WO2018185892A1

WO2018185892A1 - Position detecting device and painting assisting system

Info

Publication number: WO2018185892A1
Application number: PCT/JP2017/014279
Authority: WO
Inventors: 安藤　誠; 博也大熊
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 position detecting device according to the present invention includes: a first position-information obtaining unit that obtains first position information relating to a positional relationship between a painting tool held by a mobile body and the mobile body; a second position-information obtaining unit that obtains second position information relating to a positional relationship between the mobile body and an object to be painted; and a third position-information obtaining unit that obtains third position information relating to the position of the painting tool from the first position information and the second position information.

Description

Position detection device and painting auxiliary system

The present invention relates to a position detection device and a painting auxiliary system.

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 position detection device includes a first position information acquisition unit that acquires first position information including relative position information between the processing tool held by the moving body and the moving body. From the second position information acquisition unit that acquires second position information including relative position information between the moving body and the object to be processed, and the processing tool from the first position information and the second position information. And a third position information acquisition unit that acquires third position information including relative position information between the workpiece and the workpiece.
According to the second aspect of the present invention, the processing assistance system stores history information of the position of the processing tool with respect to the processing object based on the position detection device according to the first aspect and the third position information. A storage unit; and a processing estimation unit that estimates a processing state of the processing object based on the history information.

It is a figure for demonstrating the position detection apparatus by 1st Embodiment. It is a figure which shows typically the mode at the time of the painting operation | work using the position detection apparatus by 1st Embodiment. It is a figure for demonstrating the calculation method of the positional information on the coating device by the position detection apparatus which concerns on 1st Embodiment. It is a figure for demonstrating the calculation method of the positional information on the coating target surface by the position detection apparatus which concerns on 1st Embodiment. It is a block diagram for demonstrating the structure of the position detection apparatus by 1st Embodiment. It is a figure which shows an example of the display image by a display apparatus.

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-
The position detection apparatus according to the first embodiment will be described with reference to the drawings, taking as an example a case where a painting operation is performed on an aircraft using the position detection apparatus. 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 position detection apparatus 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 position detection apparatus by 1st Embodiment. 1 and 2 show a hangar 2 in which an aircraft (airplane) 11 is stored as an example of an environment to which the position detection apparatus according to the first embodiment is applied. The hangar 2 is a facility where the aircraft 11 is painted and maintained.

In the hangar 2, a gondola 3 for an operator 4 to enter and perform a painting operation, a measuring device 10 for measuring the shape of an airplane when a paint film is formed on the airplane, a marker 20, and a painting auxiliary device 1. And a display device 100 and an operator position detection device 201 that detects the position of the worker and the posture of the coating device position detection device 212. Further, as shown in FIG. 2, the helmet worn by the worker 4 is provided with a coating device position detecting device 212 for detecting the position and posture of the coating device 5 held by the worker 4. A marker 211 that can be detected by the device position detection device 212 is provided. The helmet is provided with a marker 202 that can be detected by the worker position detection device 201. A plurality of the markers 202 are provided on the helmet.

The coating device position detection device 212 functions as a first position information acquisition unit 221 that acquires first position information including a relative position between the coating device 5 and the worker 4 held by the worker 4. In addition, the worker position detection device 201 functions as a second position information acquisition unit 222 that acquires second position information including the relative position between the worker 4 and the aircraft 11. The painting auxiliary device 1 includes a third position information acquisition unit 223. The third position information acquisition unit 223 includes the relative position between the coating apparatus 5 and the worker 4 acquired by the first position information acquisition unit 221 and the worker 4 acquired by the second position information acquisition unit 222. Position information regarding the positional relationship between the painting apparatus 5 and the aircraft 11 is acquired based on the positional information regarding the positional relationship between the painting apparatus 5 and the aircraft 11 and the attitude of the painting apparatus position detection device 212.

Usually, a method is conceivable in which the marker 211 provided in the coating apparatus 5 is detected by the worker position detection apparatus 201 and position information regarding the positional relationship between the coating apparatus 5 and the aircraft 11 is acquired. However, there is a possibility that the worker 4 or the like enters between the marker 211 and the worker position detection device 201 during the work, and occlusion occurs. Therefore, in this method, there may be a case where the positional relationship regarding the coating apparatus 5 cannot be acquired.

