WO2018185891A1 - Coating film state analysis device and film thickness measurement device - Google Patents

Coating film state analysis device and film thickness measurement device Download PDF

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Publication number
WO2018185891A1
WO2018185891A1 PCT/JP2017/014278 JP2017014278W WO2018185891A1 WO 2018185891 A1 WO2018185891 A1 WO 2018185891A1 JP 2017014278 W JP2017014278 W JP 2017014278W WO 2018185891 A1 WO2018185891 A1 WO 2018185891A1
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WO
WIPO (PCT)
Prior art keywords
coating
painting
area
surface data
work
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PCT/JP2017/014278
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French (fr)
Japanese (ja)
Inventor
皓之 栢場
Original Assignee
株式会社ニコン
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Publication date
Application filed by 株式会社ニコン filed Critical 株式会社ニコン
Priority to PCT/JP2017/014278 priority Critical patent/WO2018185891A1/en
Publication of WO2018185891A1 publication Critical patent/WO2018185891A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/27—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection ; circuits for computing concentration

Definitions

  • the present invention relates to a coating film state analyzing apparatus and a film thickness measuring apparatus.
  • Patent Document 1 A technique for measuring the film thickness of a coating film by pressing a measuring element against a painted surface is known.
  • the coating film state analyzing apparatus includes an acquisition unit that acquires surface data of a region to be coated, surface data that has been painted from the surface data acquired by the acquisition unit, and a painting operation. Based on the classification unit that classifies the previous surface data, the surface data that has been painted and classified by the classification unit, and the surface data before the painting operation, the coating film formed in the coating target region An analysis unit for analyzing the state.
  • the surface data of the coating target area is surface data including a painted work area and a pre-painting work area
  • the classification Preferably, the unit extracts the surface data of the painted area and the surface data of the pre-painting area from the surface data acquired by the acquiring unit, and classifies the extracted surface data.
  • the analysis unit includes the surface data in which at least a part of the region includes surface data indicating the same position on the object to be coated.
  • the acquisition unit is before the painting work on the painting target area, after the painting work, or during the painting work on the painting work area.
  • the surface data of the paint target area at at least any two time points among a plurality of different time points in the above are obtained, and the classification unit obtains the surface data of the paint target area at the at least any two time points.
  • the analysis unit For each of the above, it is divided into the surface data of the painted work area and the surface data of the area before the painted work, the analysis unit, the surface data of the painted work area of one of the at least any two points of time, It is preferable to analyze the film thickness state of the coating film formed in the coating target area based on the surface data of the other area before the painting operation.
  • the surface data of one of the painted work areas at one of the at least two time points and the surface of the other pre-painting work area The data preferably includes surface data at least partially showing the same position on the object to be painted.
  • the surface data acquired by the acquisition unit is shape data of the coating target region. It is preferable.
  • the shape data of the coating target area acquired by the acquisition unit are all three-dimensional shapes expressed in the same coordinate system. It is data and it is preferable that the said analysis part acquires the film thickness information of the coating film formed in the said coating object area
  • the classification unit extracts a region of the paint worker from the shape data acquired by the acquisition unit, It is preferable to extract shape data of a painted work area and shape data of a pre-painting work area based on the area of the paint worker.
  • the classification unit in the coating film state analyzing apparatus according to any one of the sixth to eighth aspects, the classification unit further includes a storage unit that stores shape data of the coating target region.
  • the acquisition unit is configured to display the color of the coating target region indicated by the shape data of the coating target region. It is preferable that the data is acquired, and the classification unit extracts shape data of the painted work area and shape data of the pre-paint work area based on color distribution information obtained from the color data.
  • the painted work area is an area before the paint applied in the painting work is dried. It is preferable to contain.
  • the film thickness measuring apparatus is configured to acquire the shape data of the object to be painted repeatedly during the painting operation, and based on the shape data acquired by the acquisition unit, the coating object And a calculating unit that calculates the film thickness of the coating film formed on.
  • the calculation unit calculates the film thickness based on a difference between a plurality of shape data acquired at different times. Is preferred.
