WO2018185890A1

WO2018185890A1 - Coating assistance device, coating device, coating work assistance method, production method for coated article, and coating assistance program

Info

Publication number: WO2018185890A1
Application number: PCT/JP2017/014277
Authority: WO
Inventors: 大介二階
Original assignee: 株式会社ニコン
Priority date: 2017-04-05
Filing date: 2017-04-05
Publication date: 2018-10-11

Abstract

A coating assistance device comprising: an acquisition unit that obtains film thickness distribution information pertaining to the film thickness distribution of a coating formed on a coating target; and a generation unit that generates work information pertaining to coating work, on the basis of the film thickness distribution information obtained by the acquisition unit and coating device information relating to a coating device used to perform coating work on the coating target.

Description

Painting assistance device, painting device, painting work assistance method, method for producing painted objects, and painting assistance program

The present invention relates to a painting assistance device, a painting device, a painting work assistance method, a method for manufacturing a painted object, and a painting assistance program.

A technique for measuring the film thickness of a coating film by pressing a measuring element against a painted surface is known (Patent Document 1).

Japanese Unexamined Patent Publication No. 59-180322

According to the first aspect of the present invention, the coating auxiliary device acquires the film thickness distribution information related to the film thickness distribution of the coating film formed on the object to be coated, and the film thickness distribution acquired by the acquisition unit. A generating unit that generates work information related to the painting work based on the information and the painting equipment information related to the coating equipment used for the painting work on the painting target.
According to the second aspect of the present invention, the painting auxiliary device is based on a storage unit that stores painting device information related to a coating device used in a painting operation for a painting target, and the coating device information stored in the storage unit. A generating unit that generates work information related to the painting work.
According to the third aspect of the present invention, the coating apparatus includes the painting auxiliary apparatus according to the first or second aspect, and a spray device.
According to the fourth aspect of the present invention, the painting operation assisting method acquires the film thickness distribution information related to the film thickness distribution of the coating film formed on the object to be coated, and the acquired film thickness distribution information and the acquired Generating work information relating to the painting work based on the painting equipment information relating to the painting apparatus used for the painting work on the painting object.
According to the fifth aspect of the present invention, the painting work assisting method stores the painting apparatus information relating to the painting apparatus used for the painting work on the painting object, and the painting work based on the stored painting apparatus information. Generating work information relating to.
According to a sixth aspect of the present invention, a method for manufacturing a painted object includes: creating design information related to painting a structure; painting the structure based on the design information; and the painted structure. Modifying the painting by the painting assistance method according to the fourth or fifth aspect.
According to the seventh aspect of the present invention, the painting assistance program includes a process of obtaining film thickness distribution information relating to a film thickness distribution of a coating film formed on a painting target, the obtained film thickness distribution information, and the painting. Based on the painting apparatus information relating to the painting apparatus used for the painting work for the object, the computer is caused to execute processing for generating work information relating to the painting work.
According to an eighth aspect of the present invention, the painting assistance program relates to the painting operation based on the processing for storing the painting device information relating to the painting device used for the painting operation for the painting object, and the stored painting device information. And causing the computer to execute processing for generating work information.

It is a figure for demonstrating the coating system by 1st Embodiment. It is a figure which shows typically the mode at the time of the painting operation | work using the coating system by 1st Embodiment. It is a block diagram which shows an example of a structure of the coating assistance apparatus by 1st Embodiment. It is a figure which shows an example of the display image by the display apparatus by 1st Embodiment. It is the flowchart which showed the flow of the process by the coating assistance apparatus by 1st Embodiment. It is a block diagram which shows an example of a structure of the structure manufacturing system by 2nd Embodiment. It is the flowchart which showed the flow of the process by the structure manufacturing system by 2nd Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. Further, in the drawings, in order to describe the embodiment, the scale is appropriately changed and expressed, for example, partly enlarged or emphasized.

-First embodiment-
With reference to the drawings, a description will be given of a painting system that employs the painting auxiliary apparatus according to the first embodiment. In particular, a case where a painting operation is performed on an aircraft using a painting auxiliary device will be described as an example. The first embodiment is specifically described for the purpose of understanding the gist of the invention, and does not limit the present invention unless otherwise specified.

FIG. 1 is a diagram for explaining a coating system according to the first embodiment. Moreover, FIG. 2 is a figure which shows typically the mode at the time of the painting operation | work using the coating system by 1st Embodiment. In FIGS. 1 and 2, a hangar 2 in which an aircraft 11 is stored is shown as an example of an environment to which the coating system according to the first embodiment is applied. The hangar 2 is a facility where the aircraft 11 is painted and maintained.

The hangar 2 is provided with a gondola 3 for an operator 4 to enter and perform a painting operation, a measuring device 10, a marker 20, a control unit 1 for a painting auxiliary device, a display device 100, and a painting device 5. It is done. In addition, the painting assistance apparatus according to the present embodiment includes a measuring device 10, a painting assistance apparatus control unit 1, and a display device 100. The painting auxiliary device control unit 1 according to the present embodiment outputs information related to the painting work to the display device 100 so that the painting work is appropriately performed on the aircraft 11. The worker 4 performs the painting work according to the information output and displayed on the display device 100.

