WO2020138113A1 - Coating assistance system, coating assistance program, and coating assistance method - Google Patents

Coating assistance system, coating assistance program, and coating assistance method Download PDF

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Publication number
WO2020138113A1
WO2020138113A1 PCT/JP2019/050693 JP2019050693W WO2020138113A1 WO 2020138113 A1 WO2020138113 A1 WO 2020138113A1 JP 2019050693 W JP2019050693 W JP 2019050693W WO 2020138113 A1 WO2020138113 A1 WO 2020138113A1
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WIPO (PCT)
Prior art keywords
coating
data
entity
unit
characteristic
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PCT/JP2019/050693
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French (fr)
Japanese (ja)
Inventor
久視 小田倉
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株式会社ヒバラコーポレーション
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Publication of WO2020138113A1 publication Critical patent/WO2020138113A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/08—Payment architectures
    • G06Q20/10—Payment architectures specially adapted for electronic funds transfer [EFT] systems; specially adapted for home banking systems

Definitions

  • the present invention relates to a coating support system, a coating support program, and a coating support method.
  • Patent Document 1 Conventionally, a motion teaching device for a painting robot has been known (for example, see Patent Document 1).
  • the best operation data is selected from the paintings performed a plurality of times, a control program for the robot arm is generated based on the operation data, and the painting work is reproduced on the robot arm by the control program. Can be made.
  • Patent Document 1 It is possible to apply the device as in Patent Document 1 to a user who is going to perform painting work or a painting device as a system for presenting appropriate painting operation data according to the painting object and supporting the painting work.
  • the coating support system of the present invention is A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment; Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint.
  • a motion acquisition unit that acquires motion data including at least one of the A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
  • a recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
  • a reception unit that receives input from the second entity of the request data including the information that specifies the characteristics of the coating or the information that specifies the characteristics of the coating and the information that specifies the coating result; Recognizing a predetermined first standard associated in advance with the information specifying the characteristics of the coating included in the request data received by the receiving unit, and including the information specifying the coating result in the request data If it is determined that the predetermined first standard associated with the information designating the coating result is recognized, any of the information designating the characteristic of the coating and the information designating the result of the coating from the coating performance data.
  • a selection unit that selects conformity data that is the coating performance data that satisfies all or part of the predetermined first criterion associated
  • the recognition unit recognizes the characteristic data indicating the characteristic of the coating by the first entity, including at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment, and the position of the ejection unit. And the angle of the spray axis and at least one of the manipulated variable information regarding the spray of the paint by the first entity, operation data of the coating using the spray unit by the first entity is acquired by the motion acquisition unit, and The result data is acquired by the result acquisition unit, and the recording control unit records the coating result data including the characteristic data, the operation data, and the result data in the storage unit.
  • the spray axis is the main direction in which the paint is sprayed from the spray unit, for example, the direction of the nozzle of the spray gun when the spray unit is a spray gun, or an arbitrary distance (1 cm, etc.) from the spray unit. It is the central axis of the actual or simulated cone shape formed by the sprayed paint.
  • the accepting unit accepts input from the second entity of request data including information designating the characteristics of the coating or information designating the characteristics of the coating and the information designating the coating result.
  • the selection unit recognizes the predetermined first standard associated in advance with the information that specifies the characteristics of the coating included in the request data received by the reception unit, and specifies the coating result in the request data. If a predetermined first criterion associated with the information designating the painting result is recognized, any one of the information designating the characteristic of the coating and the information designating the result of the coating, or The matching data that is the coating performance data that satisfies all or part of the predetermined first criterion associated with both are selected, and the operation data included in the selected matching data is provided to the second entity. This provides the second entity with conformance data for each painting characteristic or painting result specified by the second entity.
  • the coating support system of the present invention is A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment; Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint.
  • a motion acquisition unit that acquires motion data including at least one of the A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
  • a recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
  • a reception unit that receives input from the second entity of request data including information that specifies the characteristics of the coating,
  • a selection unit that selects, from the coating performance data, conforming data that is the coating performance data that includes one or both of the characteristic data and the result data that satisfy a predetermined first criterion for each request data,
  • a providing unit for providing the operation data included in the selected conformance data to the second entity,
  • the coating performance data includes first entity identification information that is information that identifies the first entity,
  • a determining unit that determines a reward for the first entity or its related person identified by the first entity identification information included in the coating performance data including the operation data provided to the second entity as the matching data;
  • And a settlement unit configured to
  • the first entity identification information for identifying the first entity is included in the coating performance data, and the first entity identification information included in the coating performance data provided as the conforming data to the second entity.
  • the deciding unit decides the reward for the first entity or the related person identified by the deciding unit, and the decided reward is settled by the settlement unit.
  • the first entity identified by the first entity identification information included in the provided coating result data or its related person receives a reward. Therefore, the person who is the first entity or the person who operates the object such as the device, which is the first entity, or the person who is the corporation is more motivated to record the coating performance data in the coating support system. Therefore, it is more likely that the actual record of coating data corresponding to a wider variety of coating conditions will be recorded in the coating support system. Therefore, the second entity will provide conformance data corresponding to a wider variety of coating conditions. You will be able to receive it.
  • the coating support system of the present invention is A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment; Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint.
  • a motion acquisition unit that acquires motion data including at least one of the A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
  • a recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
  • a reception unit that receives input from the second entity of request data including information that specifies the characteristics of the coating,
  • a selection unit that selects, from the coating performance data, conforming data that is the coating performance data that includes one or both of the characteristic data and the result data that satisfy a predetermined first criterion for each request data,
  • a providing unit for providing the operation data included in the selected conformance data to the second entity,
  • the coating performance data includes first entity identification information that is information that identifies the first entity,
  • the selection unit selects the coating performance data including one or both of the characteristic data and the result data satisfying a predetermined first criterion from the coating performance data at a predetermined frequency as the matching data.
  • a determining unit that determines a reward for the first entity identified by the first entity identification information included in the coating performance data selected as the matching data or a person related to the first entity; And a settlement unit configured to settle the reward for the first entity or its related party determined by the determination unit.
  • the first entity identification information that identifies the first entity is included in the coating performance data, and the matching data is selected from the coating performance data at a predetermined frequency by the selection unit, and the matching data is set as the matching data.
  • the determination unit determines the reward for the first entity identified by the first entity identification information included in the painting performance data including the selected operation data or its related person, and the determined reward is settled by the settlement unit. ..
  • the first entity identified by the first entity identification information included in the coating performance data including the selected operation data or its related person may receive the reward. Therefore, the first entity or its related person is more motivated to record his/her coating performance data in the coating support system. Therefore, since it is more likely that the coating result data stored in the painting support system will correspond to a wider variety of painting conditions, the second entity will provide conformance data corresponding to a wider variety of painting conditions. You will be able to receive it.
  • the coating support system of the present invention is A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment; Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint.
  • a motion acquisition unit that acquires motion data including at least one of the A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
  • a recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
  • a reception unit that receives input from the second entity of request data including information that specifies the characteristics of the coating,
  • a selection unit that selects, from the coating performance data, conforming data that is the coating performance data that includes one or both of the characteristic data and the result data that satisfy a predetermined first criterion for each request data,
  • a providing unit for providing the operation data included in the selected conformance data to the second entity, It is characterized in that the selection unit is configured to exclude, from the target of the selection of the compatible data, the coating result data including the operation data whose operation content does not satisfy the predetermined second criterion.
  • the coating result is bad without looking at the state of the coating result. Recognize. It is not efficient that even the coating result data that cannot be selected as the conforming data becomes the processing target when the selecting unit selects the conforming data.
  • the coating result data including the operation data whose operation content does not satisfy the predetermined second standard is excluded from the selection of the conforming data by the selection unit.
  • the number of painting result data to be processed can be reduced when the selection unit selects the conforming data, so it is more efficient to select the conforming data than to process all the painting result data.
  • the block diagram which shows the whole structure of a coating assistance system.
  • Explanatory drawing which shows the structure of the injection part of a 1st entity apparatus, and a 1st arm part.
  • Explanatory drawing which shows the structure of the output part of a 2nd entity apparatus, a gun part, and a 2nd arm part.
  • a timetable that outlines the processing of the painting support system.
  • the flowchart which shows the content of a selection process.
  • the table which shows the content of the table used for a selection process.
  • both the first entity E1 and the second entity E2 are people.
  • the first entity E1 is, for example, a coating expert who is a source of operation data
  • the second entity E2 is, for example, a coating worker who receives the operation data.
  • the coating support system of this embodiment includes a server 10, a first entity device 20, and a second entity device 30, and between the server 10 and the first entity device 20, the server 10 and the second entity device 30.
  • the communication networks 40 are connected so that they can communicate with each other.
  • the first entity device 20 and the second entity device 30 may be installed in the same building, or may be installed in geographically distant locations.
  • the server 10 is a computer having a server control unit 100 and a server storage unit 110.
  • the server control unit 100 is configured by an arithmetic processing unit such as a CPU (Central Processing Unit), a memory, and an I/O (Input/Output) device.
  • the server control unit 100 reads and executes a predetermined program to execute the recognition unit 101, the operation acquisition unit 102, the result acquisition unit 103, the recording control unit 104, the reception unit 105, the selection unit 106, the provision unit 107, and the determination unit 108. And functions as the settlement unit 109.
  • the recognition unit 101 recognizes the characteristic data including at least the characteristic of the shape of the object to be coated by the first entity E1, the characteristic of the coating, or the characteristic of the surrounding environment.
  • the motion acquisition unit 102 is information indicating the content of the motion of the coating using the spraying unit 200 by the first entity E1, and the position regarding the spraying unit 200 with respect to the coating target, the angle of the spray axis, and the spraying of the paint.
  • the motion data including at least one of the operation amount information by one entity U1 is acquired.
  • the result acquisition unit 103 acquires result data, which is information indicating the coating result of the coating target coated by the first entity U1.
  • the recording control unit 104 stores the characteristic data, the operation data, the result data, and the coating result data including the first entity identification information that is the information that identifies the first entity E1 that has coated by using the injection unit 200, in the server storage unit. Record at 110.
  • the reception unit 105 receives input from the second entity E2 of request data including information that specifies the characteristics of coating.
  • the selection unit 106 selects, from the coating performance data, the conforming data that is the coating performance data including one or both of the characteristic data and the result data that satisfy the predetermined first criterion for each request data.
  • the selection unit 106 uses the coating result data including one or both of the characteristic data and the result data satisfying the predetermined first criterion at a predetermined frequency such as once/day, once/week or the like. It may be configured to select certain matching data for each characteristic data. Alternatively, the selection unit 106 may be configured to exclude the coating performance data including the operation data whose operation content does not satisfy the predetermined second criterion from the target for selecting the compatible data.
  • the providing unit 107 provides the operation data included in the matching data selected by the selecting unit 106 to the second entity E2 via the second entity device 30.
  • the deciding unit 108 decides a reward for the first entity E1 or its related party identified by the first entity identification information included in the coating performance data provided to the second entity device 30 as the matching data.
  • the person related to the first entity E1 is, for example, an individual or corporation that owns or occupies the first entity device 20 that is the first entity E1, or an individual or corporation that provides the coating performance data.
  • the determination unit 108 may determine the reward for the first entity E1 or its related party identified by the first entity identification information included in the coating performance data including the operation data selected by the selection unit 106 as the matching data. It may be configured.
  • the settlement unit 109 settles the reward for the first entity E1 or its related persons determined by the determination unit 108.
  • the server storage unit 110 is configured by a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a HDD (Hard Disk Drive). The processing result is stored.
  • ROM Read Only Memory
  • RAM Random Access Memory
  • HDD Hard Disk Drive
  • the coating performance DB 111 is a database that stores coating performance data including characteristic data, operation data, result data, and first entity identification information.
  • the characteristic data is information indicating the characteristics of the coating performed by the first entity E1, and the characteristics of the shape of the coating object (shape of the coating object, manufacturer name, product name, part name), characteristics of the coating material (viscosity, color, It includes at least the PH value, the component, the manufacturer's name, the product number of the paint, the purchase date of the paint), or the characteristics of the surrounding environment (temperature, humidity, atmospheric pressure).
  • characteristics of the surface treatment of the coating object such as the characteristics of the surface treatment of the coating object (zinc phosphate coating), the characteristics of the material of the coating object (metal, plastic, wood), what stage of the process (undercoating, finishing coating), etc. It may include various kinds of information that may have an influence.
  • the operation data is information indicating the content of the operation of coating using the injection unit 200 by the first entity E1, and the position of the injection unit 200 in the XYZ axis directions and the injection axis of the injection unit 200 with respect to the coating target acquired by the injection unit sensor 201. It includes at least one of the information on the operation amount by the first entity relating to the spraying of the paint such as the time series data of the angle and the trigger pulling strength of the spraying unit 200.
  • the operation amount information includes the moving speed of the injection unit 200, the time required for the coating work, the height of the atomization pressure, the amount of paint discharged, the information indicating the distance between the coating target and the injection unit 200, and the like. Be done.
  • the operation data includes information such as time-series data of the rotation angle of each first arm joint 213 (213a to 213f) forming the first arm 210, which will be described later, and the injection unit calculated based on these information.
  • Information such as the position and inclination of 200 in the XYZ axis directions, the moving speed, and the acceleration may be included.
  • the result data is information indicating the painting result of the painting object painted by the first entity E1, and includes, for example, information such as the degree of gloss of the painted surface, the thickness of the film thickness, or the degree of image clarity.
  • the image clarity is, for example, how the image appears on the surface of the coating object after painting, or the image sharpness of an object that can be seen through a transparent film or plastic.
  • the measuring method there are "JIS H 8686-2:2013" for aluminum and aluminum alloy, and "JIS K7374:2007” for plastic. The image sharpness can be measured by applying these measuring methods depending on the material to be coated, other than aluminum and aluminum alloys or plastics.
  • the first entity identification information is information that identifies the first entity E1, and is, for example, the entity ID of the main coating support system of each first entity E1.
  • the first entity device 20 is a device used by a person who is the first entity E1 and includes an injection unit 200, a first arm unit 210, a measurement unit 220, and a first entity device processing unit 230.
  • the ejection unit 200 is a spray gun that ejects the paint applied to the object to be coated, and includes an ejection unit sensor 201.
  • the ejection unit sensor 201 is a sensor that acquires information on the operation amount by the first entity E1 regarding the ejection of paint, such as time-series data of the strength with which the first entity E1 pulls the trigger of the ejection unit 200.
  • the ejection unit sensor 201 acquires the information at a predetermined frequency, and transmits the acquired information to the server 10 via the first entity device processing unit 230.
  • One end portion (tip portion) of the first arm portion 210 is detachably coupled to the ejection portion 200, and the plurality of first arm portion sensors 211 (211a to 211f) and the plurality of first arm portions are included.
  • Links 212 (212a to 212f) and a plurality of first arm joints 213 (213a to 213f) that connect the first arm links 212 to each other or connect the first arm links 212 and the injection unit 200 to each other are provided. ..
  • the other end (base end) of the first arm 210 is rotatably fixed in a uniaxial direction by a first arm base joint 240.
  • the first arm unit sensor 211 is a sensor that acquires information indicating the operation content of the first arm unit 210 that moves in accordance with the operation of moving the ejection unit 200 in the XYZ axis directions by the first entity E1.
  • the first arm unit sensor 211 acquires the rotation angle of each first arm unit joint 213 at a predetermined frequency and transmits the acquired information to the server 10 via the first entity device processing unit 230.
  • the ejection unit sensor 201 and the first arm unit sensor 211 correspond to the acquisition unit.
  • the first arm link 212 is a member that constitutes the first arm 210.
  • the first arm joint 213 is a member that rotatably connects the first arm links 212 adjacent to each other or the first arm links 212 located at one end of the first arm 210 and the ejection part 200 so as to be rotatable in one axial direction. Is.