In the position detection device according to the present embodiment, a plurality of markers 202 and a coating device position detection device 212 that can be detected by the worker position detection device 201 are provided on the helmet or the like of the worker 4 so that the coating device 5 and the worker 4 Information on the relative position between the helmet 11 and the like and the relative position between the helmet 4 of the worker 4 and the aircraft 11 is acquired. Note that the posture of the coating apparatus position detection device 212 can be estimated based on the relative positional relationship between the plurality of markers 202. And the three-dimensional coordinate system applied to the coordinate value of the marker 211 obtained from the three-dimensional coordinate system applied to the coordinate value output by the worker position detection device 201 and the measurement result output from the coating device position detection device 212 The system can be the same coordinate system (coordinate system in which each coordinate axis coincides with the origin position of the coordinate system). In this way, the position detection device according to the present embodiment includes the relative position between the coating device 5 obtained in the same three-dimensional coordinate system and the helmet of the worker 4 and the helmet 11 of the worker 4 and the aircraft 11. Is converted into information related to the relative position between the coating apparatus 5 and the aircraft 11. For this reason, the relative position of the coating apparatus 5 with respect to the aircraft 11 can always be acquired.

In the present embodiment, the measuring device 10 for measuring the shape of the airplane is disposed in the vicinity of the gondola 3, and the painting auxiliary device 1 and the display device 100 are disposed in the gondola 3. And the marker 20 is arrange | positioned at the beam of the hangar 2, and the coating device position detection apparatus 212 is arrange | positioned at the helmet of the operator 4. FIG. 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 performing the painting work while standing on the ground at the work site, the position detection device can be applied.

The gondola 3 is configured to move to a desired position by supplying power to a drive unit (not shown) by an operation by the operator 4 or the like. The worker 4 appropriately moves the gondola 3 so as to be positioned on the painting target surface of the aircraft 11 to be painted, and operates the painting device 5 toward the painting target surface 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 (painting gun) that can be used by an operator by hand, and a nozzle that ejects paint is attached to the tip. The coating device 5 is connected to a paint supply device (tank or the like) (not shown) via a hose 6, and sprays the paint supplied from the paint supply device by an operator operating the trigger of the coating device 5. It can discharge (spray) from the nozzle of an apparatus. The nozzle can be exchanged, and the paint application pattern (paint discharge pattern) can be changed by changing to a nozzle having a different paint discharge port shape. As the coating device 5, other coating devices such as a roller coating device, a brush coating device, and an electrodeposition coating device may be used.

The measuring device 10 that measures the shape of an airplane irradiates the measurement object with light and receives the light reflected from the measurement object, so that the measurement object 10 is not in contact with the measurement object and is measured from the measurement device 10 to the measurement object. Measure the distance. For example, the measuring device 10 is preferably a laser radar device. The laser radar device performs frequency modulation on the light applied to the measurement object, and performs frequency modulation so that the modulation frequency changes with time. The measuring apparatus 10 irradiates the aircraft 11 with the laser light thus frequency-modulated. 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 from the aircraft 11 and the reference laser beam. The measuring apparatus 10 may calculate the distance between the measuring apparatus 10 and the measurement point based on the phase difference between the reflected laser light and the reference laser light. You may make it arrange | position a mirror in an elevator etc. and irradiate a measuring object with the laser beam from the measuring apparatus 10 via a mirror.

