired by the gun position information acquisition unit 74 according to a predetermined rule, thereby leaving a plurality of post-thinning position information. The recovery unit 80 is provided that the angle formed by the three gun positions PBk−1, PBk, and PBk+1 specified by the three consecutive pieces of post-thinning position information among the plurality of pieces of post-thinning position information is less than a predetermined angle θth1. , restores at least part of the gun position information temporarily thinned out between the gun position PBk−1 and the gun position PBk+1.

According to this configuration, after the gun position information is temporarily thinned out regularly, the necessary position information is restored later. By doing so, the processing load required for thinning can be reduced.

Further, the restoring unit 80 restores gun position information corresponding to a predetermined number of gun positions on the gun position PBk-1 side and the gun position PBk+1 side with the gun position PBk as a base point among the plurality of thinned-out position information.

According to this configuration, it is possible to selectively revive the position information that is highly likely to be the turn-around position.

<Example 2>
The coating program creation system 200 of the second embodiment differs from the coating program creation system 100 of the first example in the method of thinning processing, and the rest of the configuration is the same. The second embodiment will be described below with reference to FIGS. 7 to 10. FIG. It should be noted that the same components as those of the coating program creation system 100 of the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

The painting program creation system 200 includes a painting device 20, an imaging device 60, a painting program creation device 270, and an input device 90, as shown in FIG. The coating program creating device 270 has an external information receiving section 72 , a gun position information acquiring section 74 and a thinning section 276 .

The thinning unit 276 selects three gun positions PAj−1, PAj, and PAj+1 (where j is a variable and “2 to "m−1") is equal to or greater than a predetermined angle, the second positions are thinned out. In the second embodiment, the gun position PAj-1 corresponds to the "first position", the gun position PAj corresponds to the "second position", and the gun position PAj+1 corresponds to the "third position".

<Thinning process>
The painting program creation device 270 of the second embodiment performs thinning processing when tracing is completed in the program creation processing. In the thinning process, the angle formed by the three gun positions PAj-1, PAj, and PAj+1 specified by the three consecutive gun position information among all acquired gun position information is equal to or greater than a predetermined angle θth2 (for example, 90°). It is determined whether or not there is (step S32). When it is determined that the angle is equal to or larger than the predetermined angle θth2 (step S32: YES), it is determined that the gun position PAj is not the turn-back position, and the gun position information corresponding to the gun position PAj is thinned out. On the other hand, if it is determined that the angle is not equal to or larger than the predetermined angle θth2 (step S32: NO), it is determined that the gun position PAj is the turn-back position, and the gun position information corresponding to the gun position PAj is left without thinning. .

Specifically, as shown in the flowchart of FIG. 8, first, j is set to an initial value of "2" (step S31). Then, it is determined whether or not the angle formed by the gun positions PA1, PA2, and PA3 is equal to or greater than a predetermined angle θth2 (step S32). In the example shown in FIG. 9A, the angle θA1 formed by the gun positions PA1, PA2, and PA3 is greater than or equal to the predetermined angle θth2. Therefore, it is determined that the angle formed by the gun positions PA1, PA2, and PA3 is equal to or greater than the predetermined angle θth2 (step S32: YES), and PA2 is thinned out as shown in FIG. 9B (step S33). Then, it is determined whether or not j is the final value "m-1" (step S34).

If j is not the final value (step S34: NO), j is set to "j+1" (step S35) to continue the thinning process, and the process returns to step S32. Here, j is changed from "2" to "3". Then, it is determined whether or not the angle formed by the gun positions PA2, PA3, and PA4 is equal to or greater than a predetermined angle θth2 (step S32). In the example shown in FIG. 9B, the angle θA2 formed by the gun positions PA2, PA3, and PA4 is greater than or equal to the predetermined angle θth2. Therefore, it is determined that the angle formed by the gun positions PA2, PA3, and PA4 is equal to or greater than the predetermined angle θth2 (step S32: YES), and PA3 is thinned out as shown in FIG. 9C (step S33).

In this way, the processing of steps S32 to S35 is repeated, and when j is set to "29" in step S35, it is determined whether or not the angle formed by the gun positions PA28, PA29, and PA30 is equal to or greater than the predetermined angle θth2. (step S32). In the example shown in FIG. 10A, the angle formed by the gun positions PA28, PA29, and PA30 is less than the predetermined angle θth2. Therefore, it is determined that the angle formed by the gun positions PA28, PA29, and PA30 is not equal to or greater than the predetermined angle θth2 (step S32: NO), it is determined that PA29 is the turning position, and the gun position information corresponding to gun position PA29 is obtained. Do not skip. After that, the processing of steps S32 to S35 is repeated again, and as shown in FIG. 10B, the gun position information corresponding to gun positions after gun position PA30 is thinned out.

In this way, the processing of steps S32 to S35 is repeated, and if it is determined in step S34 that the final value has been set to j (step S34: YES), the thinning processing ends. Then, after setting the coating path for automatic coating (for the automatic gun 116) based on the gun position information of the paths remaining after the thinning process, the program creation process is terminated.

<Effect of Example 2>
The thinning unit 276 of the coating program creation device 270 of the second embodiment selects three gun positions PAj-1 and PAj specified by three consecutive gun position information among the gun position information acquired by the gun position information acquisition unit 74. , PAj+1 is equal to or greater than a predetermined angle θth2, the gun positions PAj are thinned out.