  • the measuring unit 220 is a device that measures the painting result of the painting target after the painting work by the first entity E1 and the surrounding environment (temperature, humidity, atmospheric pressure) during the painting work, and includes, for example, a gloss meter, a film thickness meter, and an image clarity. It includes a measuring device, an image definition measuring device, a thermometer, a hygrometer, and a barometer.
  • the measurement unit 220 acquires information such as the painting result of the painting target after the painting work by the first entity E1 at a predetermined frequency, and transmits the obtained information to the server 10 via the first entity device processing unit 230. To do.
  • the first entity device processing unit 230 is a device that transmits information received from the ejection unit 200, the first arm unit 210, and the measurement unit 220 to the server 10, and includes, for example, a personal computer, a tablet terminal, an HMD (Head Mount Display), It is a smartphone.
  • a personal computer a tablet terminal
  • HMD Head Mount Display
  • the first entity device processing unit 230 and the injection unit 200, the first arm sensor 211, and the measuring unit 220 are wired communication cables or standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), or infrared communication. Is communicably connected by wireless communication corresponding to.
  • the first entity device processing unit 230 uses the information received from the ejection unit 200, the first arm unit 210, and the measurement unit 220 to obtain unnecessary information such as an error caused by camera shake during the painting operation of the first entity E1 ( (Noise) is removed and then transmitted to the server 10.
  • the second entity device 30 is a device used by a person who is the second entity E2 and is a device to which the operation data is provided by the server 10.
  • the output unit 300 is a device that outputs information that supports the painting work of the second entity E2, and is, for example, an HMD having a display or a speaker, a smartphone, or a tablet terminal. Alternatively, a vibrator that causes the gun unit 310 to generate a predetermined vibration may be included.
  • the gun unit 310 is a spray gun that discharges the paint applied to the object to be coated, and includes a gun unit sensor 311.
  • the gun part 310 may be a model for practicing painting work imitating a spray gun.
  • the gun part sensor 311 is a sensor that acquires the operation content of the gun part 310 by the second entity E2.
  • the gun sensor 311 acquires, for example, information about the strength with which the second entity E2 pulls the trigger of the gun 310 at a predetermined frequency.
  • One end of the second arm section 320 is detachably coupled to the gun section 310, and the plurality of second arm section sensors 321 (321a to 321f) and the plurality of second arm section links 322 (322a). To 322f) and a plurality of second arm joints 323 (323a to 323f) that couple the second arm links 322 to each other or couple the second arm links 322 and the gun section 310.
  • the other end of the second arm portion 320 is rotatably fixed in a uniaxial direction by a second arm base joint 340.
  • a sensor that acquires information indicating the operation content of the second arm section 320 that moves according to the operation of moving the gun section 310 in the XYZ axis directions by the second entity E2.
  • the second arm sensor 321 acquires the rotation angle of each second arm joint 323 at a predetermined frequency.
  • the second arm section link 322 is a member that constitutes the second arm section 320.
  • the second arm joint 323 is a member that rotatably couples the adjacent second arm links 322 with each other or the second arm link 322 located at one end of the second arm 320 and the gun 310 in a uniaxially rotatable manner. Is.
  • the second entity device processing unit 330 is a device that controls the output content to the output unit 300 and transmits the information received from the gun unit 310 and the second arm unit 320 to the server 10, such as a personal computer or a tablet terminal. , HMD (Head Mount Display), and smartphone.
  • the second entity device processing unit 330, the output unit 300, the gun unit sensor 311, and the second arm unit sensor 321 are wired communication cables or Wi-Fi (registered trademark), Bluetooth (registered trademark), infrared communication, or the like. It is communicably connected by wireless communication compatible with the standard.
  • the communication network 40 is, for example, a LAN (Local Area Network), WAN (Wide Area Network), or Internet communication network.
  • the coating support system firstly recognizes the recognition process (FIG. 3/P10), the motion acquisition process (FIG. 3/P20), the result acquisition process (FIG. 3/P30), and the recording control process (FIG. 3) based on the operation of the first entity E1. 3/P40).
  • the reception process (FIG. 3/P50), the selection process (FIG. 3/P60), and the provision process (FIG. 3/P70) are executed, and the calculation process (FIG. 3/P80) and settlement processing (FIG. 3/P90).
  • the selection process (FIG. 3/P60) is executed asynchronously with the reception process (FIG. 3/P50) at a predetermined frequency, and the calculation process (FIG. 3/P60) is performed following the selection process (FIG. 3/P60). P80) and settlement processing (FIG. 3/P90) may be executed. The contents of each process will be described below.
  • the recognition unit 101 recognizes characteristic data that is information indicating the characteristic of the coating by the first entity E1.
  • the recognizing unit 101 displays, for example, a screen for accepting the input of the characteristic data by the first entity E1 on the display of the first entity device 20, and allows the characteristic data to be selected or manually input by the first entity E1. By accepting, the characteristic data is recognized.
  • the motion acquisition unit 102 is information indicating the content of the motion of the coating using the spraying unit 200 by the first entity E1, and is the position of the spraying unit 200 with respect to the coating target, the angle of the spray axis, and the spraying of the paint.
  • the motion data including at least one of the operation amount information by the first entity E1 relating to is acquired.
  • the motion acquisition unit 102 receives the information indicating the operation content for the ejection unit 200, which is received by the server 10 from the first entity device processing unit 230, and the information indicating the motion content of the first arm unit 210, at a predetermined frequency. Acquire as operation data.
  • the operation acquisition unit 102 based on the acquired information, the moving speed of the injection unit 200, the time required for the coating work, the height of the atomization pressure, the discharge amount of the paint, and the distance between the object to be coated and the injection unit 200. The distance and the like are calculated, and these calculation results are also acquired as the operation amount information.
  • the result acquisition unit 103 acquires result data, which is information indicating the coating result of the painting target painted by the first entity E1.
  • the result acquisition unit 103 acquires, as a result data, the information indicating the coating result of the coating target and the like received by the server 10 from the first entity device processing unit 230 at a predetermined frequency.
  • the recording control unit 104 assigns a coating record ID that identifies the coating record data, and the characteristic data recognized in the recognition process, the motion data acquired in the motion acquisition process, and the result acquisition process.
  • the coating result data including the result data and the first entity identification information acquired in step 3 is recorded in the server storage unit 110 as the coating result data.
  • the reception unit 105 receives an input from the second entity E2 of request data including information that specifies the characteristics of coating.
  • the accepting unit 105 displays, for example, a screen on the second entity device output unit 410 that accepts input of request data by the second entity E2, and selects or manually inputs the request data from the second entity E2. Accept.
  • the accepting unit 105 accepts request data including information designating the characteristics of the coating in a format such as “Product A manufactured by ⁇ company, blindfold plate on the left side, inside of the edge folded surface, paint by ⁇ company (gray)”. Alternatively, the accepting unit 105 accepts request data further including information designating a result of painting such as “gloss” and “matte”.
  • the selection unit 106 selects, from the coating performance data, the matching data that is the coating performance data including one or both of the characteristic data and the result data that satisfy the predetermined first criterion for each request data.
  • the selection unit 106 first recognizes the information included in the request data that specifies the characteristics of the coating (FIG. 4/STEP 601). Then, when the request data includes information designating the result of painting (FIG. 4/STEP 602: Yes), the selecting unit 106 recognizes the information designating the result of painting included in the request data ( FIG. 4/STEP603).
  • the selection unit 106 is suitable for general purpose according to the information designating the characteristic.
  • Information indicating the coating result is acquired from the server storage unit 110 (FIG. 4/STEP 604).
  • the selection unit 106 recognizes the acquired information indicating the generally suitable coating result as the information that specifies the coating result, and executes the processing.
  • the selection unit 106 sets the result default value, which is a generally suitable painting result corresponding to the information designating the characteristic, to the painting characteristic or the painting result and the predetermined first condition as shown in FIG. 5, for example. And is acquired by referring to a table that stores and are associated with each other. That is, for example, when the information designating the characteristic is “inside of the edge folding surface”, the selection unit 106 acquires that the corresponding result default value is “matte”.
  • the selection unit 106 acquires the evaluation items corresponding to the information designating the characteristics of the coating and the information designating the result of the coating recognized in STEP 602 to STEP 604, for example, again with reference to the table shown in FIG. Then, these evaluation items are recognized as the first criterion (FIG. 4/STEP 605). In this way, the selection unit 106 recognizes the predetermined first criterion for each request data.
  • the selection unit 106 selects, from the coating performance data, the matching data that is the coating performance data including one or both of the characteristic data and the result data that satisfy the first criterion thus recognized (FIG. 4/STEP 606). ).
  • the selection unit 106 first refers to each coating performance data included in the coating performance DB 111, and tries to extract the coating performance data that satisfies all the evaluation items included in the first standard recognized in STEP605.
  • the selecting unit 106 selects the extracted coating result data as the conforming data.
  • the evaluation items of the first standard are reduced one by one, and the evaluation items are reduced. The process of attempting to extract the coating performance data satisfying all the evaluation items of the first standard is repeated.
  • the selection unit 106 satisfies the first criterion.
  • the actual coating data including characteristic data is selected as the conforming data and only the evaluation items related to the result data are included in the evaluation items of the first standard, the actual coating data including the result data satisfying the first standard is selected. Select as compatible data.
  • the selection unit 106 may be configured to select, as the conforming data, all the coating performance data that satisfy all the evaluation items of the first standard, and each coating performance data satisfies the first standard. It may be configured such that the level is divided or scored according to the degree, and that the coating result data having the highest level or the coating result data having the highest score is selected as the conforming data. It may be configured to select only the highest score as the matching data.
  • the selection unit 106 may exclude the coating performance data including the operation data whose operation content does not satisfy the predetermined second criterion in the selection process from the target of the conformance data selection.
  • the selection unit 106 refers to the coating performance DB 111, for example, before executing STEP 606, and refers to the operation data included in each coating performance data to calculate the time required for the coating work, the height of the atomization pressure, Single or multiple criteria, such as the amount of paint discharged, the distance between the target and the gun, etc., is less than a specified value, exceeds a specified value, is within or outside a specified range, etc.
  • the combination of the above criteria is used as the second criterion for evaluation, and the flag indicating that each coating performance data including the operation data that does not satisfy the second criterion is excluded from the target of the matching data is set to ON, etc.
  • the control is performed so that the coating performance data including the operation data that does not satisfy the second criterion is excluded from the target for selecting the compatible data.
  • the selection unit 106 may display, for example, “Product A manufactured by ⁇ company, left blindfold plate, inside edge folding surface, The evaluation items corresponding to the information that specifies the predetermined coating characteristics such as "matting" and the information that specifies the result of the coating are acquired, and these evaluation items are recognized as the first criterion, The coating performance data including one or both of the characteristic data and the result data satisfying the standard is selected as the conforming data.
  • the providing unit 107 provides the second entity device 30 with the operation data included in the matching data selected by the selecting unit 106.
  • the output unit 300 of the second entity device 30, which has been provided with the operation data, provides the content of the provided operation data, the operation data, the gun sensor, and the second as the information for supporting the painting operation of the second entity E2.
  • Feedback information which is information obtained as a result of the second entity device processing unit 330 comparing the operation content of the second entity E2 indicated by the data acquired by the arm unit sensor, is output by video, audio, vibration, or a combination thereof. It is output to the second entity E2 by being played back via the.
  • the providing unit 107 displays a list of the matching data on the output unit 300, and the operation included in the matching data selected by the second entity E2 from the list.
  • the data is provided to the second entity device 30.
  • the second entity device 30 is configured to select one piece of matching data from the list of matching data at a predetermined priority, and the providing unit 107 sets the operation data included in the selected matching data to the second entity. It may be configured to provide to the device 30.
  • the determination unit 108 determines the reward for the first entity E1 or its related party identified by the first entity identification information included in the coating performance data provided as the conforming data to the second entity device 30.
  • the determination unit 108 determines that the coating record selected by the selection unit 106 as the matching data in the calculation process.
  • the reward for the first entity E1 specified by the first entity identification information included in the data or its related party is determined.
  • the determining unit 108 may be configured to determine the reward each time the coating performance data is provided as the conforming data or is selected as the conforming data, or the reward may be determined every predetermined period such as weekly or monthly. May be configured to determine. Further, the determination unit 108 may be configured to determine a predetermined amount of reward, such as 100 yen, per one selection or provision, or the number of provisions or selections in a predetermined period, the suitability. Calculated by varying the amount of reward in proportion to the number of persons of the second entity E2 who has been provided as data or the degree to which the first standard of the painting performance data is satisfied, or in proportion to the number of points You may.
  • the settlement unit 109 settles the reward for the first entity E1 or its related person determined by the determination unit 108 in the calculation process.
  • the settlement unit 109 transfers the remuneration amount to the transfer destination account for each first entity E1 stored in advance in the server 10 and gives points equivalent to the remuneration amount to the first entity E1 or its related parties. Settle the reward.
  • the settlement unit 109 charges the amount or points corresponding to the remuneration for the first entity E1 or its related person to the second entity E2 or the related person who is the provision destination of each operation data.
  • the coating support system of the present embodiment it is possible to provide a coating support system that presents data of appropriate coating operation for each characteristic of coating and supports coating work.
  • the first entity device 20 itself is the first entity E1
  • the second entity device 30 itself is the second entity E2.
  • the ejection unit sensor 201 is a sensor that acquires information on the operation amount by the first entity regarding the ejection of the paint, such as time-series data of the magnitude of the force of opening and closing the ejection port of the ejection unit 200 by the first entity E1.
  • the operation data is information indicating the content of the operation of coating using the injection unit 200 by the first entity E1, and the position of the injection unit 200 in the XYZ axis direction and the injection axis of the injection unit 200 with respect to the coating target acquired by the injection unit sensor 201.
  • At least one of the information about the operation amount by the first entity relating to the spray of the paint such as the time series data of the angle and the magnitude of the force for opening and closing the spray port of the spray unit 200 is included.
  • the first entity device processing unit 230 corrects the information received from the injection unit 200, the first arm unit 210, and the measurement unit 220 according to the characteristics such as the performance of the second entity device 30, and then transmits the information to the server 10. ..
  • the first entity device processing unit 230 determines that the second entity The data is transmitted to the server 10 after being corrected according to the characteristics such as the performance of the device 30 so as to be converted into three stages of 0 to 2.
  • the second entity device 30 does not have to include the output unit 300.
  • the gun part sensor 311 acquires information on the magnitude of the force with which the second entity E2 opens and closes the injection port of the injection part 200 of the gun part 310, for example, at a predetermined frequency.
  • the coating support system firstly recognizes a recognition process (FIG. 3/P10), a motion acquisition process (FIG. 3/P20), a result acquisition process (FIG. 3/P30) and a recording control process (FIG. 3) based on the motion of the first entity E1. 3/P40).
  • the reception process (FIG. 3/P50), the selection process (FIG. 3/P60), and the provision process (FIG. 3/P70) are executed, and the calculation process (FIG. 3/P80) and settlement processing (FIG. 3/P90).
  • the recognition unit 101 recognizes the characteristic data by receiving the characteristic data transmitted from the first entity E1.
  • the acceptance unit 105 accepts the input of the characteristic data by receiving the request data transmitted from the second entity E2.
  • the camera shake during the movement of the first entity For example, from the information indicating the operation content for the ejection unit 200 acquired by the ejection unit sensor 201 and the information indicating the operation content of the first arm unit 210 acquired by the first arm unit sensor 211, the camera shake during the movement of the first entity.
  • the operation acquisition unit 102 may have a function of removing unnecessary information (noise) such as an error caused by the above.
  • each first arm unit based on the information indicating the operation content of the ejection unit 200 acquired by the ejection unit sensor 201 and the information indicating the operation content of the first arm unit 210 acquired by the first arm unit sensor 211, each first arm unit The process of calculating the position and inclination of the link 212 and each first arm joint 213 in the XYZ axis directions, the moving speed, the acceleration, the discharge amount of the coating material, the distance between the coating target and the gun, and the like are performed by the first entity device 20. May be performed by.
  • the ejection unit sensor 201 may be configured to acquire the position of the ejection unit 200 and the angle of the ejection axis with respect to the coating target.