The heel marker 20 is arranged at a known position in the hangar 2. The position of the marker 20 serves as a reference position for specifying the positions of the measuring device 10 and the aircraft 11 in the hangar 2. In addition, a plurality of measuring devices 10 may be installed in the hangar 2. The position of each measuring device 10 is obtained by each measuring device 10 measuring the position of the marker 20. At that time, the measuring device 10 obtains the relative position and angle of the measuring device 10 with respect to 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 measurement apparatus 10 and the measurement object, the measurement apparatus 10 includes a horizontal angle (azimuth angle) and a vertical angle (elevation angle) that are the irradiation directions of the laser light, and the measurement apparatus 10. The spatial position of the aircraft 11 is calculated by using its own spatial position information. As a coordinate system for representing the spatial position, an orthogonal coordinate system or a polar coordinate system is used. The measuring apparatus 10 measures the shape of the surface of the aircraft 11 by sequentially changing the irradiation angle of the laser light in the horizontal direction and the vertical direction. That is, the measurement apparatus 10 acquires point cloud data representing the spatial position of each point on the surface of the aircraft 11 by scanning the laser to be irradiated. The measuring device 10 generates shape model data representing the shape of the aircraft 11 based on the 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. . The measuring device 10 is disposed, for example, in the vicinity of the gondola 3, a movable carriage, a fixed base, or 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 shape of the airplane 11 in each state before painting and after painting, the distance between the measuring device 10 and the measuring point, and the azimuth and elevation angles when the measuring point is irradiated with laser light. Based on the above, the three-dimensional position information of the measurement point in the hangar 2 is acquired. Then, the measuring device 10 transmits the three-dimensional position information to the painting auxiliary device 1. Therefore, the coating auxiliary device 1 obtains distance information measured before and after painting by the measuring device 10 at the same measurement point, and the thickness of the coating film is determined from the difference between the distance information after painting and the distance information before painting. Seeking. The measuring device 10 scans the laser beam so as to sequentially irradiate each measurement point, calculates the film thickness of the coating film at each measurement point of the aircraft 11, and film thickness distribution information regarding the film thickness distribution of the coating film Are generated three-dimensionally. The measuring device 10 can perform laser scanning at any time during the painting work by the worker 4 and can acquire coating thickness distribution information at any time. Thereby, the film thickness of the coating film formed by painting can be acquired appropriately during the painting operation. The measuring apparatus 10 transmits the generated film thickness distribution information to the painting auxiliary apparatus 1 by wireless communication or the like.

If the temperature around the aircraft 11 changes during the painting operation, the shape of the aircraft 11 may change during the painting operation. The coating thickness distribution cannot be accurately obtained from the difference between the distance information before painting and the distance information after painting for the same measurement point measured by the measuring device 10. Therefore, in this embodiment, the coating thickness is obtained from the difference between the distance information before painting and the distance information after painting, but the ambient temperature is measured between the measurement before painting and the measurement after painting. When the change occurs, the distance information obtained by the measurement after painting also includes a shape change component due to the expansion and contraction of the aircraft 11, and as described above, the coating film is obtained from the difference between the distance information before painting and the distance information after painting. An error occurs in the method of obtaining the thickness. Therefore, when calculating the film thickness of the coating film, the measuring apparatus 10 according to the present embodiment predicts the shape change of the coating target with respect to the temperature change based on the ambient temperature of the coating target, and before coating based on the prediction result. The distance information may be corrected, and the film thickness of the coating film may be calculated based on the corrected distance information before painting and the distance information after painting. Also, measure the distance before painting only for the most recently painted area, measure the distance of the painted area immediately after painting, and calculate the coating film thickness from the respective measurement results before and after painting. It may be.

The measuring apparatus 10 can also be configured to include an imaging unit (not shown). The measuring device 10 generates image information including color information of the painting target based on the image captured by the imaging unit. For example, the measurement apparatus 10 has an optical system for measuring a distance to a measurement point and an optical system for capturing a captured image, and a part of the optical axis is common, and acquires an image of the aircraft 11 via a half mirror or the like. In this configuration, the distance measurement and the imaging are performed simultaneously. Thereby, this measuring apparatus 10 can acquire color information in association with the distance measured for each measurement point. Moreover, the irradiation direction (azimuth angle, elevation angle) of the laser beam when the distance is acquired can be acquired. From such information, the measuring apparatus 10 generates point cloud data to be painted and image information corresponding to the point cloud data, and stores the point cloud data and image information of each measurement region in association with each other in an internal memory or the like. Let Then, the measuring device 10 outputs the point cloud data to the painting auxiliary device 1. Instead of providing the imaging device in the measurement device 10, another imaging device may be provided and image information having color information may be acquired by the imaging device.

The measuring device 10 measures the distance from the measuring device 10 to the plurality of markers 21 provided on the operator 4 in addition to measuring the distance to the measurement point of the aircraft 11. The markers 21 are provided corresponding to the positions of a plurality of joints such as the shoulder, elbow, and wrist of the worker 4. Thereby, the measuring apparatus 10 acquires the positional information regarding the position of each joint of the worker 4 as the skeleton model information of the worker 4. The measuring apparatus 10 transmits the acquired skeleton model information of the worker 4 to the painting auxiliary apparatus 1 by wireless communication or the like.