  • FIG. 1 is a diagram for explaining a coating system according to the first embodiment.
  • FIG. 2 is a figure which shows typically the mode at the time of the painting operation
  • work using the coating system by 1st Embodiment. 1 and 2 show a hangar 2 in which an aircraft 11 is stored as an example of an environment to which the coating film state analysis apparatus according to the first embodiment is applied.
  • the hangar 2 is a facility where the aircraft 11 is painted and maintained.
  • the hangar 2 is provided with a gondola 3 for an operator 4 to enter and perform a painting operation, a measuring device 10, a marker 8, a coating auxiliary device control unit 1, a display device 100, and a coating device 5. It is done.
  • the coating auxiliary device control unit 1 includes a coating film state analyzing device 20 and a main body 30 as described later with reference to FIG.
  • the coating film state analyzing apparatus 20 analyzes the state of the coating film formed on the object to be coated.
  • the main body 30 of the control unit 1 for painting assistance apparatus provides information for assisting the painting work so that the painting work is appropriately performed on the aircraft 11 based on the result of analysis by the coating film state analysis device 20. Generate and output to the display device 100.
  • the worker 4 performs the painting work according to the information output and displayed on the display device 100.
  • the painting auxiliary device control unit 1 and the display device 100 are arranged at different locations. However, the painting auxiliary device control unit 1 and the display device 100 are integrated in the present invention. Also included are The coating auxiliary device control unit 1 includes the coating film state analyzing device 20 and the main body 30. However, in the present invention, the coating film state analyzing device 20 and the main body 30 are separate. It doesn't matter. The coating film state analyzing apparatus 20 may be incorporated in the measuring apparatus 10. Further, in the present embodiment, the measuring device 10 is disposed in the vicinity of the gondola 3, the painting auxiliary device control unit 1 and the display device 100 are disposed in the gondola 3, and the marker 8 is disposed on the beam of the hangar 2. ing. However, the present invention is not limited to such an arrangement relationship. In addition, when the worker 4 performs the painting work without using the gondola 3, for example, when the painting work is performed while standing on the ground at the work site, the coating state analysis apparatus can be applied.
  • the gondola 3 is configured to be moved to a desired position by power generated from a drive unit (not shown) controlled by an operation by the worker 4 or the like.
  • the worker 4 appropriately moves the gondola 3 along the painting target surface of the aircraft 11 to be painted.
  • the operator 4 operates the painting device 5 to perform the painting work.
  • one gondola 3 is shown to simplify the drawing, but a plurality of gondolas may be provided according to the size of the aircraft 11 and the like.
  • the coating device 5 is, for example, a spray device (spray gun), and a nozzle is attached to the tip.
  • the painting device 5 is connected to a paint supply device (not shown) (paint tank, paint supply pump, etc.) via a hose 6, and the paint supply device is operated by operating a trigger disposed in the painting device 5.
  • the paint supplied from is discharged (sprayed).
  • the nozzles can be exchanged, and the paint application pattern (paint discharge pattern) can be changed by replacing the nozzles with different shapes of the parts to which the paint is discharged.
  • the measurement apparatus 10 measures the distance from the measurement apparatus 10 to the measurement object in a non-contact manner with respect to the measurement object by irradiating the measurement object with light and receiving the light reflected from the measurement object.
  • the measurement device 10 is a laser radar device that measures distance by the Time Of Flight method, and uses laser light that has been frequency-modulated.
  • the measuring apparatus 10 irradiates the aircraft 11 with laser light whose frequency changes with time.
  • the measurement device 10 calculates the distance between the measurement device 10 and the measurement point of the aircraft 11 based on the frequency difference between the reflected laser light reflected from the aircraft 11 and the reference laser light.
  • the measurement apparatus 10 may calculate the distance between the measurement apparatus 10 and the measurement point based on the phase difference of the intensity change (amplitude change) between the reflected laser light and the reference laser light.
  • a mirror may be arranged to irradiate the measurement target position with the measurement light.
  • the measuring object 10 can be irradiated with the laser beam from the measuring apparatus 10 via the mirror, and the reflected light from the measuring object can also be detected by the measuring apparatus 10 via the mirror.