  • the first arm sensor 211 is omitted.
  • the first arm portion 210 itself may be omitted.
  • the processing of correcting the information received from the injection unit 200, the first arm unit 210, and the measurement unit 220 according to the characteristics such as the performance of the second entity device 30 in the second embodiment is performed by the providing unit 107. May be broken.
  • either the first entity or the second entity may be a person and the other may be a coating device.

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Abstract

Provided is a coating assistance system for presenting an appropriate coating action for each characteristic of coating to an entity and assisting in a coating operation. The coating assistance system is provided with: a recognition unit for recognizing characteristic data; an action acquisition unit for acquiring action data; a result acquisition unit for acquiring result data; a recording control unit for recording coating performance data including characteristic data, action data, and result data; a reception unit for receiving input of request data including information for specifying a coating characteristic; a selection unit for selecting conformity data which are coating performance data satisfying all or a portion of a predetermined first standard from the coating performance data; and a provision unit for providing action data included in the selected conformity data to a second entity.

Description

塗装支援システム、塗装支援プログラム及び塗装支援方法Painting support system, painting support program and painting support method
　本発明は、塗装支援システム、塗装支援プログラム及び塗装支援方法に関する。 The present invention relates to a coating support system, a coating support program, and a coating support method.
　従来、塗装用ロボットの動作教示装置が知られている（例えば、特許文献１参照）。 Conventionally, a motion teaching device for a painting robot has been known (for example, see Patent Document 1).
　特許文献１の装置によれば、複数回行なった塗装から最良の動作データを選択し、その動作データに基づいてロボットアームの制御プログラムを生成して、当該制御プログラムによってロボットアームに塗装作業を再現させることができる。 According to the device of Patent Document 1, the best operation data is selected from the paintings performed a plurality of times, a control program for the robot arm is generated based on the operation data, and the painting work is reproduced on the robot arm by the control program. Can be made.
特開平０８－０８９８５９号公報Japanese Patent Laid-Open No. 08-089859
　特許文献１のような装置を、塗装作業を行おうとするユーザや塗装装置に、塗装対象に応じた適切な塗装動作のデータを提示して塗装作業を支援するシステムとして応用することが考えられる。 It is possible to apply the device as in Patent Document 1 to a user who is going to perform painting work or a painting device as a system for presenting appropriate painting operation data according to the painting object and supporting the painting work.
　塗装作業を行う際には、塗装対象となる物品の形状、塗装に使用する塗料、塗装時の周辺環境などの様々な塗装の特性を考慮して、適切な塗装動作で塗装する必要がある。そして、どのような塗装動作が適切であるかは、このような特性によって大きく異なるので、ある塗装動作が適切か否かは、特性ごとに評価することが求められる。 When performing a painting operation, it is necessary to consider the various characteristics of the painting such as the shape of the article to be painted, the paint used for painting, the surrounding environment at the time of painting, etc. Since what kind of coating operation is appropriate depends on such characteristics, it is required to evaluate whether or not a certain coating operation is suitable for each characteristic.
　しかしながら、特許文献１の装置においては、塗装の特性ごとに動作データを評価して動作データを選択することが考慮されていないので、塗装の特性によっては塗装動作が適切でない動作データが選択され、塗装作業を行おうとするユーザや塗装装置に提示されてしまうおそれがある。 However, in the device of Patent Document 1, evaluation of operation data for each coating characteristic and selection of operation data are not considered, so that operation data in which the coating operation is not appropriate is selected depending on the coating characteristics, It may be presented to a user who is going to perform painting work or a painting apparatus.
　このようなシステムでは、塗装動作の提供を受けたい側及び自らの塗装動作を提供する側双方の信頼を獲得することができない。その結果、システムの利用者も適切な塗装動作データも集まらず、適切な塗装動作のデータをユーザや塗装装置に提示して塗装の作業を支援する塗装支援システムを提供することができない。 With such a system, it is not possible to gain the trust of both the side that wants to be provided with the painting action and the side that provides the painting action. As a result, even the user of the system does not collect appropriate painting operation data, and it is not possible to provide a painting assistance system that presents appropriate painting operation data to the user or the painting apparatus to assist painting work.
　以上の事情に鑑みて、本発明は、塗装の特性ごとの適切な塗装動作のデータを提示して塗装の作業を支援する塗装支援システムを提供することを目的とする。 In view of the above circumstances, it is an object of the present invention to provide a painting support system that presents appropriate painting operation data for each characteristic of painting and supports painting work.
　本発明の塗装支援システムは、
　第１エンティティによる塗装の特性を示す情報であって、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する認識部と、
　前記第１エンティティによる噴射部を用いた塗装の動作の内容を示す情報であって、前記塗装対象に対する当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む動作データを取得する動作取得部と、
　前記第１エンティティにより塗装された塗装対象の塗装結果を示す情報である結果データを取得する結果取得部と、
　前記特性データ、前記動作データ及び前記結果データを含む塗装実績データを記憶部に記録する記録制御部と、
　前記塗装の特性を指定する情報又は該塗装の特性を指定する情報及び前記塗装結果を指定する情報を含む要求データの第２エンティティからの入力を受け付ける受付部と、
　前記受付部により受け付けられた前記要求データに含まれる前記塗装の特性を指定する情報に予め対応付けられた所定の第１基準を認識し、かつ該要求データに前記塗装結果を指定する情報が含まれる場合は該塗装結果を指定する情報に予め対応付けられた所定の第１基準を認識し、前記塗装実績データから、該塗装の特性を指定する情報及び該塗装の結果を指定する情報の何れか一方又は両方に対応付けられた該所定の第１基準の全部又は一部を満たす前記塗装実績データである適合データを選択する選択部と、
　前記選択された適合データに含まれる前記動作データを前記第２エンティティに提供する提供部とを備えることを特徴とする。 The coating support system of the present invention is
A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment;
Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint. A motion acquisition unit that acquires motion data including at least one of the
A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
A recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
A reception unit that receives input from the second entity of the request data including the information that specifies the characteristics of the coating or the information that specifies the characteristics of the coating and the information that specifies the coating result;
Recognizing a predetermined first standard associated in advance with the information specifying the characteristics of the coating included in the request data received by the receiving unit, and including the information specifying the coating result in the request data If it is determined that the predetermined first standard associated with the information designating the coating result is recognized, any of the information designating the characteristic of the coating and the information designating the result of the coating from the coating performance data. A selection unit that selects conformity data that is the coating performance data that satisfies all or part of the predetermined first criterion associated with one or both of them;
And a providing unit that provides the operation data included in the selected matching data to the second entity.
　本発明の塗装支援システムでは、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、第１エンティティによる塗装の特性を示す特性データが認識部により認識され、当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む、第１エンティティによる噴射部を用いた塗装の動作データが動作取得部により取得され、塗装の結果データが結果取得部により取得され、記録制御部により特性データ、動作データ及び結果データを含む塗装実績データが記憶部に記録される。なお、エンティティとは塗装を行う人又は物全般を含む概念であり、例えば塗装を行う人間、塗装を行う装置が含まれる（以下同様）。また、噴射軸線とは、噴射部から塗料が噴射される主方向であり、例えば噴射部がスプレーガンである場合の当該スプレーガンのノズルの向き、あるいは例えば噴射部から任意の距離（１ｃｍなど）まで噴射された塗料が形成する現実の又はシミュレーション上の錐形状の中心軸である。 In the coating support system of the present invention, the recognition unit recognizes the characteristic data indicating the characteristic of the coating by the first entity, including at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment, and the position of the ejection unit. And the angle of the spray axis and at least one of the manipulated variable information regarding the spray of the paint by the first entity, operation data of the coating using the spray unit by the first entity is acquired by the motion acquisition unit, and The result data is acquired by the result acquisition unit, and the recording control unit records the coating result data including the characteristic data, the operation data, and the result data in the storage unit. It should be noted that the entity is a concept including a person who performs painting or general objects, and includes, for example, a person who performs painting and a device that performs painting (the same applies hereinafter). The spray axis is the main direction in which the paint is sprayed from the spray unit, for example, the direction of the nozzle of the spray gun when the spray unit is a spray gun, or an arbitrary distance (1 cm, etc.) from the spray unit. It is the central axis of the actual or simulated cone shape formed by the sprayed paint.
　そして、塗装の特性を指定する情報又は該塗装の特性を指定する情報及び前記塗装結果を指定する情報を含む要求データの第２エンティティからの入力が受付部により受け付けられる。 Then, the accepting unit accepts input from the second entity of request data including information designating the characteristics of the coating or information designating the characteristics of the coating and the information designating the coating result.
　また選択部により、受付部により受け付けられた要求データに含まれる塗装の特性を指定する情報に予め対応付けられた所定の第１基準が認識されて、かつ該要求データに塗装結果を指定する情報が含まれる場合は該塗装結果を指定する情報に予め対応付けられた所定の第１基準が認識されて、該塗装の特性を指定する情報及び該塗装の結果を指定する情報の何れか一方又は両方に対応付けられた該所定の第１基準の全部又は一部を満たす塗装実績データである適合データが選択されて、選択された適合データに含まれる動作データが第２エンティティに提供される。これにより、第２エンティティにより指定された塗装の特性又は塗装の結果ごとの適合データが第２エンティティに提供される。 In addition, the selection unit recognizes the predetermined first standard associated in advance with the information that specifies the characteristics of the coating included in the request data received by the reception unit, and specifies the coating result in the request data. If a predetermined first criterion associated with the information designating the painting result is recognized, any one of the information designating the characteristic of the coating and the information designating the result of the coating, or The matching data that is the coating performance data that satisfies all or part of the predetermined first criterion associated with both are selected, and the operation data included in the selected matching data is provided to the second entity. This provides the second entity with conformance data for each painting characteristic or painting result specified by the second entity.
　このように、本発明によれば、塗装の特性ごとの適切な塗装動作のデータを提示して塗装の作業を支援する塗装支援システムを提供することができる。 As described above, according to the present invention, it is possible to provide a coating support system that presents data of appropriate coating operation for each characteristic of coating and supports the work of coating.
　本発明の塗装支援システムは、
　第１エンティティによる塗装の特性を示す情報であって、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する認識部と、
　前記第１エンティティによる噴射部を用いた塗装の動作の内容を示す情報であって、前記塗装対象に対する当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む動作データを取得する動作取得部と、
　前記第１エンティティにより塗装された塗装対象の塗装結果を示す情報である結果データを取得する結果取得部と、
　前記特性データ、前記動作データ及び前記結果データを含む塗装実績データを記憶部に記録する記録制御部と、
　前記塗装の特性を指定する情報を含む要求データの第２エンティティからの入力を受け付ける受付部と、
　前記塗装実績データから、前記要求データごとの所定の第１基準を満たす前記特性データ及び前記結果データの何れか一方又は両方を含む前記塗装実績データである適合データを選択する選択部と、
　前記選択された適合データに含まれる前記動作データを前記第２エンティティに提供する提供部とを備え、
　前記塗装実績データは、前記第１エンティティを特定する情報である第１エンティティ識別情報を含んでおり、
　前記第２エンティティに前記適合データとして提供された前記動作データを含む前記塗装実績データに含まれる前記第１エンティティ識別情報により特定される前記第１エンティティ又はその関係者に対する報酬を決定する決定部と、
　前記決定部が決定した前記第１エンティティ又はその関係者に対する前記報酬を決済する決済部とを備えることを特徴とする。 The coating support system of the present invention is
A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment;
Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint. A motion acquisition unit that acquires motion data including at least one of the
A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
A recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
A reception unit that receives input from the second entity of request data including information that specifies the characteristics of the coating,
A selection unit that selects, from the coating performance data, conforming data that is the coating performance data that includes one or both of the characteristic data and the result data that satisfy a predetermined first criterion for each request data,
A providing unit for providing the operation data included in the selected conformance data to the second entity,
The coating performance data includes first entity identification information that is information that identifies the first entity,
A determining unit that determines a reward for the first entity or its related person identified by the first entity identification information included in the coating performance data including the operation data provided to the second entity as the matching data; ,
And a settlement unit configured to settle the reward for the first entity or its related party determined by the determination unit.
　本発明の塗装支援システムは、第１エンティティを識別する第１エンティティ識別情報が塗装実績データに含まれており、第２エンティティに適合データとして提供された塗装実績データに含まれる第１エンティティ識別情報により特定される第１エンティティ又はその関係者に対する報酬が決定部により決定され、当該決定された報酬が決済部より決済される。 In the coating support system of the present invention, the first entity identification information for identifying the first entity is included in the coating performance data, and the first entity identification information included in the coating performance data provided as the conforming data to the second entity. The deciding unit decides the reward for the first entity or the related person identified by the deciding unit, and the decided reward is settled by the settlement unit.
　これにより、塗装実績データが適合データとして第２エンティティに提供されると、当該提供された塗装実績データに含まれる第１エンティティ識別情報により特定される第１エンティティ又はその関係者は報酬を受け取ることができるので、第１エンティティである人もしくは第１エンティティである装置などの物を動作させた人又は法人である関係者は塗装支援システムに塗装実績データを記録する意欲が増進される。そのため、より豊富な塗装対象の塗装条件に対応する塗装実績データが塗装支援システムに記録される可能性が高まるので、第２エンティティはより豊富な塗装対象の塗装条件に対応する適合データの提供を受けることができるようになる。 As a result, when the coating result data is provided to the second entity as the conforming data, the first entity identified by the first entity identification information included in the provided coating result data or its related person receives a reward. Therefore, the person who is the first entity or the person who operates the object such as the device, which is the first entity, or the person who is the corporation is more motivated to record the coating performance data in the coating support system. Therefore, it is more likely that the actual record of coating data corresponding to a wider variety of coating conditions will be recorded in the coating support system. Therefore, the second entity will provide conformance data corresponding to a wider variety of coating conditions. You will be able to receive it.
　このように、本発明によれば、より豊富な塗装の特性ごとの適切な塗装動作をエンティティに提示して塗装の作業を支援する塗装支援システムを提供することができる。 As described above, according to the present invention, it is possible to provide a coating support system that presents an appropriate coating operation for each abundant coating characteristic to the entity to support the coating work.
　本発明の塗装支援システムは、
　第１エンティティによる塗装の特性を示す情報であって、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する認識部と、
　前記第１エンティティによる噴射部を用いた塗装の動作の内容を示す情報であって、前記塗装対象に対する当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む動作データを取得する動作取得部と、
　前記第１エンティティにより塗装された塗装対象の塗装結果を示す情報である結果データを取得する結果取得部と、
　前記特性データ、前記動作データ及び前記結果データを含む塗装実績データを記憶部に記録する記録制御部と、
　前記塗装の特性を指定する情報を含む要求データの第２エンティティからの入力を受け付ける受付部と、
　前記塗装実績データから、前記要求データごとの所定の第１基準を満たす前記特性データ及び前記結果データの何れか一方又は両方を含む前記塗装実績データである適合データを選択する選択部と、
　前記選択された適合データに含まれる前記動作データを前記第２エンティティに提供する提供部とを備え、
　前記塗装実績データは、前記第１エンティティを特定する情報である第１エンティティ識別情報を含んでおり、
　前記選択部は、所定の頻度にて前記塗装実績データから所定の第１基準を満たす前記特性データ及び前記結果データの何れか一方又は両方を含む前記塗装実績データを前記適合データとして選択するように構成され、
　前記適合データとして選択された前記塗装実績データに含まれる前記第１エンティティ識別情報により特定される前記第１エンティティ又はその関係者に対する報酬を決定する決定部と、
　前記決定部が決定した前記第１エンティティ又はその関係者に対する前記報酬を決済する決済部とを備えることを特徴とする。 The coating support system of the present invention is
A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment;
Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint. A motion acquisition unit that acquires motion data including at least one of the
A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
A recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
A reception unit that receives input from the second entity of request data including information that specifies the characteristics of the coating,
A selection unit that selects, from the coating performance data, conforming data that is the coating performance data that includes one or both of the characteristic data and the result data that satisfy a predetermined first criterion for each request data,
A providing unit for providing the operation data included in the selected conformance data to the second entity,
The coating performance data includes first entity identification information that is information that identifies the first entity,
The selection unit selects the coating performance data including one or both of the characteristic data and the result data satisfying a predetermined first criterion from the coating performance data at a predetermined frequency as the matching data. Composed,
A determining unit that determines a reward for the first entity identified by the first entity identification information included in the coating performance data selected as the matching data or a person related to the first entity;
And a settlement unit configured to settle the reward for the first entity or its related party determined by the determination unit.