The painting auxiliary device 1 has, for example, an arithmetic processing circuit such as a CPU and a memory such as a ROM and a RAM, and realizes its function by executing a predetermined program. The third position information acquisition unit 223 of the painting auxiliary device 1 includes the first position information obtained from the painting device position detection device 212, the second position information obtained from the worker position detection device 201, and the painting device. The attitude information of the position detection device 212 is acquired. Then, the third position information acquisition unit 223 is based on the first position information acquired by the respective position detection devices at the same time, the posture information of the coating device position detection device 212, and the second position information. The relative positional relationship between the painting apparatus 5 and the aircraft 11 can be calculated.

A method of calculating the relative positional relationship between the painting apparatus 5 and the aircraft 11 in the third position information acquisition unit 223 of the painting auxiliary apparatus 1 will be described with reference to FIG. First, the third position information acquisition unit 223 calculates the position information of the painting apparatus 5 in the work space where the aircraft 11 that is a painting target exists. FIG. 3 shows the position of the marker 211 mounted on the coating device 5, the coating device position detection device 212 mounted on the worker's helmet, and the marker 202 provided on the coating device position detection device 212 in the work space coordinate system. The position and the position of the worker position detection device 201 are shown.

First, the second position information from the worker position detection device 201 to the marker 202 and the posture information of the coating device position detection device 212 are acquired. The second position information is vector (elevation angle, azimuth and distance) information from the worker position detection device 201 to the marker 202, as shown in the vector a3 shown in the figure.

Next, the position of the marker 211 is acquired from the coating device position detection device 212. Then, based on the posture information of the coating device position detection device 212 acquired by the worker position detection device 201 and the position information of the marker 211, the three-dimensional coordinates applied to the coordinate values acquired by the worker position detection device 201 Position information from the coating apparatus position detection device 212 to the marker 211 is calculated in the same coordinate system as the system. By this calculation, the coordinate system applied to the coordinate value output from the worker position detection device 201 and the coordinate value of the marker 211 calculated based on the measurement result output from the coating device position detection device 212 are applied. The coordinate system can be the same coordinate system (a coordinate system in which each coordinate axis coincides with the origin position of the coordinate system). The information is vector (elevation angle, azimuth angle and distance) information from the coating apparatus position detection device 212 to the marker 211, as shown in the vector a4.

Then, by adding the vector a3 and the vector a4, it becomes possible to acquire the position information of the coating device 5 with respect to the worker position detection device 201. If the installation position of the worker position detection device 201 is known, the position where the coating device 5 is located in the work space can be obtained based on the installation position. As shown in FIG. It is possible to calculate the information of the vector P1 indicating

In the present embodiment, the worker position detection device 201 can be arranged at an arbitrary position. In such a case, it is necessary to determine at which position in the work space the worker position detection device 201 exists. Therefore, in the present embodiment, the position information of the worker position detecting device 201 can be obtained by further measuring the position of the marker 20 whose arrangement position has already been grasped by the worker position detecting device 201.
For example, as shown in FIG. 3, the vector a1 indicating the position of the marker 20 with respect to the origin position in the work space is added to the position information (vector a2) of the marker 20 measured by the worker position detection device 201. (In the case shown in FIG. 3, the position of the operator position detection device 201 can be obtained by subtracting the vector a2 from the vector a1). Therefore, in a situation where the operator position detection device 201 cannot grasp, it is preferable that the third position information acquisition unit 223 of the painting auxiliary device 1 includes the arithmetic processing unit as described above.

Thus, since the three-dimensional position in the work space of the coating apparatus 5 is obtained, the relative position between the aircraft 11 and the coating apparatus 5 can be obtained based on the positional information on the surface of the aircraft 11 to which the coating apparatus 5 is directed. Is possible. The position information on the surface of the aircraft 11 to which the coating apparatus 5 is directed may be, for example, parking position information of the aircraft 11 and model data of the aircraft 11. In addition, when it is necessary to obtain a more precise positional relationship, for example, the surface position information of the aircraft 11 in the area to be painted by the measuring device 10 may be obtained.

Note that a method for obtaining the surface position information of the aircraft 11 by the measuring apparatus 10 will be described with reference to FIG. First, the measuring device 10 calculates position information of the painting target surface of the aircraft 11 that is the painting target. FIG. 4 shows the position of the measuring device 10 and the position of the marker 20 mounted on the support of the gondola 3 in the work space coordinate system. Note that the measurement target surface is the position of the end point of the vector P2. Further, the marker 20 is fixed to the structure of the painting workshop, and the position information of the marker 20 has already been obtained. Therefore, in the following description, it is assumed that there is no measurement operation of the position of the marker 20, and the vector a1 indicating the position of the marker 20 is known.