By the way, in this Embodiment, although the control unit 1 for painting assistance apparatuses and the display apparatus 100 are arrange | positioned in a different place, the control unit 1 for painting assistance apparatuses and the display apparatus 100 are integrated with this invention. Also included are Further, in the present embodiment, the measuring device 10 is disposed in the vicinity of the gondola 3, the painting auxiliary device control unit 1 and the display device 100 are disposed in the gondola 3, and the marker 20 is disposed on the beam of the hangar 2. ing. However, the present invention is not limited to such an arrangement relationship. Further, when the worker 4 performs the painting work without using the gondola 3, for example, when the painting work is performed while standing on the ground at the work site, the painting assisting device can be applied.

The gondola 3 is configured to be moved to a desired position by power generated from a drive unit (not shown) controlled by an operation by the worker 4 or the like. The operator 4 appropriately moves the gondola 3 according to the painting target position of the aircraft 11 to be painted. When the gondola 3 arrives at the painting target position, the operator 4 operates the painting device 5 to perform the painting work. In the example shown in FIG. 1, one gondola 3 is shown to simplify the drawing, but a plurality of gondolas may be provided according to the size of the aircraft 11 and the like.

The coating device 5 is, for example, a spray device (spray gun), and a nozzle is attached to the tip. The painting device 5 is connected to a paint supply device (not shown) (paint tank, paint supply pump, etc.) via a hose 6, and the paint supply device is operated by operating a trigger disposed in the painting device 5. The paint supplied from is discharged (sprayed). The nozzle can be exchanged, and the paint application pattern (paint ejection pattern) can be changed by exchanging the nozzle with a different shape of the part from which the paint is ejected. In addition, as the coating apparatus 5, you may make it use a roller, a brush, and an electrodeposition coating apparatus.

The measurement apparatus 10 measures the distance from the measurement apparatus 10 to the measurement object in a non-contact manner with respect to the measurement object by irradiating the measurement object with light and receiving the light reflected from the measurement object. For example, the measurement device 10 is a laser radar device that measures distance by the Time Of Flight method, and uses laser light that has been frequency-modulated. The measuring apparatus 10 irradiates the aircraft 11 with laser light whose frequency changes with time. The measuring device 10 calculates the distance between the measuring device 10 and the measurement point of the aircraft 11 based on the frequency difference between the laser beam reflected by the aircraft 11 and the reference laser beam. Note that the measurement apparatus 10 may calculate the distance between the measurement apparatus 10 and the measurement point based on the phase difference of the amplitude change between the reflected laser light and the reference laser light. In addition, when there is an obstacle between the measurement apparatus 10 and the measurement target position of the measurement target, a mirror may be arranged to irradiate the measurement target position with the measurement light. Thereby, the measuring object 10 can be irradiated with the laser beam from the measuring apparatus 10 via the mirror, and the reflected light from the measuring object can also be detected by the measuring apparatus 10 via the mirror.

The heel marker 20 is arranged at a known position in the hangar 2. The position of the marker 20 is a reference position for specifying the positions of the measuring device 10 and the aircraft 11 in the hangar 2. The plurality of measuring devices 10 installed in the hangar 2 each determine the relative position and angle of the measuring device 10 with respect to the marker 20 by measuring the coordinates of the marker 20. Thereby, the spatial position of the measuring apparatus 10 itself is obtained. As shown in FIG. 1, by setting markers 20 at a plurality of locations in the hangar 2 and using the position of each marker 20 in the hangar 2 as a reference, the positions of the measuring device 10 and measurement points are obtained over a wide range. Is possible.

In addition to the distance between the measuring device 10 and the measurement object, the measuring device 10 uses the horizontal and vertical angles of the laser beam to be irradiated and the spatial position information of the measuring device 10 itself. The three-dimensional position information of a plurality of measurement points included in the painting target area of the aircraft 11 is calculated and acquired. As a coordinate system for representing the three-dimensional position, an orthogonal coordinate system or a polar coordinate system is used. The measurement device 10 measures the shape of the surface of the aircraft 11 by sequentially changing the irradiation direction (azimuth angle and elevation angle or depression angle) of the laser beam in the horizontal direction and vertical direction (azimuth angle and elevation angle or depression angle). That is, the measurement apparatus 10 acquires point cloud data representing the spatial position of each measurement point of the aircraft 11 by scanning (scanning) the irradiated laser light while changing the azimuth angle, the elevation angle, or the depression angle. In addition, when the shape is measured using a mirror, the measuring device 10 corrects the point cloud data based on information indicating the mirror mounting position and the normal direction of the reflecting surface of the mirror, and correct position information. Can be calculated. The measuring device 10 generates shape model data representing the shape of the aircraft 11 based on the obtained plurality of point cloud data.

In the example shown in FIG. 1, one measuring device 10 is shown to simplify the drawing, but a plurality of measuring devices 10 are arranged around the aircraft 11 in order to measure the entire surface of the aircraft 11. Also good. In this case, the measuring device 10 is disposed, for example, in the vicinity of the gondola 3, a movable carriage, a pedestal provided in a fixed manner, and the like. The measuring device 10 may be arranged above or below the aircraft 11 or on a self-propelled rail. The operator 4 may be made to wear the measuring device 10.

The measuring device 10 measures the three-dimensional position of a plurality of measurement points included in the painting target area in each state before painting and after painting. Specifically, the measuring device 10 is based on the distance between the measuring device 10 and the measurement point and information indicating the irradiation direction (azimuth angle and elevation angle or depression angle) of the laser light, and the painting target area of the aircraft 11. 3D position information of a plurality of measurement points included in is acquired. And the measuring apparatus 10 transmits the acquired three-dimensional position information to the control unit 1 for auxiliary coating apparatuses by wireless communication or the like.