  • the heel marker 8 is arranged at a known position in the hangar 2.
  • the position of the marker 8 serves as a reference position for specifying the positions of the measuring device 10 and the aircraft 11 in the hangar 2.
  • the plurality of measuring devices 10 installed in the hangar 2 determine the relative position and angle of the measuring device 10 with respect to the marker 8 by measuring the coordinates of the marker 8. Thereby, the spatial position of the measuring apparatus 10 itself is obtained.
  • FIG. 1 by setting markers 8 at a plurality of locations in the hangar 2 and using the position of each marker 8 in the hangar 2 as a reference, the positions of the measuring device 10 and the measurement points are obtained over a wide range. Is possible.
  • the measuring device 10 uses the horizontal and vertical angles of the laser beam to be irradiated and the spatial position information of the measuring device 10 itself.
  • the spatial position of the measurement point in the aircraft 11 in the hangar 2 is calculated.
  • a coordinate system for representing the spatial position an orthogonal coordinate system or a polar coordinate system is used.
  • the measurement apparatus 10 performs measurement along the surface of the aircraft 11 by sequentially changing the irradiation angle of the laser light in the horizontal direction and the vertical direction (azimuth angle and elevation angle or depression angle).
  • the measurement apparatus 10 acquires point cloud data representing the spatial position of each measurement point of the aircraft 11 by scanning (scanning) the irradiated laser light while changing the azimuth angle, the elevation angle, or the depression angle.
  • the measurement device 10 corrects the point cloud data based on information indicating the mounting position of the mirror and the normal direction of the reflecting surface of the mirror, and correct position information is obtained. Can be calculated.
  • the measuring apparatus 10 generates shape data representing the shape of the aircraft 11 based on the obtained plurality of point cloud data.
  • one measuring device 10 is shown to simplify the drawing, but a plurality of measuring devices 10 are arranged around the aircraft 11 in order to measure the entire surface of the aircraft 11. Also good.
  • the measuring device 10 is disposed, for example, in the vicinity of the gondola 3, a movable carriage, a pedestal provided in a fixed manner, and the like.
  • the measuring device 10 may be arranged above or below the aircraft 11 or on a self-propelled rail.
  • the operator 4 may be made to wear the measuring device 10.
  • the measuring device 10 performs distance measurement in each state before painting and after painting, and includes three-dimensional position information as spatial position information of the measuring points in the hangar 2 including the distance between the measuring device 10 and the measuring points. To get. And the measuring apparatus 10 transmits the acquired three-dimensional position information to the control unit 1 for auxiliary coating apparatuses by wireless communication or the like.
  • the painting auxiliary device control unit 1 acquires three-dimensional position information of a plurality of measurement points in the painting target area of the aircraft 11 from the measurement device 10.
  • the control unit 1 for the coating film assisting device includes the three-dimensional position information of the measurement points obtained by the measurement device 10 before painting and the measurement points obtained by the measurement device 10 after painting. Get 3D position information.
  • the difference between these three-dimensional position information is a value corresponding to the thickness of the coating film (or the thickness of the paint) formed at the measurement point. For this reason, the coating auxiliary device control unit 1 obtains the difference between the three-dimensional position information before painting and the three-dimensional position information after painting at the measurement points included in the respective painting target areas before painting and after painting. Thus, the film thickness of the coating film formed at the measurement point can be calculated.
  • the control unit 1 can calculate the film thickness of the coating film formed at the measurement point by obtaining the difference between the measurement results before and after painting.
  • the coating auxiliary device control unit 1 calculates the film thickness of the coating film at each measurement point of the aircraft 11 and generates film thickness distribution information regarding the film thickness distribution of the coating film.
  • the measuring device 10 obtains three-dimensional position information at each time before painting, during painting, and after painting by measuring the area near the area where the worker 4 is performing the painting work as needed. Yes.
  • the coating auxiliary device control unit 1 can appropriately acquire the film thickness of the coating film formed by painting during the painting operation.