First, fourth position information from the measuring device 10 to the marker 20 is acquired. The information is vector (elevation angle, azimuth angle, and distance) information from the measurement apparatus 10 to the marker 20 like the illustrated vector a5.
Next, fifth position information from the measurement apparatus 10 to the measurement target surface is acquired. The information is vector (elevation angle, azimuth angle, and distance) information from the measurement apparatus 10 to the measurement target surface, as in the illustrated vector a6.

Then, by adding the vector a5 and the vector a6 (subtraction processing from the vector a6 and the vector a5 in the case of FIG. 4), it is possible to acquire the position information of the painting target surface with respect to the marker 20. In addition, if the installation position of the marker 20 is known, it can be calculated | required in which position in the work space the coating object surface is located based on it. If the origin position is set in the work space, the position of the painting target surface with respect to the origin position is as a vector P2, which is a vector a1 indicating the position of the marker 20 with respect to the origin position of the painting target surface with respect to the marker 20. It can be obtained by adding vectors indicating position information.

Then, by obtaining the difference between the vector P1 and the vector P2 shown in FIG. The relative positional relationship between the painting apparatus 5 and the painting object can be acquired, and the position where the painting apparatus 5 is located with respect to the painting object or a specific surface (such as the painting object surface) on the painting object. You can figure out.

Further, the painting auxiliary device 1 estimates the posture of the painting device 5 based on the position information of the painting device 5 and the skeleton model information of the worker 4 measured by the measuring device 10, and relates to the posture of the painting device 5. Generate information. The information regarding the posture of the coating apparatus 5 is information regarding the orientation of the nozzle of the coating apparatus 5, for example. As described above, the painting auxiliary device 1 can acquire information on the position and posture of the painting device 5.

It should be noted that a plurality of markers may be arranged on the coating apparatus 5 and the posture of the coating apparatus 5 may be estimated from position information regarding the plurality of markers. Further, an acceleration sensor is provided in the painting apparatus 5, and the position and orientation of the painting apparatus 5 are estimated based on information indicating the acceleration of the painting apparatus 5 acquired by the acceleration sensor and the skeleton model information of the worker 4. You may do it. In addition, the imaging unit of the measurement apparatus 10 generates image information corresponding to the amount of reflected light (for example, infrared light) from the plurality of markers 21 provided in the worker 4, and each marker 21 is based on the image information. May be calculated to acquire the skeleton model information of the worker 4.

The coating auxiliary device 1 acquires coating thickness distribution information based on the point cloud data obtained from the measuring device 10. Further, the painting auxiliary device 1 acquires the painting device information related to the painting device 5 by an input operation or the like by the operator 4. 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 1 performs the coating on the coating target surface in the vicinity where the coating device 5 is located 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. Generate work information about the painting work to be performed. Further, the painting assisting apparatus 1 generates image data for displaying a coating thickness distribution image that is an image representing coating thickness distribution information and a work instruction image that is an image instructing work. The painting auxiliary device 1 transmits the generated image data (image) to the display device 100 by wireless communication or the like. In addition, when starting a coating in the area | region in which the coating film is not formed, you may make it the coating assistance apparatus 1 produce | generate work information based on coating apparatus information and 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 painting auxiliary device 1. The display device 100 projects and displays an image on the painting target surface based on the image data output from the painting assisting device 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. 2, one display device 100 is shown to simplify the drawing, but in order to project an image on the entire surface of the aircraft 11, a plurality of display devices 100 are arranged around the aircraft 11. You may arrange in. 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.

FIG. 5 is a block diagram for explaining the configuration of the position detection apparatus according to the first embodiment. In FIG. 5, for convenience of explanation, in addition to the configuration of the position detection device, the main body 30 and the display device 100 of the painting auxiliary device 1 are also shown. The main body 30 includes a film thickness information acquisition unit 40, a storage unit 50, a work information generation unit 60, an image generation unit 70, a work state analysis unit 80, and a third position information acquisition unit 223. As illustrated in FIG. 5, the first position information acquisition unit 221, the second position information acquisition unit 222, the third position information acquisition unit 223, and the work state analysis unit 80 are configured as a position detection device 200. Function.