The painting auxiliary device control unit 1 acquires three-dimensional position information of a plurality of measurement points in the painting target area of the aircraft 11 from the measuring device 10. In particular, in the present embodiment, the coating auxiliary device control unit 1 is configured to obtain the three-dimensional position information of the measurement points obtained by the measurement device 10 before painting and the tertiary of the measurement points obtained by the measurement device 10 after painting. Get original location information. The difference between these three-dimensional position information is a value corresponding to the thickness of the coating film (or the thickness of the paint) formed at the measurement point. For this reason, the control unit 1 for the painting auxiliary device obtains the difference between the three-dimensional position information before painting and the three-dimensional position information after painting of the measurement points included in the respective painting target areas before painting and after painting. The film thickness of the coating film formed at the measurement point can be calculated. The coating auxiliary device control unit 1 calculates the film thickness of the coating film at each measurement point of the aircraft 11 and generates film thickness distribution information regarding the film thickness distribution of the coating film.

The measuring device 10 measures the area in the vicinity of the area where the worker 4 is performing the painting work at any time during the painting work by the worker 4, so that each time before painting, during painting, and after painting. 3D position information is acquired. From these three-dimensional position information, the coating auxiliary device control unit 1 can calculate the film thickness of the coating film as needed. Thereby, the control unit 1 for coating assistance apparatus can acquire suitably the film thickness of the coating film formed by coating during the coating operation. As described above, the film thickness of the coating film was obtained from the difference between the distance from the measuring device 10 to the measuring point before painting and the distance from the measuring device 10 to the measuring point after painting. 1 may obtain the film thickness of the coating film from the difference between the shape model data of the aircraft 11 before painting and the shape model data of the painting target region after painting obtained from the measuring apparatus 10. Good.

In addition, when calculating the film thickness of the coating film, the coating auxiliary device control unit 1 predicts the shape change of the coating target based on the temperature change before and after coating in the coating target region, and from the measuring device 10 The acquired three-dimensional position information before painting may be corrected. Then, the coating auxiliary device control unit 1 may calculate the film thickness of the coating film based on the corrected three-dimensional position information before painting and three-dimensional position information after painting. Further, the measuring device 10 measures the distance before painting only for the most recently painted range, measures the distance of the painted range immediately after painting, and the painting auxiliary device control unit 1 performs the painting before and after painting. You may make it calculate the film thickness of a coating film from each measurement result.

The measuring device 10 measures the three-dimensional position of the coating device 5 with reference to the measuring device 10 in addition to measuring the distance to the measurement point in the coating target area. Thereby, information related to the relative position and relative posture of the painting apparatus 5 with respect to the painting target area of the aircraft 11 is acquired. The information related to the posture of the coating apparatus 5 is, for example, information related to the orientation of the nozzle of the coating apparatus 5 and can be acquired by measuring the three-dimensional positions at a plurality of locations of the coating apparatus 5.

When an instruction signal for measuring the distance of the coating device 5 is transmitted from the control unit 1 for painting assistance device to the measuring device 10, the measuring device 10 displays an image with a color imaging device (not shown) built in the measuring device 10. Acquire and search for image data of the nozzle of the coating apparatus 5. The measuring apparatus 10 acquires three-dimensional position information of a plurality of different parts of the nozzle based on the azimuth angle and elevation angle from which the image data of the nozzle is acquired. Then, when the coating auxiliary device control unit 1 acquires the acquired three-dimensional position information, the coating auxiliary device control unit 1 calculates information related to the position and orientation of the coating device 5 from the acquired three-dimensional position information. To do. Instead of measuring the position and orientation of the coating apparatus 5 by the measuring apparatus 10, a distance sensor and an inclination sensor may be provided in the coating apparatus 5. The distance sensor measures the distance from the painting device 5 to the nearest surface of the aircraft 11, and the tilt sensor measures the posture of the painting device 5.

The measuring device 10 includes a color imaging device (not shown). The measuring device 10 causes the color imaging device to perform imaging, and generates image data including color information of a painting target. For example, the measuring apparatus 10 is configured such that the optical axis of the optical system that measures the distance to the measurement point and the optical system that captures the captured image are the same, and performs distance measurement and imaging simultaneously. Thereby, color information is acquired for each measurement point in association with the measured distance. That is, the measuring apparatus 10 acquires the three-dimensional position information at a plurality of measurement points in the painting target area and the color information included in the image data corresponding to the three-dimensional position information, and stores each measurement point in the internal memory or the like. The three-dimensional position information and the color information are stored in association with each other. Of course, the three-dimensional position information and the image data itself may be stored in association with each other. Instead of providing the color imaging device in the measurement device 10, another imaging device may be provided, and image data having color information may be acquired by the imaging device.

The painting auxiliary device control unit 1 has, for example, an arithmetic processing circuit such as a CPU and a memory such as a ROM and a RAM, and implements its function by executing a predetermined program. Moreover, the control unit 1 for a painting auxiliary device has a function of acquiring painting device information regarding the painting device 5. Specifically, the painting apparatus information can be acquired by a user interface (not shown). The coating device information is, for example, discharge information that is information on the type of nozzle of the coating device 5, the discharge amount and discharge distribution of the paint discharged (spouted) from the nozzle, and the like. The coating auxiliary device control unit 1 performs work information on the coating work to be performed by the coating worker based on the film thickness distribution information, the coating device information, and the target film thickness information that is information on the film thickness of the coating film to be formed. Is generated. Moreover, the coating auxiliary device control unit 1 generates image data for displaying a film thickness distribution image that is an image representing the film thickness distribution information and a work instruction image that is an image instructing work. The painting auxiliary device control unit 1 transmits the generated image data (image) to the display device 100 by wireless communication or the like. In addition, when coating is started in an area where a coating film is not formed, the control unit for painting assistance apparatus 1 may generate work information based on the painting apparatus information and the target film thickness information.