  • the film thickness of the coating film was obtained from the difference between the distance from the measuring device 10 to the measuring point before painting and the distance from the measuring device 10 to the measuring point after painting. 1 may acquire the film thickness of the coating film from the difference between the shape data of the painting target area before painting of the aircraft 11 obtained from the measuring apparatus 10 and the shape data of the painting target area after painting.
  • the coating auxiliary device control unit 1 predicts the shape change of the coating target based on the temperature change before and after coating in the coating target region, and from the measuring device 10 The acquired three-dimensional position information before painting may be corrected. Then, the coating auxiliary device control unit 1 may calculate the film thickness of the coating film based on the corrected three-dimensional position information before painting and three-dimensional position information after painting. Further, the measuring device 10 measures the distance before painting only for the most recently painted range, measures the distance of the painted range immediately after painting, and the painting auxiliary device control unit 1 performs the painting before and after painting. You may make it calculate the film thickness of a coating film from each measurement result.
  • the measuring device 10 measures the three-dimensional position of the coating device 5 with reference to the measuring device 10 in addition to measuring the three-dimensional position of the measurement point in the coating target area. Thereby, information related to the position and posture of the coating apparatus 5 is acquired.
  • the information related to the posture of the coating apparatus 5 is, for example, information related to the orientation of the nozzle of the coating apparatus 5 and can be acquired by measuring a three-dimensional position at a plurality of locations of the coating apparatus 5.
  • the measuring apparatus 10 transmits information related to the acquired position and orientation of the painting apparatus 5 to the painting auxiliary apparatus control unit 1 by wireless communication or the like.
  • a distance sensor and an inclination sensor may be provided in the coating apparatus 5 instead of performing measurement related to the position and orientation of the coating apparatus 5 by the measuring apparatus 10.
  • the distance sensor measures the distance from the coating device 5 to the measurement point, and the inclination sensor measures the posture of the coating device 5.
  • the measuring device 10 can also be configured to include an imaging device (not shown).
  • the measuring device 10 causes the imaging device to perform imaging, and generates image data including color information of a painting target.
  • the measurement apparatus 10 is configured such that the optical axis of the optical system that measures the three-dimensional position of the measurement point and the optical system that captures the captured image are the same, and performs distance measurement and imaging simultaneously. Thereby, color information is acquired for each measurement point in association with the three-dimensional position information of the measured measurement point. That is, the measuring apparatus 10 generates three-dimensional position information of the object to be painted and image data corresponding to the three-dimensional position information, and stores the three-dimensional position information and image data of each measurement point in association with each other in an internal memory or the like.
  • another imaging device may be provided, and image data having color information may be acquired by the imaging device.
  • the measuring apparatus 10 transmits the acquired image data to the painting auxiliary apparatus control unit 1 by wireless communication or the like.
  • the painting auxiliary device control unit 1 has, for example, an arithmetic processing circuit such as a CPU and a memory such as a ROM and a RAM, and implements its function by executing a predetermined program. Further, the painting auxiliary device control unit 1 acquires painting device information related to the painting device 5. Specifically, the painting apparatus information can be acquired by a user interface (not shown).
  • the coating device information is, for example, discharge information that is information on the type of nozzle of the coating device 5, the discharge amount and discharge distribution of the paint discharged (spouted) from the nozzle, and the like.
  • the coating auxiliary device control unit 1 performs work information on the coating work to be performed by the coating worker based on the film thickness distribution information, the coating device information, and the target film thickness information that is information on the film thickness of the coating film to be formed. Alternatively, control information to be supplied to the automatic coating apparatus is generated. Moreover, the coating auxiliary device control unit 1 generates image data for displaying a film thickness distribution image that is an image representing the film thickness distribution information and a work instruction image that is an image instructing work. The painting auxiliary device control unit 1 transmits the generated image data (image) to the display device 100 by wireless communication or the like.
  • control unit 1 for auxiliary coating apparatuses gives work information or control information supplied to the automatic coating apparatus based on the coating apparatus information and the target film thickness information. You may make it produce
  • the display device 100 is a projector that projects and displays an image, for example, and displays an image based on the image data transmitted from the control unit 1 for painting assistance device.