The film thickness information acquisition unit 40 receives the coating thickness distribution information output from the measuring apparatus 10. The film thickness distribution information is information regarding the film thickness distribution of the coating film formed on the object to be coated as described above. The film thickness information acquisition unit 40 acquires coating film thickness distribution information after the painting operation is performed on the object to be coated.

The storage unit 50 stores the coating thickness distribution information input to the film thickness information acquisition 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 the discharge amount and the discharge distribution 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.

The position calculating unit 61 calculates a target position for spraying the paint by the coating apparatus 5 on the object to be coated. The position calculation unit 61 calculates a target position and a target posture of the coating apparatus 5 based on information regarding the discharge amount and the discharge distribution included in the coating apparatus information. More specifically, the position calculation unit 61 calculates information about the area where the coating film thickness is insufficient and the insufficient thickness of the coating film from the coating thickness distribution information after coating on the coating target surface, The spray target position for the object to be coated, and the position and orientation of the coating apparatus 5 are calculated using information on the amount and the discharge distribution. 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 work 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. Further, for example, the transition calculation unit 62 calculates a speed for moving the spray target position of the coating apparatus 5 based on the coating apparatus information and the like.

As described above, the work information generating unit 60, such as the paint spraying target position and the speed at which the spraying target position is moved, according to the state of the film thickness of the coating film formed on the painting target surface by the painting work, Generate work information about the painting work to be done. 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 work state analysis unit 80 includes an operation state detection unit 81, a timing control unit 82, a position information storage unit 83, and a paint estimation unit 84. The operation state detection unit 81 detects the operation state of the coating apparatus 5. Specifically, the operation state detection unit 81 receives a signal related to the operation state of the trigger disposed in the coating apparatus 5 from a sensor (not shown) provided in the coating apparatus 5 and detects the operation state of the coating apparatus 5. .

The timing control unit 82 controls the operation of the first position information acquisition unit 221 and the second position information acquisition unit 222 based on the operation state of the coating apparatus 5 detected by the operation state detection unit 81. A signal is generated and output to the first position information acquisition unit 221 and the second position information acquisition unit 222. For example, when the trigger of the coating apparatus 5 is turned on, the timing control unit 82 transmits a control signal, causes the first position information acquisition unit 221 to acquire the first position information, and the second position The information acquisition unit 222 acquires the second position information. Thereby, when the trigger of the coating apparatus 5 is turned on by the operator 4, that is, the position of the coating apparatus 5 when the coating operation is performed by discharging the coating material from the coating apparatus 5 can be tracked. .

Further, the timing control unit 82 acquires the point cloud data and the surface image data of the aircraft 11 by the measuring device 10 according to the operation state of the coating apparatus 5 detected by the operation state detection unit 81. At that time, according to the calculated position of the coating apparatus 5, a shape measuring range and an image data acquisition range by the measuring apparatus 10 are set, and a robot mechanism that can point the measuring apparatus 10 in the set direction is provided. It may be. The painting auxiliary device 1 further calculates the measurement range information of the aircraft 11 by the measuring device 10 based on the position information of the painting device 5. In particular, the measurement range information of the aircraft 11 is calculated based on the position information and attitude information of the painting apparatus 5. The painting auxiliary device 1 outputs it to the measuring device 10, causes the laser irradiation direction deflection mechanism (not shown) to supply the measurement range information, and changes the measurement range, so that the laser irradiation direction deflection mechanism is changed. It becomes possible to irradiate the laser beam to the measurement range calculated by the painting auxiliary device 1. In this way, it is possible to change the measurement range of the measuring device 10 in synchronization with the change in the position of the coating device 5 while tracking the position of the coating device 5.

In the position information storage unit 83, information on the position of the coating apparatus 5 calculated by the third position information acquisition unit 223 is sequentially stored. The painting estimation unit 84 estimates the painting state of the painting object based on the history of the position of the painting device 5. For example, the painting estimation unit 84 estimates a region where painting with respect to the aircraft 11 is completed and a region where painting is not completed based on the history of the position of the painting apparatus 5. Specifically, an area in which the stay time of the coating apparatus 5 is a predetermined time or more with respect to the painting target area of the aircraft 11 is specified as an area where painting is completed. The position information storage unit 83 may estimate the painting state of the painting object based on information indicating the position and orientation of the painting apparatus 5.