The display device 100 is a projector that projects and displays an image, for example, and displays an image based on the image data transmitted from the control unit 1 for painting assistance device. The display device 100 projects and displays an image on the surface to be coated based on the image data output by the painting auxiliary device control unit 1. The worker 4 can perform the painting work according to the work instruction image displayed by the display device 100. In the example shown in FIG. 1, one display device 100 is shown to simplify the drawing. However, in order to be able to project an image on the entire surface of the aircraft 11, a plurality of display devices 100 are connected to the aircraft 11. You may arrange | position around. In this case, for example, the display device 100 is disposed at a position near the gondola 3, a movable carriage, a fixed base, a position near the beam or column of the hangar 2, and the like. Note that the display device 100 may be provided in the measurement device 10.

As described above, in the present embodiment, the display device 100 projects a work instruction image relating to the painting work onto the surface to be painted, thereby instructing the worker 4 to perform the painting work. Note that a CRT, a liquid crystal display device, or the like may be used as the display device 100. Alternatively, the worker 4 may wear a head mounted display (HMD) as the display device 100 and present the worker 4 with a work instruction image related to the painting work. You may make it use the tablet terminal etc. which have a function as a painting auxiliary | assistance apparatus and the display apparatus 100. FIG.

FIG. 3 is a block diagram for explaining an example of the configuration of the painting auxiliary apparatus according to the first embodiment. In FIG. 3, the painting assistance device is shown to include the painting assistance device control unit 1, the measuring device 10, and the display device 100. However, the painting auxiliary device may be configured without including the measuring device 10 and the display device 100, or may be configured to include either the measuring device 10 or the display device 100. Further, a painting auxiliary device may be provided in the painting device 5. The painting auxiliary device control unit 1 includes a position information acquisition unit 30, a film thickness calculation unit 40, a coating state determination unit 41, a storage unit 50, a work information generation unit 60, and an image generation unit 70.

The position information acquisition unit 30 receives the three-dimensional position information output from the measuring apparatus 10. The position information acquisition unit 30 acquires three-dimensional position information of a plurality of measurement points in at least a painting target area of the aircraft 11 that is a painting target. The position information acquisition unit 30 also acquires time information measured at the same time as the distance measurement. The film thickness calculation unit 40 calculates the difference between the three-dimensional position information at each measurement point based on the three-dimensional position information acquired by the position information acquisition unit 30, and the coating information at each measurement point is calculated from the calculated difference information. The film thickness information of the film is calculated. The coating state determination unit 41 creates film thickness distribution information based on the film thickness information of the coating film at each measurement point acquired from the film thickness calculation unit 40. Moreover, the coating state determination part 41 determines whether it is a painted area | region or an unpainted area | region with respect to each measurement point. Moreover, even if it is a painted area | region, the coating state determination part 41 determines whether it is an area | region where a coating film thickness is enough, or a coating film thickness is inadequate.

The storage unit 50 stores the film thickness distribution information obtained based on the film thickness information at each measurement point output from the film thickness calculation unit 40. In addition, the storage unit 50 stores coating apparatus information related to the coating apparatus 5 and information (such as target film thickness information) related to the film thickness of the coating film to be formed by an input operation by the operator 4 or the like. For example, the storage unit 50 stores discharge information for a plurality of nozzles as the coating apparatus information. The storage unit 50 includes a semiconductor memory such as a RAM and a storage medium such as a hard disk device.

The work information generation unit 60 generates work information that is information related to the painting work to be performed on the painting target in accordance with the target film thickness information, the film thickness distribution information, the coating apparatus information, and the like. The work information is, for example, information related to the target position of the paint sprayed by the coating apparatus 5, information related to the position of the coating apparatus 5 and the direction of the nozzle, information related to the speed (speed and direction) of moving the coating apparatus 5. The work information generation unit 60 includes a position calculation unit 61 and a transition calculation unit 62.

If the coating apparatus 5 is a spray gun, the position calculation unit 61 calculates a target position for spraying the paint by the coating apparatus 5 on the object to be coated. Further, if the coating apparatus 5 is a brush, the position calculation unit 61 calculates a target position to be brought into contact with the brush aircraft 11. Moreover, the position calculation part 61 calculates the site | part immersed in an electrodeposition coating liquid, when the coating device 5 is an electrodeposition coating device. In the following description, the case where the coating apparatus 5 is a spray gun will be described.

The position calculation unit 61 calculates a target position where the coating apparatus 5 performs coating and a target posture of the coating apparatus 5 at that time based on information on the discharge amount and the discharge distribution included in the coating apparatus information. More specifically, the position calculation unit 61 is a film thickness shortage that is information about the area where the film thickness of the coating film is insufficient and the insufficient thickness of the coating film from the film thickness distribution information after coating on the surface to be coated. The distribution information is calculated, and the spray target position and the position and orientation of the coating apparatus 5 with respect to the object to be coated are calculated using the discharge amount and the discharge distribution information. Note that the position calculation unit 61 may calculate the spray target position in the shape model data generated by the measurement apparatus 10. Further, the position calculation unit 61 may adjust the spray target position according to the shape and size of the painting target.