  • the display device 100 projects and displays an image on the surface to be coated based on the image data output by the painting auxiliary device control unit 1.
  • the worker 4 can perform the painting work according to the work instruction image displayed by the display device 100.
  • one display device 100 is shown to simplify the drawing, but in order to project an image on the entire surface of the aircraft 11, a plurality of display devices 100 are arranged around the aircraft 11. You may arrange in.
  • the display device 100 is disposed at a position near the gondola 3, a movable carriage, a fixed base, a position near the beam or column of the hangar 2, and the like. Note that the display device 100 may be provided in the measurement device 10.
  • the display device 100 projects a work instruction image relating to the painting work onto the surface to be painted, thereby instructing the worker 4 to perform the painting work.
  • a CRT a liquid crystal display device, or the like may be used as the display device 100.
  • the worker 4 may wear a head mounted display (HMD) as the display device 100 and present the worker 4 with a work instruction image related to the painting work. You may make it provide the tablet terminal etc. which have a function as a control unit for painting auxiliary
  • HMD head mounted display
  • FIG. 3 is a block diagram for explaining an example of the configuration of the control unit 1 for the auxiliary painting apparatus according to the first embodiment.
  • FIG. 3 shows an example in which the coating auxiliary device control unit 1 includes a coating film state analyzing device 20 and a main body 30 and outputs image data to the display device 100.
  • control information may be supplied to the automatic coating apparatus as described above.
  • the coating film state analysis apparatus 20 includes a surface data acquisition unit 12, a classification unit 13, a storage unit 14, and an analysis unit 15.
  • the main body 30 includes a film thickness information acquisition unit 40, a paint state determination unit 41, a storage unit 50, a work information generation unit 60, and an image generation unit 70.
  • the surface data acquisition unit 12 acquires the surface data of the painting target area measured by the measuring device 10.
  • the surface data of the painting target area includes at least shape data of the painting target area generated from point cloud data of the painting target area, for example.
  • the surface data of the painting target area is data including three-dimensional position information of a plurality of measurement points in the painting target area.
  • the surface data acquisition unit 12 acquires time information related to the time when the surface data is acquired from the measurement device 10. For example, the surface data acquisition unit 12 acquires surface data of the painting target area at two points in time before and after the painting work for the same painting target area.
  • the measuring device 10 is fixed to the gondola 3. In such an arrangement, when the painting operation is performed so that the position of the gondola 3 is fixed during the painting operation, the surface data of the painting target region at the two points in time are necessarily in the same painting target region. It becomes.
  • the classification unit 13 classifies the surface data of the painting target area acquired by the surface data acquisition unit 12 into surface data before the painting operation and surface data after the painting operation.
  • the classification of the surface data before the painting work and the surface data after the painting work is performed, for example, by the following procedure.
  • shape data to be painted is stored in advance.
  • the shape data of the painting target is, for example, design data (CAD data) of the aircraft 11 that is the painting target.
  • the measurement device 10 measures the three-dimensional position of each measurement point in the painting target area of the aircraft 11 during the painting operation. At that time, the measuring apparatus 10 measures the three-dimensional position including the worker who is performing the painting work.
  • the classification unit 13 specifies the position of the worker based on the three-dimensional position information of the worker.
  • the classification unit 13 sets the surface data located downstream in the painting work from the identified worker position as the surface data before the painting work, and the upstream surface data in the painting work as the surface data after the painting work. Classify surface data with.
  • upstream refers to the opposite side of the traveling direction of the painting work with respect to the position where the painting worker is present during the painting work
  • downstream means This refers to the direction in which the painting work proceeds with reference to the position where the painting worker is present during the painting work. This specific method will be described with reference to FIG.
  • FIG. 4 is a diagram showing a scan path (scan path) 111 of measurement by the measuring apparatus 10 performed during the painting operation.