The painting estimation unit 84 generates information indicating an area where painting on the aircraft 11 is completed and an area where painting is not completed, and stores the information in the position information storage unit 83. The painting estimation unit 84 outputs information indicating a region where painting to the aircraft 11 is completed and a region where painting is not completed to the image generation unit 70. The image generation unit 70 generates image data for displaying an image indicating an area where painting is completed and an area where painting is not completed, and outputs the image data to the display device 100. The painting assisting apparatus 1 may manage the progress of the painting work using the information obtained by the painting estimation unit 84 indicating the area where the painting is completed and the area where the painting is not completed. Good. In addition, the painting assisting apparatus 1 may calculate the work speed and work efficiency of the painting work for each worker by storing information relating to the progress of the painting work in a database. For example, when the next painting work is started, it is possible to estimate the number of man-hours for the painting work based on the work speed of each worker. Moreover, it becomes possible to confirm the painting skill level of each worker based on the work efficiency of the painting work for each worker.

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 an image indicating a region where painting is completed and a region where painting is not completed. In addition, 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 the coating auxiliary | assistance apparatus 1 display the film thickness value of the coating film for every place with the display apparatus 100. FIG. The painting auxiliary device 1 determines an optimum nozzle from replaceable nozzles based on the position and posture of the painting device 5 with respect to the aircraft 11, generates an image that guides the replacement of the nozzle of the painting device 5, and displays it. It may be displayed by the unit 100.

FIG. 6 is a diagram illustrating an example of a display image displayed on the display device 100. In the example shown in FIG. 6, 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. 6, the 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. 6, the color difference is expressed using dots and hatching.

The pointer 90 shown in FIG. 6 is an image based on the work instruction image, and indicates a target position at which spraying is started. The pointer 90 indicates the spray target position to the operator 4 by moving at a predetermined speed 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. . Further, the amount of paint discharged from the coating apparatus 5 may be controlled based on information on the position and orientation of the coating apparatus 5. For example, when the coating apparatus 5 is directed toward a region where the film thickness of the coating film is thin, the amount of paint discharged from the coating apparatus 5 may be controlled to increase.

According to the first embodiment described above, the following operational effects are obtained.
(1) The position detection apparatus 200 includes a first position information acquisition unit 221 that acquires first position information related to the positional relationship between the painting tool 5 held by the moving body (worker 4) and the moving body, From the second position information acquisition unit 222 that acquires the second position information related to the positional relationship between the body and the painting object, and the position of the painting tool and the painting object from the first position information and the second position information. And a third position information acquisition unit 223 that acquires third position information related to the relationship. Since it did in this way, the occlusion by an operator entering between the coating apparatus 5 and a position detection apparatus etc. can be avoided, and the position of the coating apparatus 5 can always be tracked. By detecting the position of the coating apparatus 5, it is possible to estimate a region where painting is performed and / or a region where coating is estimated to be insufficient. Further, based on the position of the coating apparatus 5, the discharge amount from the coating apparatus 5 can be controlled.

(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 position and orientation of the coating apparatus 5 are constantly tracked, so that an area where painting is not performed is estimated and presented to the operator, or the paint is applied based on the position and orientation of the coating apparatus 5. The discharge amount can be controlled. As a result, the operator can quickly complete the painting operation, and as a result, the operating efficiency of the aircraft can be improved. Further, it is possible to prevent the deterioration of aircraft fuel consumption due to the excessive film thickness, the decrease in waterproofness and rust prevention due to the insufficient film thickness, and the temperature rise of the body surface due to the insufficient film thickness.

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 above-described embodiment, it has been described that the worker position detection device 201 is provided as the second position information acquisition unit. However, in the modification, the measurement device 10 may be used as the second position information acquisition unit. . The measuring device 10 measures the distance from the measuring device 10 to the helmet of the operator 4 in addition to measuring the distance to each measurement point of the aircraft 11. Thereby, information related to the position and posture of the worker 4 can be acquired. The measuring apparatus 10 transmits the acquired information regarding the position and posture of the worker 4 to the painting assisting apparatus 1 by wireless communication or the like.

(Modification 2)
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.

(Modification 3)
The worker position detection device 201, the coating device position detection device 212, and the measurement device 10 all irradiate the position detection target with laser light and detect the return light, thereby obtaining the distance information of the position detection target. Although a position detection device that obtains a position from information on the direction of laser light irradiation was used, the present invention is not limited to this, and the light emitted from transmitters arranged at a plurality of different positions, such as i-GPS, is used. The working position and the position of the coating apparatus may be obtained by a method of obtaining the position of the receiver based on the timing at which the receiver detects each.