　本発明の塗装支援システムは、第１エンティティを特定する第１エンティティ識別情報が塗装実績データに含まれており、所定の頻度にて塗装実績データから適合データが選択部により選択され、適合データとして選択された動作データを含む塗装実績データに含まれる第１エンティティ識別情報により識別される第１エンティティ又はその関係者に対する報酬が決定部により決定され、当該決定された報酬が決済部より決済される。 In the coating support system of the present invention, the first entity identification information that identifies the first entity is included in the coating performance data, and the matching data is selected from the coating performance data at a predetermined frequency by the selection unit, and the matching data is set as the matching data. The determination unit determines the reward for the first entity identified by the first entity identification information included in the painting performance data including the selected operation data or its related person, and the determined reward is settled by the settlement unit. ..
　これにより、動作データが適合データとして選択されると、当該選択された動作データを含む塗装実績データに含まれる第１エンティティ識別情報により特定される第１エンティティ又はその関係者は報酬を受け取ることができるので、第１エンティティ又はその関係者は塗装支援システムに自らの塗装実績データを記録する意欲が増進される。そのため、より豊富な塗装対象の塗装条件に対応する塗装実績データが塗装支援システムに記憶される可能性が高まるので、第２エンティティはより豊富な塗装対象の塗装条件に対応する適合データの提供を受けることができるようになる。 As a result, when the operation data is selected as the conforming data, the first entity identified by the first entity identification information included in the coating performance data including the selected operation data or its related person may receive the reward. Therefore, the first entity or its related person is more motivated to record his/her coating performance data in the coating support system. Therefore, since it is more likely that the coating result data stored in the painting support system will correspond to a wider variety of painting conditions, the second entity will provide conformance data corresponding to a wider variety of painting conditions. You will be able to receive it.
　このように、本発明によれば、より豊富な塗装の特性ごとの適切な塗装動作をエンティティに提示して塗装の作業を支援する塗装支援システムを提供することができる。 As described above, according to the present invention, it is possible to provide a coating support system that presents an appropriate coating operation for each abundant coating characteristic to the entity to support the coating work.
　本発明の塗装支援システムは、
　第１エンティティによる塗装の特性を示す情報であって、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する認識部と、
　前記第１エンティティによる噴射部を用いた塗装の動作の内容を示す情報であって、前記塗装対象に対する当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む動作データを取得する動作取得部と、
　前記第１エンティティにより塗装された塗装対象の塗装結果を示す情報である結果データを取得する結果取得部と、
　前記特性データ、前記動作データ及び前記結果データを含む塗装実績データを記憶部に記録する記録制御部と、
　前記塗装の特性を指定する情報を含む要求データの第２エンティティからの入力を受け付ける受付部と、
　前記塗装実績データから、前記要求データごとの所定の第１基準を満たす前記特性データ及び前記結果データの何れか一方又は両方を含む前記塗装実績データである適合データを選択する選択部と、
　前記選択された適合データに含まれる前記動作データを前記第２エンティティに提供する提供部とを備え、
　前記選択部は、動作内容が所定の第２基準を満たさない動作データを含む前記塗装実績データを前記適合データの選択の対象から除外するように構成されていることを特徴とする。 The coating support system of the present invention is
A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment;
Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint. A motion acquisition unit that acquires motion data including at least one of the
A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
A recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
A reception unit that receives input from the second entity of request data including information that specifies the characteristics of the coating,
A selection unit that selects, from the coating performance data, conforming data that is the coating performance data that includes one or both of the characteristic data and the result data that satisfy a predetermined first criterion for each request data,
A providing unit for providing the operation data included in the selected conformance data to the second entity,
It is characterized in that the selection unit is configured to exclude, from the target of the selection of the compatible data, the coating result data including the operation data whose operation content does not satisfy the predetermined second criterion.
　例えば霧化圧が高すぎる又は低すぎる、吐出量が多すぎる又は少なすぎるなど、塗装時の動作内容が所定の基準を満たさない場合、塗装結果の状態を見るまでもなく塗装結果が悪いことがわかる。このような、適合データとして選択されえない塗装実績データまでもが、選択部が適合データを選択する際の処理対象となることは効率的ではない。 For example, if the atomization pressure is too high or too low, or the discharge rate is too high or too low, etc., if the operation details at the time of coating do not meet the predetermined criteria, it may be that the coating result is bad without looking at the state of the coating result. Recognize. It is not efficient that even the coating result data that cannot be selected as the conforming data becomes the processing target when the selecting unit selects the conforming data.
　本発明の塗装支援システムは、動作内容が所定の第２基準を満たさない動作データを含む塗装実績データは、選択部による適合データの選択の対象から除外される。 In the coating support system of the present invention, the coating result data including the operation data whose operation content does not satisfy the predetermined second standard is excluded from the selection of the conforming data by the selection unit.
　これにより、選択部が適合データを選択する際に処理対象とする塗装実績データの件数を減らすことができるので、すべての塗装実績データを処理対象とするよりも効率的に適合データを選択することができる。 As a result, the number of painting result data to be processed can be reduced when the selection unit selects the conforming data, so it is more efficient to select the conforming data than to process all the painting result data. You can
　このように、本発明によれば、塗装の特性ごとの適切な塗装動作を効率的に選択してエンティティに提示して塗装の作業を支援する塗装支援システムを提供することができる。 As described above, according to the present invention, it is possible to provide a coating support system that efficiently selects an appropriate coating operation for each characteristic of the coating and presents it to the entity to support the coating work.
塗装支援システムの全体構成を示すブロック図。The block diagram which shows the whole structure of a coating assistance system. 第１エンティティ装置の噴射部及び第１アーム部の構成を示す説明図。Explanatory drawing which shows the structure of the injection part of a 1st entity apparatus, and a 1st arm part. 第２エンティティ装置の出力部、ガン部及び第２アーム部の構成を示す説明図。Explanatory drawing which shows the structure of the output part of a 2nd entity apparatus, a gun part, and a 2nd arm part. 塗装支援システムの処理の概要を示すタイムテーブル。A timetable that outlines the processing of the painting support system. 選択処理の内容を示すフローチャート。The flowchart which shows the content of a selection process. 選択処理に用いられるテーブルの内容を示す表。The table which shows the content of the table used for a selection process.
　まず、図１、図２Ａ及び図２Ｂを参照して、本実施形態の塗装支援システムの構成を説明する。本実施形態（第１実施形態）においては、第１エンティティＥ１及び第２エンティティＥ２はいずれも人である。第１エンティティＥ１は、動作データの提供元となる例えば塗装の熟練者であり、第２エンティティＥ２は、動作データの提供を受ける側の例えば塗装作業員である。 First, the configuration of the coating support system of the present embodiment will be described with reference to FIGS. 1, 2A and 2B. In the present embodiment (first embodiment), both the first entity E1 and the second entity E2 are people. The first entity E1 is, for example, a coating expert who is a source of operation data, and the second entity E2 is, for example, a coating worker who receives the operation data.
　本実施形態の塗装支援システムは、サーバ１０、第１エンティティ装置２０、第２エンティティ装置３０により構成されており、サーバ１０と第１エンティティ装置２０との間、サーバ１０と第２エンティティ装置３０との間は、通信ネットワーク４０により相互に通信可能に接続されている。第１エンティティ装置２０と第２エンティティ装置３０とは、同一建屋内に設置されていてもよいし、地理的に離れた場所にそれぞれが設置されていてもよい。 The coating support system of this embodiment includes a server 10, a first entity device 20, and a second entity device 30, and between the server 10 and the first entity device 20, the server 10 and the second entity device 30. In the meantime, the communication networks 40 are connected so that they can communicate with each other. The first entity device 20 and the second entity device 30 may be installed in the same building, or may be installed in geographically distant locations.
　サーバ１０は、サーバ制御部１００及びサーバ記憶部１１０を有するコンピューターである。 The server 10 is a computer having a server control unit 100 and a server storage unit 110.
　サーバ制御部１００は、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）等の演算処理装置、メモリ、及びＩ／Ｏ（Ｉｎｐｕｔ／Ｏｕｔｐｕｔ）デバイスなどにより構成されている。サーバ制御部１００は、所定のプログラムを読み込んで実行することにより認識部１０１、動作取得部１０２、結果取得部１０３、記録制御部１０４、受付部１０５、選択部１０６、提供部１０７、決定部１０８及び決済部１０９として機能する。 The server control unit 100 is configured by an arithmetic processing unit such as a CPU (Central Processing Unit), a memory, and an I/O (Input/Output) device. The server control unit 100 reads and executes a predetermined program to execute the recognition unit 101, the operation acquisition unit 102, the result acquisition unit 103, the recording control unit 104, the reception unit 105, the selection unit 106, the provision unit 107, and the determination unit 108. And functions as the settlement unit 109.
　認識部１０１は、第１エンティティＥ１が塗装を行う塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する。動作取得部１０２は、第１エンティティＥ１による噴射部２００を用いた塗装の動作の内容を示す情報であって、塗装対象に対する当該噴射部２００の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティＵ１による操作量の情報のうち１つを少なくとも含む動作データを取得する。結果取得部１０３は、第１エンティティＵ１により塗装された塗装対象の塗装結果を示す情報である結果データを取得する。 The recognition unit 101 recognizes the characteristic data including at least the characteristic of the shape of the object to be coated by the first entity E1, the characteristic of the coating, or the characteristic of the surrounding environment. The motion acquisition unit 102 is information indicating the content of the motion of the coating using the spraying unit 200 by the first entity E1, and the position regarding the spraying unit 200 with respect to the coating target, the angle of the spray axis, and the spraying of the paint. The motion data including at least one of the operation amount information by one entity U1 is acquired. The result acquisition unit 103 acquires result data, which is information indicating the coating result of the coating target coated by the first entity U1.
　記録制御部１０４は、特性データ、動作データ、結果データ及び、噴射部２００を用いて塗装を行った第１エンティティＥ１を特定する情報である第１エンティティ識別情報を含む塗装実績データをサーバ記憶部１１０に記録する。 The recording control unit 104 stores the characteristic data, the operation data, the result data, and the coating result data including the first entity identification information that is the information that identifies the first entity E1 that has coated by using the injection unit 200, in the server storage unit. Record at 110.
　受付部１０５は、塗装の特性を指定する情報を含む要求データの第２エンティティＥ２からの入力を受け付ける。 The reception unit 105 receives input from the second entity E2 of request data including information that specifies the characteristics of coating.
　選択部１０６は、塗装実績データから、要求データごとの所定の第１基準を満たす特性データ及び結果データの何れか一方又は両方を含む塗装実績データである適合データを選択する。選択部１０６は、塗装実績データから、１回／日、１回／週などの所定の頻度にて所定の第１基準を満たす特性データ及び結果データの何れか一方又は両方を含む塗装実績データである適合データを特性データごとに選択するように構成されていてもよい。あるいは選択部１０６は、動作内容が所定の第２基準を満たさない動作データを含む塗装実績データを適合データの選択の対象から除外するように構成されていてもよい。 The selection unit 106 selects, from the coating performance data, the conforming data that is the coating performance data including one or both of the characteristic data and the result data that satisfy the predetermined first criterion for each request data. The selection unit 106 uses the coating result data including one or both of the characteristic data and the result data satisfying the predetermined first criterion at a predetermined frequency such as once/day, once/week or the like. It may be configured to select certain matching data for each characteristic data. Alternatively, the selection unit 106 may be configured to exclude the coating performance data including the operation data whose operation content does not satisfy the predetermined second criterion from the target for selecting the compatible data.
　提供部１０７は、選択部１０６により選択された適合データに含まれる動作データを第２エンティティ装置３０を介して第２エンティティＥ２に提供する。 The providing unit 107 provides the operation data included in the matching data selected by the selecting unit 106 to the second entity E2 via the second entity device 30.
　決定部１０８は、第２エンティティ装置３０に適合データとして提供された塗装実績データに含まれる第１エンティティ識別情報により特定される第１エンティティＥ１又はその関係者に対する報酬を決定する。 The deciding unit 108 decides a reward for the first entity E1 or its related party identified by the first entity identification information included in the coating performance data provided to the second entity device 30 as the matching data.
　第１エンティティＥ１の関係者とは、例えば第１エンティティＥ１である第１エンティティ装置２０を所有又は占有する個人又は法人、塗装実績データの提供元となる個人又は法人などである。 The person related to the first entity E1 is, for example, an individual or corporation that owns or occupies the first entity device 20 that is the first entity E1, or an individual or corporation that provides the coating performance data.
　あるいは決定部１０８は、適合データとして選択部１０６により選択された動作データを含む塗装実績データに含まれる第１エンティティ識別情報により特定される第１エンティティＥ１又はその関係者に対する報酬を決定するように構成されていてもよい。決済部１０９は、決定部１０８が決定した第１エンティティＥ１又はその関係者に対する報酬を決済する。 Alternatively, the determination unit 108 may determine the reward for the first entity E1 or its related party identified by the first entity identification information included in the coating performance data including the operation data selected by the selection unit 106 as the matching data. It may be configured. The settlement unit 109 settles the reward for the first entity E1 or its related persons determined by the determination unit 108.
　サーバ記憶部１１０は、例えばＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）、ＨＤＤ（Ｈａｒｄ　Ｄｉｓｋ　Ｄｒｉｖｅ）等の記憶装置により構成されており、塗装実績ＤＢ（データベース）１１１及びサーバ制御部１００の処理結果を記憶する。 The server storage unit 110 is configured by a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a HDD (Hard Disk Drive). The processing result is stored.
　塗装実績ＤＢ１１１は、特性データ、動作データ、結果データ及び第１エンティティ識別情報を含む塗装実績データを格納しているデータベースである。 The coating performance DB 111 is a database that stores coating performance data including characteristic data, operation data, result data, and first entity identification information.
　特性データは、第１エンティティＥ１が行う塗装の特性を示す情報であり、塗装対象の形状の特性（塗装対象の形状、メーカー名、製品名、部分の名称）、塗料の特性（粘度、色、ＰＨ値、成分、メーカー名称、塗料の品番、塗料の購入年月日）、又は周辺環境の特性（温度、湿度、気圧）を少なくとも含んでいる。あるいはさらに、塗装対象の表面処理の特性（リン酸亜鉛皮膜）、塗装対象の材質の特性（金属、プラスチック、木）、どのような段階の工程か（下塗り、仕上げ塗り）、などの塗装作業に影響を与えうる種々の情報を含んでいてもよい。 The characteristic data is information indicating the characteristics of the coating performed by the first entity E1, and the characteristics of the shape of the coating object (shape of the coating object, manufacturer name, product name, part name), characteristics of the coating material (viscosity, color, It includes at least the PH value, the component, the manufacturer's name, the product number of the paint, the purchase date of the paint), or the characteristics of the surrounding environment (temperature, humidity, atmospheric pressure). Alternatively, for coating work such as the characteristics of the surface treatment of the coating object (zinc phosphate coating), the characteristics of the material of the coating object (metal, plastic, wood), what stage of the process (undercoating, finishing coating), etc. It may include various kinds of information that may have an influence.