According to this configuration, position information arranged in a straight line can be thinned out, while position information not arranged in a straight line can be reliably left. Therefore, the gun position information required for reproduction can be reduced while ensuring the reproducibility of the coating path.

<Other Examples>
The present invention is not limited to the embodiments explained by the above description and drawings, and the following embodiments are also included in the technical scope of the present invention.

In the first and second embodiments, the thinning process is performed after the tracing is completed, but the thinning process may be performed in parallel with the tracing.

30... Hand gun 60... Imaging device 70, 270... Painting program creation device 72... External information receiving unit 74... Gun position information acquisition unit 76... Thinning unit 78... Temporary thinning unit 80... Restoration unit 116... Automatic gun

Claims (5)

A coating program creation device for setting a coating route of an automatic gun in automatic coating based on an image captured by an imaging device of the operation of a hand gun in hand-blown coating,
an external information receiving unit that continuously receives the captured image captured by the imaging device during the hand-blown painting;
a gun position information acquisition unit that continuously acquires gun position information indicating the position of the hand gun during the hand-blown coating based on the captured image;
Three gun positions specified by the three pieces of gun position information are defined as a first position, a second position, and a third position in the order of acquisition, and the first position, the second position, and the third position are a thinning unit that determines whether or not to thin out the gun position information corresponding to the gun positions between the first position and the third position based on the formed angle;
with
The thinning part is
a provisional thinning unit that retains a plurality of post-thinning position information by temporarily thinning the plurality of pieces of gun position information acquired by the gun position information acquisition unit according to a predetermined rule;
Three gun positions specified by three consecutive pieces of post-thinning position information among a plurality of pieces of post-thinning position information are defined as the first position, the second position, and the third position, and Temporarily thinned out between the first position and the third position on the condition that the angle formed by the first position, the second position, and the third position is less than a predetermined angle defined by 90° or less a restoration unit that restores at least part of the cancer position information;
has
It is assumed that the cancer position information that does not revive is thinned out.
Painting program creation device. The restoration unit restores the gun position information corresponding to a predetermined number of gun positions on the first position side and the third position side with the second position as a base point, among the plurality of pieces of position information after thinning. let
The painting program creation device according to claim 1 . A coating program creation device for setting a coating route of an automatic gun in automatic coating based on an image captured by an imaging device of the operation of a hand gun in hand-blown coating,
an external information receiving unit that continuously receives the captured image captured by the imaging device during the hand-blown painting;
a gun position information acquisition unit that continuously acquires gun position information indicating the position of the hand gun during the hand-blown coating based on the captured image;
Three gun positions specified by the three pieces of gun position information are defined as a first position, a second position, and a third position in the order of acquisition, and the first position, the second position, and the third position are a thinning unit that determines whether or not to thin out the gun position information corresponding to the gun positions between the first position and the third position based on the formed angle;
with
The thinning section divides the three gun positions specified by the three consecutive gun position information among the gun position information acquired by the gun position information acquisition section into the first position, the second position and the second position. After defining three positions, the angle corresponding to the second position is provided that the angle formed by the first position, the second position, and the third position is equal to or greater than a predetermined angle defined as 90 ° or more. Painting program creation device that thins out gun position information . A method for creating a coating program for setting a coating path of an automatic gun in automatic coating based on an image captured by an imaging device of the operation of a hand gun in hand-blown coating, comprising:
a first step of continuously receiving the captured image captured by the imaging device during the hand-blown painting;
a second step of continuously acquiring gun position information indicating the position of the hand gun during the hand-blown coating based on the captured image;
Three gun positions specified by the three pieces of gun position information are defined as a first position, a second position, and a third position in the order of acquisition, and the first position, the second position, and the third position are a third step of determining whether or not to thin out the gun position information corresponding to the gun positions between the first position and the third position based on the formed angle;
with
The third step is
a provisional thinning step of temporarily thinning the plurality of gun position information acquired in the second step in accordance with a predetermined rule, thereby leaving a plurality of thinned position information;
Three gun positions specified by three consecutive pieces of post-thinning position information among a plurality of pieces of post-thinning position information are defined as the first position, the second position, and the third position, and Temporarily thinned out between the first position and the third position on the condition that the angle formed by the first position, the second position, and the third position is less than a predetermined angle defined by 90° or less a restoring step of restoring at least part of the cancer position information;
has
A method of creating a painting program that regards the gun position information that does not recover as being thinned out . A method for creating a coating program for setting a coating path of an automatic gun in automatic coating based on an image captured by an imaging device of the operation of a hand gun in hand-blown coating, comprising:
a first step of continuously receiving the captured image captured by the imaging device during the hand-blown painting;
a second step of continuously acquiring gun position information indicating the position of the hand gun during the hand-blown coating based on the captured image;
Three gun positions specified by the three pieces of gun position information are defined as a first position, a second position, and a third position in the order of acquisition, and the first position, the second position, and the third position are a third step of determining whether or not to thin out the gun position information corresponding to the gun positions between the first position and the third position based on the formed angle;
with
In the third step, the three gun positions specified by three consecutive pieces of the gun position information among the gun position information acquired in the second step are set to the first position, the second position and the third position. The gun corresponding to the second position on the condition that the angle formed by the first position, the second position, and the third position is equal to or greater than a predetermined angle defined as 90° or more. Decimate location information
How to create a painting program.

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