The transition calculation unit 62 calculates the spray target position for each time in a series of steps of the paint spraying operation based on, for example, the painting apparatus information. That is, the transition calculation unit 62 calculates the temporal transition of the position of the coating apparatus 5 when performing the painting work. In addition, for example, the transition calculation unit 62 includes information on the discharge amount of the paint discharged from the nozzle used in the coating apparatus 5 and information on the discharge distribution, the film thickness calculated by the film thickness calculation unit 40, and the design time. The speed at which the coating apparatus 5 is moved is calculated based on information relating to the difference from the film thickness (target film thickness). The speed at which the coating apparatus 5 is moved is, for example, the moving distance per unit time of the coating apparatus 5 with respect to the coating target.

As described above, the work information generation unit 60 determines the paint spray target position, the position of the coating apparatus 5, the moving speed, and the like in accordance with the state of the film thickness of the coating film formed on the painting target surface by the painting work. Then, work information relating to the painting work to be performed is generated. The work information generation unit 60 may generate the work information in consideration of the ambient temperature and humidity of the object to be coated, the characteristics of the paint, the overall work time, and the like. The work information generated by the work information generation unit 60 is output to the image generation unit 70.

The image generation unit 70 generates image data for displaying a film thickness distribution image and a work instruction image. The image generation unit 70 is an image for superimposing and displaying a film thickness distribution image and a work instruction image on a coating target surface based on, for example, film thickness distribution information, work information, and shape model data of a coating target. Generate data. The image data generated by the image generation unit 70 is generated based on the position and orientation of the display device 100 with respect to the painting target surface. For example, information on the position and orientation of the display device 100 is input to the image generation unit 70, and the image generation unit 70 displays a film thickness distribution image, work instruction image, and the like to be displayed based on the information on the position and orientation of the display device 100. Image data is generated. As a result, the film thickness distribution image and the work instruction image can be appropriately superimposed and displayed on the painting target. The image data generated by the image generation unit 70 is output to the display device 100 by wireless communication or the like. Note that only one of the film thickness distribution image and the work instruction image may be displayed without being superimposed.

The display device 100 can display various images based on the image data generated by the image generation unit 70. For example, the display device 100 displays a film thickness distribution image in which the film thickness of the coating film is classified stepwise and color-coded. Moreover, you may make it a coating auxiliary | assistance apparatus display the film thickness value of the coating film for every place with the display apparatus 100. FIG. Further, the painting auxiliary device may determine an optimum nozzle from the replaceable nozzles, generate an image for guiding the replacement of the nozzle of the painting device 5, and display the image on the display unit 100.

FIG. 4 is a diagram illustrating an example of a display image by the display device 100 according to the first embodiment. In the example shown in FIG. 4, the film thickness distribution image and the work instruction image are superimposed and displayed on the painting target surface of the aircraft 11. These images are projected and displayed in alignment with the painting target surface of the aircraft 11. In the film thickness distribution image shown in FIG. 4, colors are displayed according to the film thickness of the coating film.

Regions

101 and 102 are regions whose film thickness is within a predetermined range from the target film thickness. The region 102 is a region whose film thickness is thinner than the film thickness range of the region 101. The region 103 is a region where the film thickness is thinner than the film thickness range of the region 102 and falls below a predetermined range from the target film thickness. In FIG. 4, the color difference is expressed using dots and hatching.

The pointer 90 shown in FIG. 4 is an image based on the work instruction image, and indicates a target position at which spraying is started. The pointer 90 instructs the spraying target position to the operator 4 by moving at a speed corresponding to the film thickness to be formed by spraying in the direction indicated by the arrow 91. Various information such as a region where the film thickness of the coating film is insufficient, a spray target position of the coating apparatus 5, and a speed at which the coating apparatus 5 is moved is displayed on the coating target surface. The operator 4 can perform the paint work by adjusting the position and orientation of the coating apparatus 5 while confirming the spray target position. The operator 4 can appropriately paint the aircraft 11 by moving the painting device 5 according to the movement of the pointer 90. For example, when the discharge amount of the paint discharged from the coating apparatus 5 is constant, the film thickness of the coating film formed by the painting operation can be adjusted by adjusting the moving speed of the pointer 90. .

In addition, the operator 4 is made to spray the paint from the coating apparatus 5 onto the object to be coated for the time when the pointer 90 is displayed in advance, and when the pointer 90 disappears, the operation of stopping the spraying of the coating apparatus 5 is performed. By being notified, it is possible to prevent the paint from being sprayed on the object to be painted unnecessarily, and to reduce the cost of the painting work. In addition, by projecting the image displayed on such a work instruction screen on the painting work surface of the aircraft 11 or displaying it superimposed on the painting work surface using a see-through type head mounted display, It is also possible to greatly reduce the burden on the operator.

FIG. 5 is a flowchart showing a flow of processing by the painting auxiliary apparatus according to the first embodiment. The process shown in FIG. 5 is repeatedly executed, for example, when a painting operation is performed.

In step S100, the position information acquisition unit 30 of the painting auxiliary device control unit 1 acquires the three-dimensional position information of a plurality of measurement points in the painting target region from the measurement device 10. Further, the position information acquisition unit 30 acquires time information measured simultaneously with the measurement of the three-dimensional position from the measurement device 10. In step S110, the position information acquisition unit 30 determines whether or not three-dimensional position information calculated at different times for the same measurement point is acquired based on the three-dimensional position information and time information. If the position information acquisition unit 30 acquires the three-dimensional position information calculated at different times for the same measurement point, the process proceeds to step S120. In step S110, if the position information acquisition unit 30 has not acquired the three-dimensional position information calculated at different times for the same measurement point, the process returns to step S100.