  • the area estimated to have been completed by the painting worker 4 is painted on the painting work area 110 adjacent to the painting worker 4. Operate to measure in real time while working. Therefore, in the present embodiment, when the painting work proceeds from the left side (upstream side) to the right side (downstream side) in FIG. 4, the measuring apparatus 10 works on the left side area and the right side area with respect to the painting worker 4. Measure including the area where the person is.
  • the painter 4 while the previous measurement area is memorized, the painter 4 is tracked and the position of the painter 4 is always grasped, or the painter 4 is painted based on an empirically known work speed.
  • the current measurement area is determined while estimating the position of the operator 4.
  • the measuring apparatus 10 is based on the estimated information of the range which the worker 4 can paint without moving, from the upstream side to the downstream side with the position (or estimated position) of the coating worker 4 as the center as shown in FIG. And measure each measurement point of the painting target area 110.
  • Each measurement point exists on the scan path 111 indicated by a dotted line in FIG. Further, the measuring apparatus 10 sequentially measures the three-dimensional position coordinates at the measurement points along the arrow direction indicated by the scan path 111.
  • FIG. 5 is a diagram for explaining processing by the coating film state analyzing apparatus 20 according to the first embodiment.
  • (a) and (b) schematically show the measurement object of the measurement apparatus 10 at the first and second time points different from each other.
  • 80a indicates the range measured by the measuring apparatus 10, and indicates the range of the surface data acquired by the surface data acquisition unit 12.
  • 81a the position of the worker 4 is specified by the classification unit 13, and based on the estimated information of the position of the worker 4 and the range in which the worker 4 can perform the painting work without moving as described above, This is the estimated area.
  • 82a is an area located in the direction of work progress of the operator 4 with respect to 81a, and is an area where the surface data is measured by the measuring apparatus 10.
  • This area is estimated by the classification unit 13 as before the painting work.
  • Reference numeral 83a denotes an area located in the direction opposite to the work progressing direction of the coating worker 4 with respect to 81a, and is an area measured by the measuring device 10.
  • This region is estimated after the painting operation by the classification unit 13.
  • the classification unit 13 stores the measurement result of the region 82a in the storage unit 14 as the surface data before the painting operation, and stores the measurement result of the region 83a in the storage unit 14 as the surface data after the painting operation. .
  • 80 b indicates a range measured by the measurement device 10 when a predetermined time has elapsed from the time shown in FIG. 5A, and the surface data acquired by the surface data acquisition unit 12. Indicates the range.
  • Reference numeral 81b denotes an area where the worker 4 is specified by the classification unit 13 and is considered to be in the painting work.
  • 82b is an area which is located in the painting work progressing direction of the painting worker 4 with respect to 81b and is measured after a predetermined time from the time shown in (a). This area is estimated by the classification unit 13 as before the painting work.
  • Reference numeral 83b denotes an area which is located in a direction opposite to the work progressing direction of the worker 4 with respect to 81b and is measured after a predetermined time from the time shown in (a). This region is estimated after the painting operation by the classification unit 13.
  • the area indicated by 82a in (a) is the same area as the area indicated by 83b in (b). That is, 82a before the painting work at the time of (a) is an area 83b after the painting work at the time of (b) because the painting work has progressed over time.
  • the surface data of 82a of (a) is stored in the storage unit 14 before the painting operation, and the corresponding surface data of 83b of (b) is stored in the storage unit 14 after the painting operation.
  • the storage unit 14 stores surface data and time information related to the time when the surface data was acquired in association with each other.
  • the analysis unit 15 analyzes the state of the coating film in the coating target region based on the surface data before and after the painting operation classified by the classification unit 13 and stored in the storage unit 14. That is, the analysis unit 15 determines that the coating film is normal in the coating target area based on the detection results such as the positional information difference between the surface data before the painting work and the surface data after the painting work in the same area, and the color difference of the coating film. It is analyzed whether or not it is formed. Moreover, the analysis part 15 produces
  • the film thickness distribution information output from the coating film state analyzing apparatus 20 is input to the film thickness information acquisition unit 40.
  • the film thickness distribution information is information regarding the film thickness distribution of the coating film formed on the object to be coated as described above.