　動作データは、第１エンティティＥ１による噴射部２００を用いた塗装の動作の内容を示す情報であり、噴射部センサ２０１が取得した、塗装対象に対する噴射部２００のＸＹＺ軸方向の位置及び噴射軸線の角度、並びに噴射部２００のトリガを引く強さの時系列データなどの塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含んでいる。なお操作量の情報には、噴射部２００の移動速度、塗装作業の所要時間、霧化圧の高さ、塗料の吐出量、塗装対象と噴射部２００との間の距離を示す情報などが含まれる。 The operation data is information indicating the content of the operation of coating using the injection unit 200 by the first entity E1, and the position of the injection unit 200 in the XYZ axis directions and the injection axis of the injection unit 200 with respect to the coating target acquired by the injection unit sensor 201. It includes at least one of the information on the operation amount by the first entity relating to the spraying of the paint such as the time series data of the angle and the trigger pulling strength of the spraying unit 200. The operation amount information includes the moving speed of the injection unit 200, the time required for the coating work, the height of the atomization pressure, the amount of paint discharged, the information indicating the distance between the coating target and the injection unit 200, and the like. Be done.
　さらに動作データは、後述する第１アーム部２１０を構成する各第１アーム部関節２１３（２１３ａ～２１３ｆ）の回転角度の時系列データなどの情報及びこれらの情報に基づいて計算された、噴射部２００のＸＹＺ軸方向の位置及び傾き、移動速度、加速度などの情報を含んでいてもよい。 Further, the operation data includes information such as time-series data of the rotation angle of each first arm joint 213 (213a to 213f) forming the first arm 210, which will be described later, and the injection unit calculated based on these information. Information such as the position and inclination of 200 in the XYZ axis directions, the moving speed, and the acceleration may be included.
　結果データは、第１エンティティＥ１により塗装された塗装対象の塗装結果を示す情報であり、たとえば塗装面の光沢の度合い、膜厚の厚さ又は像鮮明度の度合いなどの情報を含んでいる。なお、像鮮明度とは、例えば塗装後の塗装対象の表面に写る像の写り具合又は、透明なフィルム又はプラスチック等を透過して見ることができる物体の像の鮮明度である。なお、その測定方法については、アルミニウム及びアルミニウム合金に関しては「ＪＩＳ　Ｈ　８６８６－２：２０１３」が、プラスチックに関しては「ＪＩＳ　Ｋ７３７４：２００７」がそれぞれある。アルミニウム及びアルミニウム合金又はプラスチック以外についても塗装対象の材質に応じてこれらの測定方法を援用することで、像鮮明度を測定できる。 The result data is information indicating the painting result of the painting object painted by the first entity E1, and includes, for example, information such as the degree of gloss of the painted surface, the thickness of the film thickness, or the degree of image clarity. Note that the image clarity is, for example, how the image appears on the surface of the coating object after painting, or the image sharpness of an object that can be seen through a transparent film or plastic. Regarding the measuring method, there are "JIS H 8686-2:2013" for aluminum and aluminum alloy, and "JIS K7374:2007" for plastic. The image sharpness can be measured by applying these measuring methods depending on the material to be coated, other than aluminum and aluminum alloys or plastics.
　第１エンティティ識別情報は、第１エンティティＥ１を特定する情報であり、例えば各第１エンティティＥ１の本塗装支援システムのエンティティＩＤである。 The first entity identification information is information that identifies the first entity E1, and is, for example, the entity ID of the main coating support system of each first entity E1.
　第１エンティティ装置２０は、第１エンティティＥ１である人が用いる装置であり、噴射部２００、第１アーム部２１０、計測部２２０及び第１エンティティ装置処理部２３０により構成される。 The first entity device 20 is a device used by a person who is the first entity E1 and includes an injection unit 200, a first arm unit 210, a measurement unit 220, and a first entity device processing unit 230.
　噴射部２００は、塗装対象に塗布される塗料を吐出するスプレーガンであり、噴射部センサ２０１を備える。 The ejection unit 200 is a spray gun that ejects the paint applied to the object to be coated, and includes an ejection unit sensor 201.
　噴射部センサ２０１は、第１エンティティＥ１が噴射部２００のトリガを引く強さの時系列データなどの塗料の噴射に関する当該第１エンティティによる操作量の情報を取得するセンサである。噴射部センサ２０１は、当該情報を所定の頻度で取得して、第１エンティティ装置処理部２３０を介して当該取得した情報をサーバ１０に送信する。 The ejection unit sensor 201 is a sensor that acquires information on the operation amount by the first entity E1 regarding the ejection of paint, such as time-series data of the strength with which the first entity E1 pulls the trigger of the ejection unit 200. The ejection unit sensor 201 acquires the information at a predetermined frequency, and transmits the acquired information to the server 10 via the first entity device processing unit 230.
　第１アーム部２１０は、その一方の端部（先端部）が噴射部２００に着脱自在に結合されており、複数の第１アーム部センサ２１１（２１１ａ～２１１ｆ）と、複数の第１アーム部リンク２１２（２１２ａ～２１２ｆ）と、第１アーム部リンク２１２同士を結合させ又は第１アーム部リンク２１２と噴射部２００とを結合させる複数の第１アーム部関節２１３（２１３ａ～２１３ｆ）とを備える。第１アーム部２１０は、その他方の端部（基端部）が第１アーム基底部関節２４０により一軸方向に回転自在に固定されている。 One end portion (tip portion) of the first arm portion 210 is detachably coupled to the ejection portion 200, and the plurality of first arm portion sensors 211 (211a to 211f) and the plurality of first arm portions are included. Links 212 (212a to 212f) and a plurality of first arm joints 213 (213a to 213f) that connect the first arm links 212 to each other or connect the first arm links 212 and the injection unit 200 to each other are provided. .. The other end (base end) of the first arm 210 is rotatably fixed in a uniaxial direction by a first arm base joint 240.
　第１アーム部センサ２１１は、第１エンティティＥ１による噴射部２００をＸＹＺ軸方向に動かす動作に応じて動く第１アーム部２１０の動作内容を示す情報を取得するセンサである。第１アーム部センサ２１１は、各第１アーム部関節２１３の回転角度を所定の頻度で取得して、第１エンティティ装置処理部２３０を介して当該取得した情報をサーバ１０に送信する。本実施形態においては、噴射部センサ２０１及び第１アーム部センサ２１１が、取得部に該当する。 The first arm unit sensor 211 is a sensor that acquires information indicating the operation content of the first arm unit 210 that moves in accordance with the operation of moving the ejection unit 200 in the XYZ axis directions by the first entity E1. The first arm unit sensor 211 acquires the rotation angle of each first arm unit joint 213 at a predetermined frequency and transmits the acquired information to the server 10 via the first entity device processing unit 230. In the present embodiment, the ejection unit sensor 201 and the first arm unit sensor 211 correspond to the acquisition unit.
　第１アーム部リンク２１２は、第１アーム部２１０を構成する部材である。第１アーム部関節２１３は、隣り合う第１アーム部リンク２１２同士又は第１アーム部２１０の一端部に位置する第１アーム部リンク２１２と噴射部２００とを一軸方向に回転自在に結合させる部材である。 The first arm link 212 is a member that constitutes the first arm 210. The first arm joint 213 is a member that rotatably connects the first arm links 212 adjacent to each other or the first arm links 212 located at one end of the first arm 210 and the ejection part 200 so as to be rotatable in one axial direction. Is.
　計測部２２０は、第１エンティティＥ１による塗装作業後の塗装対象の塗装結果、塗装作業中の周辺環境（温度、湿度、気圧）を計測する装置であり、例えば光沢計、膜厚計、写像性測定装置、像鮮明度測定装置、温度計、湿度計、気圧計が含まれる。計測部２２０は、第１エンティティＥ１による塗装作業後の塗装対象の塗装結果などの情報を所定の頻度で取得して、第１エンティティ装置処理部２３０を介して当該取得した情報をサーバ１０に送信する。 The measuring unit 220 is a device that measures the painting result of the painting target after the painting work by the first entity E1 and the surrounding environment (temperature, humidity, atmospheric pressure) during the painting work, and includes, for example, a gloss meter, a film thickness meter, and an image clarity. It includes a measuring device, an image definition measuring device, a thermometer, a hygrometer, and a barometer. The measurement unit 220 acquires information such as the painting result of the painting target after the painting work by the first entity E1 at a predetermined frequency, and transmits the obtained information to the server 10 via the first entity device processing unit 230. To do.
　第１エンティティ装置処理部２３０は、噴射部２００、第１アーム部２１０及び計測部２２０から受信した情報をサーバ１０に送信する装置であり、例えばパーソナルコンピューター、タブレット端末、ＨＭＤ（Ｈｅａｄ　Ｍｏｕｎｔ　Ｄｉｓｐｌａｙ）、スマートフォンである。 The first entity device processing unit 230 is a device that transmits information received from the ejection unit 200, the first arm unit 210, and the measurement unit 220 to the server 10, and includes, for example, a personal computer, a tablet terminal, an HMD (Head Mount Display), It is a smartphone.
　第１エンティティ装置処理部２３０と、噴射部２００、第１アーム部センサ２１１及び計測部２２０とは有線の通信ケーブル又はＷｉ－Ｆｉ（登録商標）、Ｂｌｕｅｔｏｏｔｈ（登録商標）、若しくは赤外線通信などの規格に対応した無線通信により通信可能に接続されている。 The first entity device processing unit 230 and the injection unit 200, the first arm sensor 211, and the measuring unit 220 are wired communication cables or standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), or infrared communication. Is communicably connected by wireless communication corresponding to.
　第１エンティティ装置処理部２３０は、噴射部２００、第１アーム部２１０及び計測部２２０より受信した情報から、第１エンティティＥ１の塗装の動作中の手ぶれなどによって生じた誤差などの不要な情報（ノイズ）を除去してからサーバ１０に送信する。 The first entity device processing unit 230 uses the information received from the ejection unit 200, the first arm unit 210, and the measurement unit 220 to obtain unnecessary information such as an error caused by camera shake during the painting operation of the first entity E1 ( (Noise) is removed and then transmitted to the server 10.
　第２エンティティ装置３０は、第２エンティティＥ２である人が用いる装置であって、サーバ１０による動作データの提供対象となる装置であり、出力部３００と、ガン部３１０と、第２アーム部３２０と、第２エンティティ装置処理部３３０とを備える。 The second entity device 30 is a device used by a person who is the second entity E2 and is a device to which the operation data is provided by the server 10. The output unit 300, the gun unit 310, and the second arm unit 320. And a second entity device processing unit 330.
　出力部３００は、第２エンティティＥ２の塗装作業を支援する情報を出力する装置であり、例えばディスプレイ、スピーカを備えるＨＭＤ、スマートフォン又はタブレット端末である。あるいはガン部３１０に所定の振動を発生させるバイブレータを含んでもよい。 The output unit 300 is a device that outputs information that supports the painting work of the second entity E2, and is, for example, an HMD having a display or a speaker, a smartphone, or a tablet terminal. Alternatively, a vibrator that causes the gun unit 310 to generate a predetermined vibration may be included.
　ガン部３１０は、塗装対象に塗布される塗料を吐出するスプレーガンであり、ガン部センサ３１１を備える。あるいは本実施形態においてガン部３１０は、スプレーガンを模した塗装作業練習用の模型であってもよい。 The gun unit 310 is a spray gun that discharges the paint applied to the object to be coated, and includes a gun unit sensor 311. Alternatively, in the present embodiment, the gun part 310 may be a model for practicing painting work imitating a spray gun.
　ガン部センサ３１１は、第２エンティティＥ２によるガン部３１０に対する操作内容を取得するセンサである。ガン部センサ３１１は、例えば第２エンティティＥ２がガン部３１０のトリガを引く強さの情報を所定の頻度で取得する。 The gun part sensor 311 is a sensor that acquires the operation content of the gun part 310 by the second entity E2. The gun sensor 311 acquires, for example, information about the strength with which the second entity E2 pulls the trigger of the gun 310 at a predetermined frequency.
　第２アーム部３２０は、その一方の端部がガン部３１０に着脱自在に結合されており、複数の第２アーム部センサ３２１（３２１ａ～３２１ｆ）と、複数の第２アーム部リンク３２２（３２２ａ～３２２ｆ）と、第２アーム部リンク３２２同士を結合させ又は第２アーム部リンク３２２とガン部３１０とを結合させる複数の第２アーム部関節３２３（３２３ａ～３２３ｆ）とを備える。第２アーム部３２０は、その他方の端部が第２アーム基底部関節３４０により一軸方向に回転自在に固定されている。 One end of the second arm section 320 is detachably coupled to the gun section 310, and the plurality of second arm section sensors 321 (321a to 321f) and the plurality of second arm section links 322 (322a). To 322f) and a plurality of second arm joints 323 (323a to 323f) that couple the second arm links 322 to each other or couple the second arm links 322 and the gun section 310. The other end of the second arm portion 320 is rotatably fixed in a uniaxial direction by a second arm base joint 340.
　第２エンティティＥ２によるガン部３１０をＸＹＺ軸方向に動かす動作に応じて動く第２アーム部３２０の動作内容を示す情報を取得するセンサである。第２アーム部センサ３２１は、各第２アーム部関節３２３の回転角度を所定の頻度で取得する。 A sensor that acquires information indicating the operation content of the second arm section 320 that moves according to the operation of moving the gun section 310 in the XYZ axis directions by the second entity E2. The second arm sensor 321 acquires the rotation angle of each second arm joint 323 at a predetermined frequency.
　第２アーム部リンク３２２は、第２アーム部３２０を構成する部材である。第２アーム部関節３２３は、隣り合う第２アーム部リンク３２２同士又は第２アーム部３２０の一端部に位置する第２アーム部リンク３２２とガン部３１０とを一軸方向に回転自在に結合させる部材である。 The second arm section link 322 is a member that constitutes the second arm section 320. The second arm joint 323 is a member that rotatably couples the adjacent second arm links 322 with each other or the second arm link 322 located at one end of the second arm 320 and the gun 310 in a uniaxially rotatable manner. Is.
　第２エンティティ装置処理部３３０は、出力部３００への出力内容を制御するとともに、ガン部３１０、第２アーム部３２０から受信した情報をサーバ１０に送信する装置であり、例えばパーソナルコンピューター、タブレット端末、ＨＭＤ（Ｈｅａｄ　Ｍｏｕｎｔ　Ｄｉｓｐｌａｙ）、スマートフォンである。 The second entity device processing unit 330 is a device that controls the output content to the output unit 300 and transmits the information received from the gun unit 310 and the second arm unit 320 to the server 10, such as a personal computer or a tablet terminal. , HMD (Head Mount Display), and smartphone.
　第２エンティティ装置処理部３３０と、出力部３００、ガン部センサ３１１及び第２アーム部センサ３２１とは有線の通信ケーブル又はＷｉ－Ｆｉ（登録商標）、Ｂｌｕｅｔｏｏｔｈ（登録商標）、若しくは赤外線通信などの規格に対応した無線通信により通信可能に接続されている。 The second entity device processing unit 330, the output unit 300, the gun unit sensor 311, and the second arm unit sensor 321 are wired communication cables or Wi-Fi (registered trademark), Bluetooth (registered trademark), infrared communication, or the like. It is communicably connected by wireless communication compatible with the standard.
　通信ネットワーク４０は、例えばＬＡＮ（Ｌｏｃａｌ　Ａｒｅａ　Ｎｅｔｗｏｒｋ）、ＷＡＮ（Ｗｉｄｅ　Ａｒｅａ　Ｎｅｔｗｏｒｋ）又はインターネット通信網である。 The communication network 40 is, for example, a LAN (Local Area Network), WAN (Wide Area Network), or Internet communication network.
　＜塗装支援システムの処理概要＞
　次に、図３を用いて塗装支援システムの処理概要の一例について説明する。塗装支援システムは、まず第１エンティティＥ１の操作に基づいて、認識処理（図３／Ｐ１０）、動作取得処理（図３／Ｐ２０）、結果取得処理（図３／Ｐ３０）及び記録制御処理（図３／Ｐ４０）を実行する。 <Outline of coating support system processing>
Next, an example of the processing outline of the coating support system will be described with reference to FIG. The coating support system firstly recognizes the recognition process (FIG. 3/P10), the motion acquisition process (FIG. 3/P20), the result acquisition process (FIG. 3/P30), and the recording control process (FIG. 3) based on the operation of the first entity E1. 3/P40).