In step S120, the film thickness calculation unit 40 calculates the film thickness of the coating film formed at the measurement point by using the three-dimensional position information calculated at different times for the same measurement point, and generates the film thickness information. To do. In step S130, the film thickness calculation unit 40 determines whether or not there is a measurement point for which the film thickness of the coating film is not calculated. If a positive determination is made in step S130, the process proceeds to step S140, and if a negative determination is made in step S130, the process returns to step S120.

In step S140, the coating state determination unit 41 generates film thickness distribution information based on the film thickness information of each measurement point calculated by the film thickness calculation unit 40. In step S150, the coating state determination unit 41, based on the film thickness distribution information and the target film thickness information, distributes the film thickness insufficiency with respect to the area where the paint film thickness is insufficient in the paint target area and the insufficient thickness of the paint pressure. Generate information.

In step S160, the position calculation unit 61 generates repainting area information representing an area that needs to be repainted based on the insufficient film thickness distribution information. In step S <b> 170, the transition calculation unit 62 calculates a path (route) through which efficient painting can be performed based on the repainting area information. For example, the transition calculation unit 62 calculates a path with a small number of times of operating the trigger of the coating apparatus 5, a path with a small reciprocation of the operator 4 on the gondola, a path with a small number of times of replacing the nozzle of the coating apparatus 5, and the like. . In step S180, the transition calculation unit 62 calculates a moving speed for moving the coating apparatus 5 based on the calculated coating path and coating apparatus information. The work information generation unit 60 generates work information related to the painting work to be performed based on the calculated path for painting and the moving speed of the painting apparatus 5.

In step S190, the image generation unit 70 generates image data based on the film thickness distribution information and work information, and outputs the image data to the display device 100. The display device 100 displays a film thickness distribution image and a work instruction image based on the image data generated by the image generation unit 70. Thereby, the worker 4 can perform the painting work according to the image displayed by the display device 100.

According to the first embodiment described above, the following operational effects are obtained.
(1) The coating auxiliary device includes an acquisition unit (painting state determination unit 41) that acquires film thickness distribution information regarding the film thickness distribution of the coating film formed on the coating target (aircraft 11), and a film acquired by the acquisition unit. A generation unit (operation information generation unit 60) that generates operation information related to the painting operation based on the thickness distribution information and the coating device information related to the coating device 5 used for the application operation for the object to be applied. In the present embodiment, the work information generation unit 60 generates work information based on the film thickness distribution information and the coating apparatus information. Therefore, information indicating the painting work to be performed can be generated. Moreover, a desired coating film can be rapidly formed by performing the painting operation based on the operation information.

(2) Generally, since it is necessary to shorten the aircraft suspension period in consideration of the cost of the aircraft, it is necessary to perform the painting work within a limited time. Aircraft demand is also expected to increase. Therefore, in the present embodiment, the work content to be performed is automatically determined based on the film thickness distribution information and the coating apparatus information. As a result, the operator can quickly complete the painting operation, and as a result, the operating efficiency of the aircraft can be improved. In addition, by performing painting work based on work information, aircraft fuel consumption deteriorates due to excessive film thickness, waterproofness and rust prevention decrease due to insufficient film thickness, and temperature rise on the aircraft surface due to insufficient film thickness Or the like can be prevented.

(3) The obtaining unit obtains the film thickness distribution information after the painting operation is performed on at least a part of the painting target. Thereby, after coating with respect to a part of coating work, the film thickness of a coating film can be measured and the information which assists the painting work which should be performed based on a measurement result can be produced | generated. For example, the operator can be prompted to perform repainting according to the measurement result, and the worker can reliably paint each area of the aircraft. As a result, the work time of the painting work can be shortened. In addition, the repainting work by the worker can be reduced, and the burden on the worker can be reduced. Furthermore, the consumption of paint can be reduced.
(4) The coating auxiliary device generates a film thickness distribution image relating to the film thickness distribution of the coating film generated based on the film thickness distribution information, and the film thickness distribution image generated by the image generation unit 70. And a display unit 100 that superimposes and displays a work instruction image related to the painting work generated based on the work information. Since it did in this way, the location where the film thickness of a coating film is insufficient, and the work content which should be performed can be shown to an operator. Therefore, information for assisting the painting work can be presented so that the painting work is appropriately performed. For example, it is conceivable that an operator who has little experience in painting work may be at a loss in determining the position to be aimed by the painting apparatus even if the film thickness distribution image is confirmed. Therefore, by superimposing and displaying the film thickness distribution image and the work instruction image, even an unskilled person can easily perform appropriate painting by performing the painting work based on the work information. Become.

(5) The painting auxiliary apparatus further includes a display unit 100 that projects and displays a work instruction image related to the painting work generated based on the work information on the painting target. For example, when displaying the work instruction image on the display device at hand of the worker, the worker needs to change the viewpoint between the painting target surface and the image displayed on the display device and perform the painting work. This will reduce the efficiency. Therefore, the efficiency of the painting work can be improved by projecting and displaying the work instruction image on the painting object.

-Second Embodiment-
With reference to drawings, the structure manufacturing system provided with the coating auxiliary device mentioned above is explained. FIG. 6 is a diagram illustrating an example of a block configuration of the structure manufacturing system SYS. The structure manufacturing system SYS includes a measuring device 10, a coating device 120, a work information generation unit 60 of a painting auxiliary device, a repair device 140, and a design device 150. In the present embodiment, the structure manufacturing system SYS performs coating of molded products such as automobile door parts, engine parts, gear parts, electronic parts including circuit boards, and aircraft parts.