For example, each of the transmitters arranged at different positions is a laser transmitter, for example, and emits fan beam (fan-shaped beam) lights B1 and B2. The irradiation direction of the fan beam is time-controlled so that it can be grasped at which time and in which direction it is emitted. Further, the angle of the light beam propagation surface (fan surface) of the fan beam light B1 with respect to the horizontal plane is different from the angle of the light beam propagation surface of the fan beam light B2. For example, the irradiation surface of the fan beam light B1 is perpendicular to the horizontal plane, and the light propagation surface of the fan beam light B2 forms an angle of 70 ° with respect to the horizontal plane. Since the irradiation direction of the fan beam light B1 and the fan beam light B2 is changed while the transmitter rotates, the receiver receives the fan beam light B1 and the fan beam light B2 intermittently. Each transmitter also has an LED light-emitting unit that emits infrared pulses, and periodically emits infrared pulse light while rotating.

The receiver is placed on the object whose position is to be measured. In the present embodiment, a receiver is arranged in the worker's helmet as the worker position detecting device. Moreover, a receiver is arrange | positioned at a coating device as a coating device position detection apparatus. The fan beam B1, the fan beam B2, and the infrared pulse light emitted from a plurality of transmitters are received (received). The receiver performs signal processing for converting the received fan beam B1, fan beam B2, and infrared pulse light into electrical signals. As described above, the emission directions of the fan beam B1 and the fan beam B2 emitted from the transmitter are shifted by a predetermined angle, and the irradiation surface of the fan beam B1 is different from the irradiation surface of the fan beam B2. The difference between the timing (time) at which the fan beam B1 is received and the timing at which the fan beam B2 is received is due to the difference in the position of the receiver. Therefore, the receiver calculates the position of the receiver based on the difference between the timing at which the fan beam B1 is received and the timing at which the fan beam B2 is received.

And a receiver transmits the positional infomation on a receiver to the painting auxiliary | assistance apparatus 1 by radio | wireless communication etc. The receiver converts the fan beam B1, the fan beam B2, and the infrared pulsed light emitted from the plurality of transmitters into electrical signals, and transmits the converted electrical signals to the painting assisting device 1 for painting assistance. Information regarding the position of the receiver may be generated by the apparatus 1.
In addition, the electrical signal is transmitted from the transmitter to the receiver, and the position information of the receiver is obtained based on the difference between the timing at which the signal is transmitted from the transmitter and the timing at which the receiver receives the signal. You may make it produce | generate.

The receiver provided in the painting apparatus 5 includes a fan beam light B1, a fan beam light B2, and a red light from a transmitter provided in the helmet or the like of the worker 4 and at least one other transmitter provided in the painting work place, respectively. The external pulse light is received, and the position information of the coating apparatus 5 with respect to the operator is calculated from the timing of receiving each light. Information regarding the position of the receiver is transmitted to the painting auxiliary apparatus 1 by wireless communication or the like.

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 5 ... Coating apparatus, 200 ... Position detection apparatus, 221 ... 1st position information acquisition part, 222 ... 2nd position information acquisition part, 223 ... 3rd position information acquisition part

Claims

A first position information acquisition unit that acquires first position information related to a positional relationship between the painting tool held by the moving body and the moving body;
A second position information acquisition unit that acquires second position information related to a positional relationship between the moving body and the painting object;
From the first position information and the second position information, a third position information acquisition unit that acquires third position information related to the position of the coating instrument;
A position detection device comprising:
The position detection device according to claim 1,
The moving body is a painting worker,
The first position information acquisition unit is a position detection device that acquires the first position information related to a positional relationship between the painting tool and the painting worker based on the skeleton model information of the painting worker.
In the position detection device according to claim 1 or 2,
An operation state detection unit for detecting an operation state of the painting tool;
Based on the operation state, the timing at which the first position information acquisition unit acquires the first position information and the timing at which the second position information acquisition unit acquires the second position information are controlled. A timing control unit;
A position detecting device further comprising:
The position detection device according to any one of claims 1 to 3,
Based on the third position information, a storage unit that stores history information of a stay position of the painting tool with respect to the painting object;
Based on the history information, a paint estimation unit for estimating the paint state of the paint object,
Painting assistance system with.
The position detection device according to claim 1,
A position detection device comprising relative position information between the painting tool and the painting object based on the third position information.