　その後、第２エンティティＥ２の操作に基づいて、受付処理（図３／Ｐ５０）、選択処理（図３／Ｐ６０）及び提供処理（図３／Ｐ７０）が実行されて、サーバ１０において計算処理（図３／Ｐ８０）及び決算処理（図３／Ｐ９０）が実行される。 After that, based on the operation of the second entity E2, the reception process (FIG. 3/P50), the selection process (FIG. 3/P60), and the provision process (FIG. 3/P70) are executed, and the calculation process (FIG. 3/P80) and settlement processing (FIG. 3/P90).
　なお、認識処理（図３／Ｐ１０）から記録制御処理（図３／Ｐ４０）までの一連の処理と、受付処理（図３／Ｐ５０）から決算処理（図３／Ｐ９０）までの一連の処理とは、非同期的にそれぞれ適宜に実行される。 A series of processes from the recognition process (Fig. 3/P10) to the recording control process (Fig. 3/P40) and a series of processes from the acceptance process (Fig. 3/P50) to the settlement process (Fig. 3/P90). Are asynchronously executed as appropriate.
　また、選択処理（図３／Ｐ６０）が受付処理（図３／Ｐ５０）とは非同期的に所定の頻度にて実行され、当該選択処理（図３／Ｐ６０）に続いて計算処理（図３／Ｐ８０）及び決算処理（図３／Ｐ９０）が実行されることとしてもよい。以下、各処理の内容について説明する。 Further, the selection process (FIG. 3/P60) is executed asynchronously with the reception process (FIG. 3/P50) at a predetermined frequency, and the calculation process (FIG. 3/P60) is performed following the selection process (FIG. 3/P60). P80) and settlement processing (FIG. 3/P90) may be executed. The contents of each process will be described below.
　＜認識処理＞
　認識処理において、認識部１０１は、第１エンティティＥ１による塗装の特性を示す情報である特性データを認識する。認識部１０１は、例えば第１エンティティＥ１による特性データの入力を受け付ける画面を第１エンティティ装置２０のディスプレイに表示させて、第１エンティティＥ１による特性データの選択入力又は手入力により特性データの入力を受け付けることにより、特性データを認識する。 <Recognition processing>
In the recognition process, the recognition unit 101 recognizes characteristic data that is information indicating the characteristic of the coating by the first entity E1. The recognizing unit 101 displays, for example, a screen for accepting the input of the characteristic data by the first entity E1 on the display of the first entity device 20, and allows the characteristic data to be selected or manually input by the first entity E1. By accepting, the characteristic data is recognized.
　＜動作取得処理＞
　動作取得処理において、動作取得部１０２は、第１エンティティＥ１による噴射部２００を用いた塗装の動作の内容を示す情報であって塗装対象に対する噴射部２００の位置及び噴射軸線の角度並びに塗料の噴射に関する第１エンティティＥ１による操作量の情報のうち１つを少なくとも含む動作データを取得する。動作取得部１０２は、第１エンティティ装置処理部２３０からサーバ１０が受信した、噴射部２００に対する操作内容を示す情報と、第１アーム部２１０の動作内容を示す情報とを、所定の頻度でそれぞれ動作データとして取得する。 <Motion acquisition process>
In the motion acquisition process, the motion acquisition unit 102 is information indicating the content of the motion of the coating using the spraying unit 200 by the first entity E1, and is the position of the spraying unit 200 with respect to the coating target, the angle of the spray axis, and the spraying of the paint. The motion data including at least one of the operation amount information by the first entity E1 relating to is acquired. The motion acquisition unit 102 receives the information indicating the operation content for the ejection unit 200, which is received by the server 10 from the first entity device processing unit 230, and the information indicating the motion content of the first arm unit 210, at a predetermined frequency. Acquire as operation data.
　また、動作取得部１０２は、取得した情報に基づいて、噴射部２００の移動速度、塗装作業の所要時間、霧化圧の高さ、塗料の吐出量、塗装対象と噴射部２００との間の距離などを計算して、これらの計算結果についても操作量の情報として取得する。 Further, the operation acquisition unit 102, based on the acquired information, the moving speed of the injection unit 200, the time required for the coating work, the height of the atomization pressure, the discharge amount of the paint, and the distance between the object to be coated and the injection unit 200. The distance and the like are calculated, and these calculation results are also acquired as the operation amount information.
　＜結果取得処理＞
　結果取得処理において、結果取得部１０３は、第１エンティティＥ１により塗装された塗装対象の塗装結果を示す情報である結果データを取得する。結果取得部１０３は、第１エンティティ装置処理部２３０からサーバ１０が受信した、塗装対象の塗装結果等を示す情報を、所定の頻度でそれぞれ結果データとして取得する。 <Result acquisition process>
In the result acquisition process, the result acquisition unit 103 acquires result data, which is information indicating the coating result of the painting target painted by the first entity E1. The result acquisition unit 103 acquires, as a result data, the information indicating the coating result of the coating target and the like received by the server 10 from the first entity device processing unit 230 at a predetermined frequency.
　＜記録制御処理＞
　記録制御処理において、記録制御部１０４は、塗装実績データを特定する塗装実績ＩＤを採番して、認識処理にて認識された特性データ、動作取得処理にて取得された動作データ、結果取得処理にて取得された結果データ及び第１エンティティ識別情報を含む塗装実績データをサーバ記憶部１１０に塗装実績データとして記録する。 <Record control processing>
In the recording control process, the recording control unit 104 assigns a coating record ID that identifies the coating record data, and the characteristic data recognized in the recognition process, the motion data acquired in the motion acquisition process, and the result acquisition process. The coating result data including the result data and the first entity identification information acquired in step 3 is recorded in the server storage unit 110 as the coating result data.
　＜受付処理＞
　受付処理において、受付部１０５は、塗装の特性を指定する情報を含む要求データの第２エンティティＥ２からの入力を受け付ける。受付部１０５は、例えば第２エンティティＥ２による要求データの入力を受け付ける画面を第２エンティティ装置出力部４１０に表示し、第２エンティティＥ２からの要求データの選択入力又は手入力により特性データの入力を受け付ける。 <Reception processing>
In the reception process, the reception unit 105 receives an input from the second entity E2 of request data including information that specifies the characteristics of coating. The accepting unit 105 displays, for example, a screen on the second entity device output unit 410 that accepts input of request data by the second entity E2, and selects or manually inputs the request data from the second entity E2. Accept.
　受付部１０５は、例えば「〇社製製品Ａ、左側目隠し板、縁部折り返し面内側、□社製塗料（グレー）」のような形式で塗装の特性を指定する情報を含む要求データを受け付ける。あるいは受付部１０５は、例えば「光沢」、「ツヤ消し」のような塗装の結果を指定する情報をさらに含む要求データを受け付ける。 The accepting unit 105 accepts request data including information designating the characteristics of the coating in a format such as “Product A manufactured by ◯ company, blindfold plate on the left side, inside of the edge folded surface, paint by □ company (gray)”. Alternatively, the accepting unit 105 accepts request data further including information designating a result of painting such as “gloss” and “matte”.
　＜選択処理＞
　選択処理において、選択部１０６は、塗装実績データから、要求データごとの所定の第１基準を満たす特性データ及び結果データの何れか一方又は両方を含む塗装実績データである適合データを選択する。 <Selection process>
In the selection process, the selection unit 106 selects, from the coating performance data, the matching data that is the coating performance data including one or both of the characteristic data and the result data that satisfy the predetermined first criterion for each request data.
　より具体的には、図４に示すように、選択部１０６は、まず要求データに含まれる塗装の特性を指定する情報を認識する（図４／ＳＴＥＰ６０１）。そして選択部１０６は、当該要求データに塗装の結果を指定する情報が含まれている場合には（図４／ＳＴＥＰ６０２：Ｙｅｓ）当該要求データに含まれる塗装の結果を指定する情報を認識する（図４／ＳＴＥＰ６０３）。 More specifically, as shown in FIG. 4, the selection unit 106 first recognizes the information included in the request data that specifies the characteristics of the coating (FIG. 4/STEP 601). Then, when the request data includes information designating the result of painting (FIG. 4/STEP 602: Yes), the selecting unit 106 recognizes the information designating the result of painting included in the request data ( FIG. 4/STEP603).
　一方、当該要求データに塗装の結果を指定する情報が含まれていない場合には（図４／ＳＴＥＰ６０２：Ｎｏ）、選択部１０６は、当該特性を指定する情報に応じて、汎用的に適切な塗装結果を示す情報をサーバ記憶部１１０から取得する（図４／ＳＴＥＰ６０４）。そして、選択部１０６は、以降の処理において、当該取得した汎用的に適切とされる塗装結果を示す情報を塗装の結果を指定する情報と認識して処理を実行する。このとき、選択部１０６は、特性を指定する情報に対応する汎用的に適切とされる塗装結果である結果デフォルト値を例えば図５のような、塗装の特性又は塗装結果と所定の第１条件とを対応付けて記憶しているテーブルを参照して当該テーブルから取得する。すなわち例えば選択部１０６は、特性を指定する情報が「縁部折り返し面内側」である場合には、対応する結果デフォルト値が「ツヤ消し」であることを取得する。 On the other hand, when the request data does not include the information designating the result of painting (FIG. 4/STEP 602: No), the selection unit 106 is suitable for general purpose according to the information designating the characteristic. Information indicating the coating result is acquired from the server storage unit 110 (FIG. 4/STEP 604). Then, in the subsequent processing, the selection unit 106 recognizes the acquired information indicating the generally suitable coating result as the information that specifies the coating result, and executes the processing. At this time, the selection unit 106 sets the result default value, which is a generally suitable painting result corresponding to the information designating the characteristic, to the painting characteristic or the painting result and the predetermined first condition as shown in FIG. 5, for example. And is acquired by referring to a table that stores and are associated with each other. That is, for example, when the information designating the characteristic is “inside of the edge folding surface”, the selection unit 106 acquires that the corresponding result default value is “matte”.
　続いて選択部１０６は、ＳＴＥＰ６０２～ＳＴＥＰ６０４にて認識した塗装の特性を指定する情報及び塗装の結果を指定する情報それぞれに対応する評価項目を例えば再び図５のようなテーブルを参照して取得して、これらの評価項目を第１基準として認識する（図４／ＳＴＥＰ６０５）。このようにして選択部１０６は、要求データごとの所定の第１基準を認識する。 Subsequently, the selection unit 106 acquires the evaluation items corresponding to the information designating the characteristics of the coating and the information designating the result of the coating recognized in STEP 602 to STEP 604, for example, again with reference to the table shown in FIG. Then, these evaluation items are recognized as the first criterion (FIG. 4/STEP 605). In this way, the selection unit 106 recognizes the predetermined first criterion for each request data.
　そして選択部１０６は、塗装実績データから、このようにして認識した第１基準を満たす特性データ及び結果データの何れか一方又は両方を含む塗装実績データである適合データを選択する（図４／ＳＴＥＰ６０６）。 Then, the selection unit 106 selects, from the coating performance data, the matching data that is the coating performance data including one or both of the characteristic data and the result data that satisfy the first criterion thus recognized (FIG. 4/STEP 606). ).
　このとき選択部１０６は、まず塗装実績ＤＢ１１１に含まれる各塗装実績データを参照して、ＳＴＥＰ６０５にて認識した第１基準に含まれる評価項目のすべてを満たす塗装実績データの抽出を試みる。 At this time, the selection unit 106 first refers to each coating performance data included in the coating performance DB 111, and tries to extract the coating performance data that satisfies all the evaluation items included in the first standard recognized in STEP605.
　そして選択部１０６は、ＳＴＥＰ６０５にて認識した第１基準の評価項目のすべてを満たす塗装実績データの抽出ができた場合は、当該抽出された塗装実績データを適合データとして選択する。一方、ＳＴＥＰ６０５にて認識した第１基準の評価項目のすべてを満たす塗装実績データの抽出ができなかった場合は、当該第１基準の評価項目をひとつずつ減らして、当該評価項目を減らされた後の第１基準の評価項目のすべてを満たす塗装実績データの抽出を試みる処理を繰り返す。 Then, when the coating result data satisfying all of the first criteria evaluation items recognized in STEP 605 can be extracted, the selecting unit 106 selects the extracted coating result data as the conforming data. On the other hand, when it is not possible to extract the coating performance data satisfying all the evaluation items of the first standard recognized in STEP 605, the evaluation items of the first standard are reduced one by one, and the evaluation items are reduced. The process of attempting to extract the coating performance data satisfying all the evaluation items of the first standard is repeated.
　選択部１０６は、このようにして第１基準の評価項目をひとつずつ減らした結果、特性データに関する評価項目だけが当該第１基準の評価項目に含まれている場合は、当該第１基準を満たす特性データを含む塗装実績データを適合データとして選択し、結果データに関する評価項目だけが当該第１基準の評価項目に含まれている場合は、当該第１基準を満たす結果データを含む塗装実績データを適合データとして選択する。 As a result of reducing the evaluation items of the first criterion one by one in this way, when only the evaluation items related to the characteristic data are included in the evaluation items of the first criterion, the selection unit 106 satisfies the first criterion. When the actual coating data including characteristic data is selected as the conforming data and only the evaluation items related to the result data are included in the evaluation items of the first standard, the actual coating data including the result data satisfying the first standard is selected. Select as compatible data.
　なお、選択部１０６は、第１基準の評価項目のすべてを満たす塗装実績データすべてを適合データとして選択するように構成されていてもよいし、各塗装実績データについて当該第１基準を満たしている度合いに応じたレベル分け又は点数付けを行い、当該レベルが最高レベルである塗装実績データ又は点数が上位である塗装実績データ数件を適合データとして選択するように構成されていてもよく、あるいは当該点数が最高のもののみを適合データとして選択するように構成されていてもよい。 Note that the selection unit 106 may be configured to select, as the conforming data, all the coating performance data that satisfy all the evaluation items of the first standard, and each coating performance data satisfies the first standard. It may be configured such that the level is divided or scored according to the degree, and that the coating result data having the highest level or the coating result data having the highest score is selected as the conforming data. It may be configured to select only the highest score as the matching data.
　また、選択部１０６は、選択処理において動作内容が所定の第２基準を満たさない動作データを含む塗装実績データを適合データの選択の対象から除外してもよい。この場合に選択部１０６は、例えばＳＴＥＰ６０６を実行するよりも前に、塗装実績ＤＢ１１１を参照して、各塗装実績データに含まれる動作データを、塗装作業の所要時間、霧化圧の高さ、塗料の吐出量、塗装対象とガンとの間の距離などが所定の値未満であるか、所定の値を超過するか、所定の範囲内又は範囲外にあるかなどの基準を単独で又は複数の基準を組み合わせて第２基準として用いて評価して、当該第２基準を満たさない動作データを含む各塗装実績データについて適合データの選択の対象から除外されることを示すフラグをＯＮにするなどの手法により当該第２基準を満たさない動作データを含む塗装実績データが適合データの選択の対象から除外されるように制御する。 Further, the selection unit 106 may exclude the coating performance data including the operation data whose operation content does not satisfy the predetermined second criterion in the selection process from the target of the conformance data selection. In this case, the selection unit 106 refers to the coating performance DB 111, for example, before executing STEP 606, and refers to the operation data included in each coating performance data to calculate the time required for the coating work, the height of the atomization pressure, Single or multiple criteria, such as the amount of paint discharged, the distance between the target and the gun, etc., is less than a specified value, exceeds a specified value, is within or outside a specified range, etc. The combination of the above criteria is used as the second criterion for evaluation, and the flag indicating that each coating performance data including the operation data that does not satisfy the second criterion is excluded from the target of the matching data is set to ON, etc. By the method described above, the control is performed so that the coating performance data including the operation data that does not satisfy the second criterion is excluded from the target for selecting the compatible data.