The design device 150 creates design information related to the painting of the structure, and transmits the created design information to the painting device 120. In addition, the design apparatus 150 stores the created design information in a coordinate storage unit 131 (to be described later) of the work information generation unit 60. Here, the design information is information indicating the coordinates of each position of the structure. The painting device 120 paints the structure based on the design information input from the design device 150.

The measuring apparatus 10 transmits information indicating the measured coordinates to the work information generating unit 60. The work information generation unit 60 includes a coordinate storage unit 131 and an inspection unit 132. As described above, design information is stored in the coordinate storage unit 131 by the design device 150. The inspection unit 132 reads design information from the coordinate storage unit 131. The inspection unit 132 creates information (shape information) indicating the painted structure from the information indicating the coordinates received from the measuring apparatus 10. The inspection unit 132 compares information (shape information) indicating the painted structure with design information read from the coordinate storage unit 131. The inspection unit 132 determines whether or not the structure is painted according to the design information based on the comparison result. In other words, the inspection unit 132 determines whether or not the painted structure is a good product. The inspection unit 132 determines whether or not the structure can be repaired when the structure is not painted according to the design information. If repair is possible, the inspection unit 132 calculates a defective part and a repair amount based on the comparison result, and transmits information indicating the defective part and information indicating the repair amount to the repair device 140.

The repair device 140 processes and repaints the defective portion of the structure based on the information indicating the defective portion received from the work information generating unit 60 and the information indicating the repair amount.

FIG. 7 is a flowchart showing the flow of processing by the structure manufacturing system (painted body manufacturing system) SYS. First, the design device 150 creates design information related to painting of a structure (step S101). Next, the coating apparatus 120 paints the structure based on the design information (step S102). Next, the measuring apparatus 10 measures coordinates related to the shape of the structure (step S103). Next, the inspection unit 132 of the work information generation unit 60 compares the shape information of the painted structure output from the measuring apparatus 10 with the design information, so that the structure is painted according to the design information. It is inspected (step S104).

Next, the inspection unit 132 of the work information generation unit 60 determines whether or not the painted structure is a good product (step S105). When the structure is a non-defective product (step S105: YES), the structure manufacturing system SYS ends the process. On the other hand, when the structure is not a non-defective product (step S105: NO), the inspection unit 132 determines whether the structure can be repaired (step S106).

If the structure can be repaired (step S106: YES), the repair device 140 performs processing and painting of the structure (step S107), and returns to the process of step S103. On the other hand, when the structure cannot be repaired (step S106: NO), the structure manufacturing system SYS ends the process. Above, the process of this flowchart is complete | finished.

By the above, since the measuring apparatus 10 in the above embodiment can accurately measure the coordinates of the structure, the structure manufacturing system SYS can determine whether or not the painted structure is a non-defective product. . In addition, since the work information generation unit 60 in the above embodiment can generate painting work information, the structure manufacturing system SYS performs reworking or repainting of the structure when the structure is not good. Can be repaired.

The following modifications are also within the scope of the present invention, and one or a plurality of modifications can be combined with the above-described embodiment.

(Modification 1)
In the example shown in FIG. 2, one worker 4 is shown. However, depending on the size of the aircraft 11, the size of the gondola 3, and the like, a plurality of workers may perform painting work on the same gondola. Good. In this case, a film thickness distribution image and a work instruction image may be presented to an operator on the downstream side (downstream side) with respect to the traveling direction of the painting work, Then, a film thickness distribution image and a work instruction image may be presented to the worker on the upstream side (upstream side).

(Modification 2)
In the embodiment and the modification described above, the example in which the work information is generated based on the film thickness distribution information and the work instruction image is presented to the worker has been described. However, the coating assisting device may control whether or not the gondola 3 can move based on the film thickness distribution information. For example, distance measurement and acquisition of film thickness distribution information are performed before the gondola 3 is moved to determine whether or not the coating film has reached a predetermined film thickness, and the coating film has not reached the predetermined film thickness Further, by preventing the gondola 3 from moving, the operator is encouraged to perform repainting.

(Modification 3)
The painting auxiliary device may control the amount of paint discharged from the painting device 5. For example, the coating auxiliary device may adjust the discharge amount of the paint from the coating device 5 according to a desired film thickness. An acceleration sensor may be attached to the coating apparatus 5 and the amount of paint discharged from the coating apparatus 5 may be adjusted based on the acceleration of the coating apparatus 5 measured by the acceleration sensor. For example, when the acceleration of the coating apparatus 5 is slow, control is performed so that the amount of paint discharged is reduced. In addition, the painting auxiliary device may notify the operator of the region where the film thickness is insufficient by a sound from the painting device 5 or vibration of the painting device 5.

(Modification 4)
In the embodiment and the modification described above, an example in which an aircraft is used as a painting target has been described. However, the painting target may be an automobile or a ship, and is not particularly limited. The present invention can be applied to the analysis of the coating state of various coating objects.

Note that the requirements of the above-described embodiments can be combined as appropriate. Some components may not be used. In addition, as long as it is permitted by law, the disclosure of all published publications and US patents related to the detection devices and the like cited in the above embodiments and modifications are incorporated herein by reference.

Although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other embodiments conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Control unit for auxiliary coating apparatus, 5 ... Painting apparatus, 10 ... Measuring apparatus, 30 ... Position information acquisition part, 40 ... Film thickness calculation part, 41 ... Painting state determination part, 50 ... Storage part, 60 ... Work information generation 61: Position calculation unit 62 ... Transition calculation unit 70 ... Image generation unit 100 ... Display device

Claims

An acquisition unit for acquiring film thickness distribution information regarding the film thickness distribution of the coating film formed on the coating target;
A painting auxiliary device comprising: a generation unit that generates work information relating to the painting work based on the film thickness distribution information obtained by the obtaining unit and the painting device information relating to a coating apparatus used for the painting work on the painting target.
In the painting auxiliary device according to claim 1,
The said acquisition part is a coating assistance apparatus which acquires the said film thickness distribution information, after the said coating operation is performed with respect to at least one part of the said coating object.
In the painting auxiliary device according to claim 1 or 2,
An image generation unit for generating a film thickness distribution image relating to the film thickness distribution of the coating film generated based on the film thickness distribution information;
A coating assisting device, further comprising: a display unit configured to superimpose and display the film thickness distribution image generated by the image generation unit and a work instruction image related to the painting work generated based on the work information.
In the painting auxiliary device according to claim 1 or 2,
A painting auxiliary apparatus further comprising: a display unit that superimposes and displays the shape model data of the painting target or the surface image data of the painting target and the work instruction image related to the painting work generated based on the work information.
In the painting auxiliary device according to claim 1 or 2,
A painting auxiliary apparatus further comprising: a display unit that projects and displays a work instruction image related to the painting work generated based on the work information on the painting target.
A storage unit for storing painting device information related to a painting device used for painting work on a painting target;
A painting auxiliary device comprising: a generating unit that generates work information related to the painting work based on the coating device information stored in the storage unit.
In the painting auxiliary device according to any one of claims 1 to 6,
The painting device information is a painting assistance device that includes paint distribution information related to the amount and distribution of the paint applied to the painting object by the painting device.
In the painting auxiliary device according to any one of claims 1 to 7,
The coating device is a spray device that discharges paint,
The coating apparatus information includes spray amount distribution information of paint sprayed from the spray device,
The generation unit includes a position calculation unit that calculates a spray target position to be sprayed by the spray device in the shape model data of the coating target or the coating target,
The work assisting device is a painting auxiliary device that includes the spray target position information calculated by the position calculation unit.
In the painting auxiliary device according to any one of claims 1 to 8,
The coating device is a spray device that discharges paint,
The coating apparatus information includes spray amount distribution information of paint sprayed from the spray device,
The generation unit includes a position calculation unit that calculates information on the orientation of the spray device and the position of the spray device with respect to the coating target based on the ejection amount distribution information,
The work information is a painting auxiliary device including a direction of the spray device calculated by the position calculation unit and a distance of the spray device from the painting target.
In the painting auxiliary device according to claim 8,
The said production | generation part is the said coating assistance apparatus which has the transition calculation part which calculates the information regarding the said spraying target position for every work time based on the said coating apparatus information.
In the painting auxiliary device according to claim 8 or 9,
The said production | generation part is a coating assistance apparatus which has a transition calculation part which calculates the information regarding the time transition of the position of the said spray apparatus based on the said coating apparatus information.
The painting auxiliary device according to any one of claims 1 to 11,
And a spray device.
Obtaining film thickness distribution information regarding the film thickness distribution of the coating film formed on the coating object;
A work assisting method comprising: generating work information related to the paint work based on the acquired film thickness distribution information and paint apparatus information relating to a paint apparatus used for the paint work for the paint target.
In the painting work assistance method according to claim 13,
Generating a film thickness distribution image relating to the film thickness distribution of the coating film generated based on the film thickness distribution information;
A painting work assistance method further comprising: superimposing and displaying the generated film thickness distribution image and a work instruction image related to the painting work generated based on the work information.
In the painting work assistance method according to claim 13 or 14,
A painting work auxiliary method for superimposing and displaying the shape model data of the painting object or the surface image data on the painting object and a work instruction image relating to the painting work generated based on the work information.
In the painting work assistance method according to claim 13 or 14,
A painting work assistance method for projecting and displaying a work instruction image relating to the painting work generated based on the work information on the painting target.
Memorizing the painting equipment information about the painting equipment used for painting work on the painting object;
Generating a work information related to the painting work based on the stored painting device information.
In the painting work assistance method according to any one of claims 13 to 17,
The coating device is a spray device that discharges paint,
The coating apparatus information includes spray amount distribution information of paint sprayed from the spray device,
Calculating a spray target position sprayed by the spray device in the shape model data of the object to be coated or the object to be painted,
The work information is a painting work assistance method including the calculated spray target position information.
In the painting work assistance method according to claim 18,
A painting work assistance method for calculating information on the spray target position for each work time based on the painting apparatus information.
Creating design information on the painting of structures;
Painting the structure based on the design information;
A method for producing a coated article, comprising: modifying the painted structure by a painting assistance method according to any one of claims 13 to 19.
Processing to obtain film thickness distribution information regarding the film thickness distribution of the coating film formed on the coating object;
A painting assistance program for causing a computer to execute processing for generating work information related to the painting work based on the acquired film thickness distribution information and coating equipment information relating to a painting device used for a painting work on the painting target.
Processing to store painting device information about a painting device used for painting work on a painting object;
The painting assistance program which makes a computer perform the process which produces | generates the work information regarding the said painting work based on the said stored said coating apparatus information.