　＜受付処理とは非同期的に所定の頻度にて実行される選択処理＞
　選択処理が受付処理とは非同期的に所定の頻度にて実行されるように構成されている場合は、選択部１０６は、例えば「〇社製製品Ａ、左側目隠し板、縁部折り返し面内側、ツヤ消し」などのあらかじめ定められた塗装の特性を指定する情報及び塗装の結果を指定する情報それぞれに対応する評価項目を取得して、これらの評価項目を第１基準として認識し、当該第１基準を満たす特性データ及び結果データの何れか一方又は両方を含む塗装実績データを適合データとして選択する。 <Selection process executed at a predetermined frequency asynchronously with the reception process>
When the selection process is configured to be executed at a predetermined frequency asynchronously with the reception process, the selection unit 106 may display, for example, “Product A manufactured by ◯ company, left blindfold plate, inside edge folding surface, The evaluation items corresponding to the information that specifies the predetermined coating characteristics such as "matting" and the information that specifies the result of the coating are acquired, and these evaluation items are recognized as the first criterion, The coating performance data including one or both of the characteristic data and the result data satisfying the standard is selected as the conforming data.
　＜提供処理＞
　提供処理において、提供部１０７は、選択部１０６により選択された適合データに含まれる動作データを第２エンティティ装置３０に提供する。 <Provision process>
In the providing process, the providing unit 107 provides the second entity device 30 with the operation data included in the matching data selected by the selecting unit 106.
　動作データの提供を受けた第２エンティティ装置３０の出力部３００は、第２エンティティＥ２の塗装作業を支援する情報として、当該提供された動作データの内容、当該動作データとガン部センサ及び第２アーム部センサが取得したデータが示す第２エンティティＥ２の動作内容とを第２エンティティ装置処理部３３０が比較した結果の情報であるフィードバック情報などを映像、音声又は振動もしくはこれらの組み合わせにより出力部３００を介して再生等することにより第２エンティティＥ２に対して出力する。 The output unit 300 of the second entity device 30, which has been provided with the operation data, provides the content of the provided operation data, the operation data, the gun sensor, and the second as the information for supporting the painting operation of the second entity E2. Feedback information, which is information obtained as a result of the second entity device processing unit 330 comparing the operation content of the second entity E2 indicated by the data acquired by the arm unit sensor, is output by video, audio, vibration, or a combination thereof. It is output to the second entity E2 by being played back via the.
　なお選択部１０６により選択された適合データが複数である場合、提供部１０７は、当該適合データの一覧を出力部３００に表示し、第２エンティティＥ２が当該一覧から選択した適合データに含まれる動作データを第２エンティティ装置３０に提供する。あるいは第２エンティティ装置３０が当該適合データの一覧から所定の優先順位にて一つの適合データを選択するように構成され、提供部１０７は、選択された適合データに含まれる動作データを第２エンティティ装置３０に提供するように構成されていてもよい。 When there are a plurality of pieces of matching data selected by the selecting unit 106, the providing unit 107 displays a list of the matching data on the output unit 300, and the operation included in the matching data selected by the second entity E2 from the list. The data is provided to the second entity device 30. Alternatively, the second entity device 30 is configured to select one piece of matching data from the list of matching data at a predetermined priority, and the providing unit 107 sets the operation data included in the selected matching data to the second entity. It may be configured to provide to the device 30.
　＜計算処理＞
　計算処理において、決定部１０８は、第２エンティティ装置３０に適合データとして提供された塗装実績データに含まれる第１エンティティ識別情報により特定される第１エンティティＥ１又はその関係者に対する報酬を決定する。 <Calculation process>
In the calculation process, the determination unit 108 determines the reward for the first entity E1 or its related party identified by the first entity identification information included in the coating performance data provided as the conforming data to the second entity device 30.
　なお、選択処理が受付処理とは非同期的に所定の頻度にて実行されるように構成されている場合は、決定部１０８は、計算処理において、適合データとして選択部１０６により選択された塗装実績データに含まれる第１エンティティ識別情報により特定される第１エンティティＥ１又はその関係者に対する報酬を決定する。 When the selection process is configured to be executed at a predetermined frequency asynchronously with the reception process, the determination unit 108 determines that the coating record selected by the selection unit 106 as the matching data in the calculation process. The reward for the first entity E1 specified by the first entity identification information included in the data or its related party is determined.
　決定部１０８は、塗装実績データが適合データとして提供される又は適合データとして選択されるごと報酬を決定するように構成されていてもよいし、週ごと、月ごとなどの所定期間ごとに当該報酬を決定するように構成されていてもよい。また、決定部１０８は、１回の選択又は提供につき１００円などのあらかじめ定められた量の報酬を決定するように構成されていてもよいし、所定の期間に提供又は選択された回数、適合データとしての提供先となった第２エンティティＥ２の人数又は塗装実績データの第１基準を満たしている度合いに応じたレベル分け又は点数の高さなどに比例して報酬の量を変動させて計算してもよい。 The determining unit 108 may be configured to determine the reward each time the coating performance data is provided as the conforming data or is selected as the conforming data, or the reward may be determined every predetermined period such as weekly or monthly. May be configured to determine. Further, the determination unit 108 may be configured to determine a predetermined amount of reward, such as 100 yen, per one selection or provision, or the number of provisions or selections in a predetermined period, the suitability. Calculated by varying the amount of reward in proportion to the number of persons of the second entity E2 who has been provided as data or the degree to which the first standard of the painting performance data is satisfied, or in proportion to the number of points You may.
　＜決済処理＞
　決済処理において決済部１０９は、計算処理において決定部１０８が決定した第１エンティティＥ１又はその関係者に対する報酬を決済する。決済部１０９は、サーバ１０にあらかじめ記憶されている第１エンティティＥ１ごとの振込先口座への報酬金額の振り込み、報酬量相当のポイントの付与などの方法により、第１エンティティＥ１又はその関係者に対する報酬を決済する。また、決済部１０９は、第１エンティティＥ１又はその関係者に対する報酬に相当する金額又はポイントを各動作データの提供先となった第２エンティティＥ２又はその関係者に請求する。 <Payment processing>
In the settlement process, the settlement unit 109 settles the reward for the first entity E1 or its related person determined by the determination unit 108 in the calculation process. The settlement unit 109 transfers the remuneration amount to the transfer destination account for each first entity E1 stored in advance in the server 10 and gives points equivalent to the remuneration amount to the first entity E1 or its related parties. Settle the reward. In addition, the settlement unit 109 charges the amount or points corresponding to the remuneration for the first entity E1 or its related person to the second entity E2 or the related person who is the provision destination of each operation data.
　以上述べてきたように、本実施形態の塗装支援システムによれば、塗装の特性ごとの適切な塗装動作のデータを提示して塗装の作業を支援する塗装支援システムを提供することができる。 As described above, according to the coating support system of the present embodiment, it is possible to provide a coating support system that presents data of appropriate coating operation for each characteristic of coating and supports coating work.
　＜第１エンティティ及び第２エンティティが塗装装置である場合の実施形態＞
　続いて、第１エンティティＥ１及び第２エンティティＥ２が塗装装置である場合の実施形態（第２実施形態）について説明する。なお、第１実施形態と同一の構成については説明を省略する（以下同じ。）。 <Embodiment when the first entity and the second entity are coating devices>
Next, an embodiment (second embodiment) in which the first entity E1 and the second entity E2 are coating devices will be described. The description of the same configuration as the first embodiment will be omitted (the same applies hereinafter).
　本実施形態においては、第１エンティティ装置２０自体が第１エンティティＥ１であり、第２エンティティ装置３０自体が第２エンティティＥ２である。 In the present embodiment, the first entity device 20 itself is the first entity E1, and the second entity device 30 itself is the second entity E2.
　噴射部センサ２０１は、第１エンティティＥ１による噴射部２００の噴射口を開閉する力の大きさの時系列データなどの塗料の噴射に関する当該第１エンティティによる操作量の情報を取得するセンサである。 The ejection unit sensor 201 is a sensor that acquires information on the operation amount by the first entity regarding the ejection of the paint, such as time-series data of the magnitude of the force of opening and closing the ejection port of the ejection unit 200 by the first entity E1.
　動作データは、第１エンティティＥ１による噴射部２００を用いた塗装の動作の内容を示す情報であり、噴射部センサ２０１が取得した、塗装対象に対する噴射部２００のＸＹＺ軸方向の位置及び噴射軸線の角度、並びに噴射部２００の噴射口を開閉する力の大きさの時系列データなどの塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含んでいる。 The operation data is information indicating the content of the operation of coating using the injection unit 200 by the first entity E1, and the position of the injection unit 200 in the XYZ axis direction and the injection axis of the injection unit 200 with respect to the coating target acquired by the injection unit sensor 201. At least one of the information about the operation amount by the first entity relating to the spray of the paint such as the time series data of the angle and the magnitude of the force for opening and closing the spray port of the spray unit 200 is included.
　第１エンティティ装置処理部２３０は、第２エンティティ装置３０の性能などの特性にあわせて、噴射部２００、第１アーム部２１０及び計測部２２０より受信した情報を補正してからサーバ１０に送信する。 The first entity device processing unit 230 corrects the information received from the injection unit 200, the first arm unit 210, and the measurement unit 220 according to the characteristics such as the performance of the second entity device 30, and then transmits the information to the server 10. ..
　すなわち例えば第１エンティティ装置処理部２３０は、噴射部２００などから受信した噴射部２００の噴射口を開閉する力の大きさのデータが０～１０の１１段階で表されていた場合、第２エンティティ装置３０の性能などの特性にあわせて、当該データを０～２の３段階などに変換する補正を行ってからサーバ１０に送信する。 That is, for example, when the data of the magnitude of the force for opening and closing the ejection port of the ejection unit 200 received from the ejection unit 200 or the like is represented in 11 stages of 0 to 10, the first entity device processing unit 230 determines that the second entity The data is transmitted to the server 10 after being corrected according to the characteristics such as the performance of the device 30 so as to be converted into three stages of 0 to 2.
　第２エンティティ装置３０は、出力部３００を備えなくともよい。ガン部センサ３１１は、例えば第２エンティティＥ２がガン部３１０の噴射部２００の噴射口を開閉する力の大きさの情報を所定の頻度で取得する。 The second entity device 30 does not have to include the output unit 300. The gun part sensor 311 acquires information on the magnitude of the force with which the second entity E2 opens and closes the injection port of the injection part 200 of the gun part 310, for example, at a predetermined frequency.
　＜第２実施形態における塗装支援システムの処理概要＞
　次に、図３を用いて第２実施形態における塗装支援システムの処理概要について説明する。塗装支援システムは、まず第１エンティティＥ１の動作に基づいて、認識処理（図３／Ｐ１０）、動作取得処理（図３／Ｐ２０）、結果取得処理（図３／Ｐ３０）及び記録制御処理（図３／Ｐ４０）を実行する。 <Outline of processing of coating support system in second embodiment>
Next, a processing outline of the coating support system according to the second embodiment will be described with reference to FIG. The coating support system firstly recognizes a recognition process (FIG. 3/P10), a motion acquisition process (FIG. 3/P20), a result acquisition process (FIG. 3/P30) and a recording control process (FIG. 3) based on the motion of the first entity E1. 3/P40).
　その後、第２エンティティＥ２の動作に基づいて、受付処理（図３／Ｐ５０）、選択処理（図３／Ｐ６０）及び提供処理（図３／Ｐ７０）が実行されて、サーバ１０において計算処理（図３／Ｐ８０）及び決算処理（図３／Ｐ９０）が実行される。 After that, based on the operation of the second entity E2, the reception process (FIG. 3/P50), the selection process (FIG. 3/P60), and the provision process (FIG. 3/P70) are executed, and the calculation process (FIG. 3/P80) and settlement processing (FIG. 3/P90).
　＜認識処理＞
　認識処理において、認識部１０１は、第１エンティティＥ１から送信される特性データを受信することにより、特性データを認識する。 <Recognition processing>
In the recognition process, the recognition unit 101 recognizes the characteristic data by receiving the characteristic data transmitted from the first entity E1.
　＜受付処理＞
　受付処理において、受付部１０５は、第２エンティティＥ２から送信される要求データを受信することにより、特性データの入力を受け付ける。 <Reception processing>
In the acceptance process, the acceptance unit 105 accepts the input of the characteristic data by receiving the request data transmitted from the second entity E2.
　以上、本発明の実施形態について説明したが、本発明はこれに限定されない。本発明の趣旨を逸脱しない範囲で、種々の変更が可能である。 The embodiment of the present invention has been described above, but the present invention is not limited to this. Various modifications can be made without departing from the spirit of the present invention.
　例えば、噴射部センサ２０１が取得した噴射部２００に対する操作内容を示す情報及び、第１アーム部センサ２１１が取得した第１アーム部２１０の動作内容を示す情報から、第１エンティティの動作中の手ぶれなどによって生じた誤差などの不要な情報（ノイズ）を除去する機能は、動作取得部１０２が備えることとしてもよい。 For example, from the information indicating the operation content for the ejection unit 200 acquired by the ejection unit sensor 201 and the information indicating the operation content of the first arm unit 210 acquired by the first arm unit sensor 211, the camera shake during the movement of the first entity. The operation acquisition unit 102 may have a function of removing unnecessary information (noise) such as an error caused by the above.
　あるいは例えば、噴射部センサ２０１が取得した噴射部２００に対する操作内容を示す情報及び、第１アーム部センサ２１１が取得した第１アーム部２１０の動作内容を示す情報に基づいて、各第１アーム部リンク２１２及び各第１アーム部関節２１３のＸＹＺ軸方向の位置及び傾き、移動速度、加速度、塗料の吐出量、塗装対象とガンとの間の距離などを計算する処理は、第１エンティティ装置２０により行われてもよい。 Alternatively, for example, based on the information indicating the operation content of the ejection unit 200 acquired by the ejection unit sensor 201 and the information indicating the operation content of the first arm unit 210 acquired by the first arm unit sensor 211, each first arm unit The process of calculating the position and inclination of the link 212 and each first arm joint 213 in the XYZ axis directions, the moving speed, the acceleration, the discharge amount of the coating material, the distance between the coating target and the gun, and the like are performed by the first entity device 20. May be performed by.
　あるいは例えば、噴射部センサ２０１が塗装対象に対する噴射部２００の位置及び噴射軸線の角度を取得するように構成されていてもよい。この場合、第１アーム部センサ２１１は省略される。あるいは、第１アーム部２１０自体が省略されてもよい。 Alternatively, for example, the ejection unit sensor 201 may be configured to acquire the position of the ejection unit 200 and the angle of the ejection axis with respect to the coating target. In this case, the first arm sensor 211 is omitted. Alternatively, the first arm portion 210 itself may be omitted.
　あるいは例えば、第２実施形態における第２エンティティ装置３０の性能などの特性にあわせて、噴射部２００、第１アーム部２１０及び計測部２２０より受信した情報を補正する処理は、提供部１０７により行われてもよい。 Alternatively, for example, the processing of correcting the information received from the injection unit 200, the first arm unit 210, and the measurement unit 220 according to the characteristics such as the performance of the second entity device 30 in the second embodiment is performed by the providing unit 107. May be broken.
　また、第１エンティティ又は第２エンティティの何れか一方が人であり、他方が塗装装置であってもよい。 Also, either the first entity or the second entity may be a person and the other may be a coating device.
　１０１…認識部、１０２…動作取得部、１０３…結果取得部、１０４…記録制御部、１０５…受付部、１０６…選択部、１０７…提供部、１０８…決定部、１０９…決済部、１１０…サーバ記憶部、２００…噴射部。 101... Recognition unit, 102... Motion acquisition unit, 103... Result acquisition unit, 104... Recording control unit, 105... Reception unit, 106... Selection unit, 107... Provision unit, 108... Determination unit, 109... Settlement unit, 110... Server storage unit, 200... Injection unit.

Claims (6)

  1. 　第１エンティティによる塗装の特性を示す情報であって、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する認識部と、
    　前記第１エンティティによる噴射部を用いた塗装の動作の内容を示す情報であって、前記塗装対象に対する当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む動作データを取得する動作取得部と、
    　前記第１エンティティにより塗装された塗装対象の塗装結果を示す情報である結果データを取得する結果取得部と、
    　前記特性データ、前記動作データ及び前記結果データを含む塗装実績データを記憶部に記録する記録制御部と、
    　前記塗装の特性を指定する情報又は該塗装の特性を指定する情報及び前記塗装結果を指定する情報を含む要求データの第２エンティティからの入力を受け付ける受付部と、
    　前記受付部により受け付けられた前記要求データに含まれる前記塗装の特性を指定する情報に予め対応付けられた所定の第１基準を認識し、かつ該要求データに前記塗装結果を指定する情報が含まれる場合は該塗装結果を指定する情報に予め対応付けられた所定の第１基準を認識し、前記塗装実績データから、該塗装の特性を指定する情報及び該塗装の結果を指定する情報の何れか一方又は両方に対応付けられた該所定の第１基準の全部又は一部を満たす前記塗装実績データである適合データを選択する選択部と、
    　前記選択された適合データに含まれる前記動作データを前記第２エンティティに提供する提供部とを備えることを特徴とする塗装支援システム。     A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment;
    Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint. A motion acquisition unit that acquires motion data including at least one of the
    A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
    A recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
    A reception unit that receives input from the second entity of the request data including the information that specifies the characteristics of the coating or the information that specifies the characteristics of the coating and the information that specifies the coating result;
    Recognizing a predetermined first standard associated in advance with the information specifying the characteristics of the coating included in the request data received by the receiving unit, and including the information specifying the coating result in the request data If it is determined that the predetermined first standard associated with the information designating the coating result is recognized, any of the information designating the characteristic of the coating and the information designating the result of the coating from the coating performance data. A selection unit that selects conformity data that is the coating performance data that satisfies all or part of the predetermined first criterion associated with one or both of them;
    A coating support system, comprising: a providing unit configured to provide the second entity with the operation data included in the selected conformance data.
  2. 　第１エンティティによる塗装の特性を示す情報であって、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する認識部と、
    　前記第１エンティティによる噴射部を用いた塗装の動作の内容を示す情報であって、前記塗装対象に対する当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む動作データを取得する動作取得部と、
    　前記第１エンティティにより塗装された塗装対象の塗装結果を示す情報である結果データを取得する結果取得部と、
    　前記特性データ、前記動作データ及び前記結果データを含む塗装実績データを記憶部に記録する記録制御部と、
    　前記塗装の特性を指定する情報を含む要求データの第２エンティティからの入力を受け付ける受付部と、
    　前記塗装実績データから、前記要求データごとの所定の第１基準を満たす前記特性データ及び前記結果データの何れか一方又は両方を含む前記塗装実績データである適合データを選択する選択部と、
    　前記選択された適合データに含まれる前記動作データを前記第２エンティティに提供する提供部とを備え、
    　前記塗装実績データは、前記第１エンティティを特定する情報である第１エンティティ識別情報を含んでおり、
    　前記第２エンティティに前記適合データとして提供された前記動作データを含む前記塗装実績データに含まれる前記第１エンティティ識別情報により特定される前記第１エンティティ又はその関係者に対する報酬を決定する決定部と、
    　前記決定部が決定した前記第１エンティティ又はその関係者に対する前記報酬を決済する決済部とを備えることを特徴とする塗装支援システム。     A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment;
    Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint. A motion acquisition unit that acquires motion data including at least one of the
    A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
    A recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
    A reception unit that receives input from the second entity of request data including information that specifies the characteristics of the coating,
    A selection unit that selects, from the coating performance data, conforming data that is the coating performance data that includes one or both of the characteristic data and the result data that satisfy a predetermined first criterion for each request data,
    A providing unit for providing the operation data included in the selected conformance data to the second entity,
    The coating performance data includes first entity identification information that is information that identifies the first entity,
    A determining unit that determines a reward for the first entity or its related person identified by the first entity identification information included in the coating performance data including the operation data provided to the second entity as the matching data; ,
    And a settlement unit configured to settle the reward for the first entity or its related person determined by the determination unit.
  3. 　第１エンティティによる塗装の特性を示す情報であって、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する認識部と、
    　前記第１エンティティによる噴射部を用いた塗装の動作の内容を示す情報であって、前記塗装対象に対する当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む動作データを取得する動作取得部と、
    　前記第１エンティティにより塗装された塗装対象の塗装結果を示す情報である結果データを取得する結果取得部と、
    　前記特性データ、前記動作データ及び前記結果データを含む塗装実績データを記憶部に記録する記録制御部と、
    　前記塗装の特性を指定する情報を含む要求データの第２エンティティからの入力を受け付ける受付部と、
    　前記塗装実績データから、前記要求データごとの所定の第１基準を満たす前記特性データ及び前記結果データの何れか一方又は両方を含む前記塗装実績データである適合データを選択する選択部と、
    　前記選択された適合データに含まれる前記動作データを前記第２エンティティに提供する提供部とを備え、
    　前記塗装実績データは、前記第１エンティティを特定する情報である第１エンティティ識別情報を含んでおり、
    　前記選択部は、所定の頻度にて前記塗装実績データから所定の第１基準を満たす前記特性データ及び前記結果データの何れか一方又は両方を含む前記塗装実績データを前記適合データとして選択するように構成され、
    　前記適合データとして選択された前記塗装実績データに含まれる前記第１エンティティ識別情報により特定される前記第１エンティティ又はその関係者に対する報酬を決定する決定部と、
    　前記決定部が決定した前記第１エンティティ又はその関係者に対する前記報酬を決済する決済部とを備えることを特徴とする塗装支援システム。     A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment;
    Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint. A motion acquisition unit that acquires motion data including at least one of the
    A result acquisition unit that acquires result data, which is information indicating a coating result of a coating target coated by the first entity;
    A recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
    A reception unit that receives input from the second entity of request data including information that specifies the characteristics of the coating;
    A selection unit that selects, from the coating performance data, conforming data that is the coating performance data that includes one or both of the characteristic data and the result data that satisfy a predetermined first criterion for each of the request data;
    A providing unit that provides the operation data included in the selected conformance data to the second entity,
    The coating performance data includes first entity identification information that is information identifying the first entity,
    The selection unit selects the coating performance data including one or both of the characteristic data and the result data satisfying a predetermined first criterion from the coating performance data at a predetermined frequency as the compatible data. Composed,
    A determining unit that determines a reward for the first entity identified by the first entity identification information included in the coating performance data selected as the matching data or a person related to the first entity;
    And a settlement unit configured to settle the reward for the first entity or its related persons determined by the determination unit.
  4. 　第１エンティティによる塗装の特性を示す情報であって、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する認識部と、
    　前記第１エンティティによる噴射部を用いた塗装の動作の内容を示す情報であって、前記塗装対象に対する当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む動作データを取得する動作取得部と、
    　前記第１エンティティにより塗装された塗装対象の塗装結果を示す情報である結果データを取得する結果取得部と、
    　前記特性データ、前記動作データ及び前記結果データを含む塗装実績データを記憶部に記録する記録制御部と、
    　前記塗装の特性を指定する情報を含む要求データの第２エンティティからの入力を受け付ける受付部と、
    　前記塗装実績データから、前記要求データごとの所定の第１基準を満たす前記特性データ及び前記結果データの何れか一方又は両方を含む前記塗装実績データである適合データを選択する選択部と、
    　前記選択された適合データに含まれる前記動作データを前記第２エンティティに提供する提供部とを備え、
    　前記選択部は、動作内容が所定の第２基準を満たさない動作データを含む前記塗装実績データを前記適合データの選択の対象から除外するように構成されていることを特徴とする塗装支援システム。     A recognition unit for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment;
    Information indicating the content of the operation of coating using the spraying unit by the first entity, which is information on the position of the spraying unit and the angle of the spray axis with respect to the coating target, and the operation amount by the first entity regarding spraying of the paint. A motion acquisition unit that acquires motion data including at least one of the
    A result acquisition unit for acquiring result data, which is information indicating a coating result of a coating target coated by the first entity;
    A recording control unit for recording coating performance data including the characteristic data, the operation data and the result data in a storage unit;
    A reception unit that receives input from the second entity of request data including information that specifies the characteristics of the coating,
    A selection unit that selects, from the coating performance data, conforming data that is the coating performance data that includes one or both of the characteristic data and the result data that satisfy a predetermined first criterion for each request data,
    A providing unit for providing the operation data included in the selected conformance data to the second entity,
    The coating support system, wherein the selection unit is configured to exclude the coating result data including the operation data whose operation content does not satisfy a predetermined second criterion from the selection target of the compatible data.
  5. 　噴射部と記憶部とを備えるコンピューターシステムに、
    　第１エンティティによる塗装の特性を示す情報であって、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する認識処理と、
    　前記第１エンティティによる前記噴射部を用いた塗装の動作の内容を示す情報であって、当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む動作データを取得する動作取得処理と、
    　前記第１エンティティにより塗装された塗装対象の塗装結果を示す情報である結果データを取得する結果取得処理と、
    　前記特性データ、前記動作データ及び前記結果データを含む塗装実績データを前記記憶部に記録する記録制御処理と、
    　前記塗装の特性を指定する情報又は該塗装の特性を指定する情報及び前記塗装結果を指定する情報を含む要求データの第２エンティティからの入力を受け付ける受付処理と、
    　前記受付処理において受け付けられた前記要求データに含まれる前記塗装の特性を指定する情報に予め対応付けられた所定の第１基準を認識し、かつ該要求データに前記塗装結果を指定する情報が含まれる場合は該塗装結果を指定する情報に予め対応付けられた所定の第１基準を認識し、前記塗装実績データから、該塗装の特性を指定する情報及び該塗装の結果を指定する情報の何れか一方又は両方に対応付けられた該所定の第１基準の全部又は一部を満たす前記塗装実績データである適合データを選択する選択処理と、
    　前記選択された適合データに含まれる前記動作データを前記第２エンティティに提供する提供処理とを実行させることを特徴とする塗装支援プログラム。     In a computer system that includes an ejection unit and a storage unit,
    A recognition process for recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment;
    It is information showing the content of the operation of coating using the spraying unit by the first entity, and is one of information on the position of the spraying unit, the angle of the spray axis, and the amount of operation by the first entity related to spraying the paint. Operation acquisition process for acquiring operation data including at least one,
    A result acquisition process for acquiring result data, which is information indicating a painting result of a painting target painted by the first entity;
    A recording control process of recording coating performance data including the characteristic data, the operation data and the result data in the storage unit,
    An acceptance process for accepting an input from the second entity of request data including the information designating the characteristic of the coating or the information designating the characteristic of the coating and the information designating the coating result;
    Recognizing a predetermined first standard associated in advance with the information specifying the characteristics of the coating included in the request data received in the reception process, and including the information specifying the coating result in the request data If it is determined that the predetermined first standard associated with the information designating the coating result is recognized, any of the information designating the characteristic of the coating and the information designating the result of the coating from the coating performance data. A selection process of selecting conformity data that is the coating performance data that satisfies all or part of the predetermined first criterion associated with one or both of them;
    A coating assistance program, characterized by causing a providing process for providing the second entity with the operation data included in the selected conformance data.
  6. 　噴射部と記憶部とを備えるコンピューターシステムが実行する方法であって、
    　第１エンティティによる塗装の特性を示す情報であって、塗装対象の形状の特性、塗料の特性又は周辺環境の特性を少なくとも含む、特性データを認識する認識工程と、
    　前記第１エンティティによる前記噴射部を用いた塗装の動作の内容を示す情報であって、当該噴射部の位置及び噴射軸線の角度並びに塗料の噴射に関する当該第１エンティティによる操作量の情報のうち１つを少なくとも含む動作データを取得する動作取得工程と、
    　前記第１エンティティにより塗装された塗装対象の塗装結果を示す情報である結果データを取得する結果取得工程と、
    　前記特性データ、前記動作データ及び前記結果データを含む塗装実績データを前記記憶部に記録する記録制御工程と、
    　前記塗装の特性を指定する情報又は該塗装の特性を指定する情報及び前記塗装結果を指定する情報を含む要求データの第２エンティティからの入力を受け付ける受付工程と、
    　前記受付工程において受け付けられた前記要求データに含まれる前記塗装の特性を指定する情報に予め対応付けられた所定の第１基準を認識し、かつ該要求データに前記塗装結果を指定する情報が含まれる場合は該塗装結果を指定する情報に予め対応付けられた所定の第１基準を認識し、前記塗装実績データから、該塗装の特性を指定する情報及び該塗装の結果を指定する情報の何れか一方又は両方に対応付けられた該所定の第１基準の全部又は一部を満たす前記塗装実績データである適合データを選択する選択工程と、
    　前記選択された適合データに含まれる前記動作データを前記第２エンティティに提供する提供工程とを含むことを特徴とする塗装支援方法。
          A method executed by a computer system including an ejection unit and a storage unit,
    A recognition step of recognizing the characteristic data, which is information indicating the characteristic of the coating by the first entity and includes at least the characteristic of the shape of the object to be coated, the characteristic of the coating, or the characteristic of the surrounding environment;
    It is information showing the content of the operation of coating using the spraying unit by the first entity, and is one of information on the position of the spraying unit, the angle of the spray axis, and the amount of operation by the first entity related to spraying the paint. A motion acquisition step of acquiring motion data including at least one
    A result obtaining step of obtaining result data which is information indicating a painting result of a painting target painted by the first entity;
    A recording control step of recording coating performance data including the characteristic data, the operation data and the result data in the storage unit,
    A receiving step of receiving input from the second entity of request data including the information specifying the characteristics of the coating or the information specifying the characteristics of the coating and the information specifying the coating result;
    Recognizing a predetermined first standard associated in advance with the information specifying the characteristics of the coating included in the request data received in the receiving step, and including the information specifying the coating result in the request data If it is determined that the predetermined first standard associated with the information designating the coating result is recognized, any of the information designating the characteristic of the coating and the information designating the result of the coating from the coating performance data. A selection step of selecting conformity data that is the coating performance data that satisfies all or part of the predetermined first criterion associated with one or both of them;
    And a step of providing the second entity with the operation data included in the selected conformance data.
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Citations (7)

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JPH07116563A (en) * 1993-10-20 1995-05-09 Kiyooritsu Tec:Kk Method and device for automatic coating
JPH0889859A (en) * 1994-09-27 1996-04-09 Kinichi Ogawa Indication of coating robot action and device thereof
JP2002086031A (en) * 2000-09-18 2002-03-26 Hitachi Constr Mach Co Ltd Painting indicating information preparing assistance system
JP2009136860A (en) * 2007-10-31 2009-06-25 Nordson Corp Spray gun having display and control members
JP2011045951A (en) * 2009-08-26 2011-03-10 Asahi Sunac Corp Teaching device and teaching method for coating robot
JP2014071557A (en) * 2012-09-28 2014-04-21 Encourage Technologies Co Ltd Work execution support device, work execution support method, and program
JP2017179877A (en) * 2016-03-30 2017-10-05 株式会社熊谷組 Concrete spraying operation support device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07116563A (en) * 1993-10-20 1995-05-09 Kiyooritsu Tec:Kk Method and device for automatic coating
JPH0889859A (en) * 1994-09-27 1996-04-09 Kinichi Ogawa Indication of coating robot action and device thereof
JP2002086031A (en) * 2000-09-18 2002-03-26 Hitachi Constr Mach Co Ltd Painting indicating information preparing assistance system
JP2009136860A (en) * 2007-10-31 2009-06-25 Nordson Corp Spray gun having display and control members
JP2011045951A (en) * 2009-08-26 2011-03-10 Asahi Sunac Corp Teaching device and teaching method for coating robot
JP2014071557A (en) * 2012-09-28 2014-04-21 Encourage Technologies Co Ltd Work execution support device, work execution support method, and program
JP2017179877A (en) * 2016-03-30 2017-10-05 株式会社熊谷組 Concrete spraying operation support device

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