  • the coating state determination unit 41 determines whether each of the measurement points in the coating target area is a painted area or an unpainted area. Moreover, even if it is a painted area
  • the coating state determination unit 41 generates insufficient film thickness distribution information, which is information about a region where the film thickness of the coating film is insufficient and the insufficient thickness of the coating film, from the film thickness distribution information after coating on the surface to be coated. .
  • the storage unit 50 stores the film thickness distribution information input to the film thickness information acquisition unit 40.
  • the storage unit 50 stores coating apparatus information related to the coating apparatus 5 and information (such as target film thickness information) related to the film thickness of the coating film to be formed by an input operation by the operator 4 or the like.
  • the storage unit 50 stores discharge information for a plurality of nozzles as the coating apparatus information.
  • the storage unit 50 includes a semiconductor memory such as a RAM and a storage medium such as a hard disk device.
  • the work information generation unit 60 generates work information that is information related to the painting work to be performed on the painting target in accordance with the target film thickness information, the film thickness distribution information, the coating apparatus information, and the like.
  • the work information is, for example, information related to the target position of the paint sprayed by the coating apparatus 5, information related to the position of the coating apparatus 5 and the direction of the nozzle, information related to the speed (speed and direction) of moving the coating apparatus 5.
  • the work information generation unit 60 includes a position calculation unit 61 and a transition calculation unit 62.
  • the position calculation unit 61 calculates a target position for spraying the paint by the coating apparatus 5 on the object to be coated. Further, if the coating apparatus 5 is a brush, the position calculation unit 61 calculates a target position to be brought into contact with the brush aircraft 11. Moreover, the position calculation part 61 calculates the site
  • the position calculation unit 61 calculates a target position where the coating apparatus 5 performs coating and a target posture of the coating apparatus 5 at that time based on information on the discharge amount and the discharge distribution included in the coating apparatus information. More specifically, the position calculating unit 61 calculates the spray target position with respect to the coating target and the position and orientation of the coating apparatus 5 using the information on the insufficient film thickness distribution information, the discharge amount and the discharge distribution, and the like. Note that the position calculation unit 61 may calculate the spray target position in the shape data generated by the measurement apparatus 10. Further, the position calculation unit 61 may adjust the spray target position according to the shape and size of the painting target.
  • the transition calculation unit 62 calculates the spray target position for each time in a series of steps of the paint spraying operation based on, for example, the painting apparatus information. That is, the transition calculation unit 62 calculates the temporal transition of the position of the coating apparatus 5 when performing the painting work.
  • the transition calculation unit 62 includes information on the discharge amount of the paint discharged from the nozzles used in the coating apparatus 5 and information on its discharge distribution, and the film thickness calculated by the analysis unit 15 and the film thickness at the time of design.
  • the speed at which the coating apparatus 5 is moved is calculated based on information relating to the difference from (target film thickness).
  • the speed at which the coating apparatus 5 is moved is, for example, the moving distance per unit time of the coating apparatus 5 with respect to the coating target.
  • the work information generation unit 60 determines the paint spray target position, the position of the coating apparatus 5, the moving speed, and the like in accordance with the state of the film thickness of the coating film formed on the painting target surface by the painting work. Generate work information on the painting work to be performed.
  • the work information generation unit 60 may generate the work information in consideration of the ambient temperature and humidity of the object to be coated, the characteristics of the paint, the overall work time, and the like.
  • the work information generated by the work information generation unit 60 is output to the image generation unit 70.
  • the image generation unit 70 generates image data for displaying a film thickness distribution image and a work instruction image.
  • the image generation unit 70 is, for example, image data for displaying a film thickness distribution image and a work instruction image superimposed on the coating target surface based on the film thickness distribution information, the work information, and the shape data of the coating target. Is generated.
  • the image data generated by the image generation unit 70 is generated based on the position and orientation of the display device 100 with respect to the painting target surface. For example, information on the position and orientation of the display device 100 is input to the image generation unit 70, and the image generation unit 70 displays a film thickness distribution image, work instruction image, and the like to be displayed based on the information on the position and orientation of the display device 100. Image data is generated.
  • the film thickness distribution image and the work instruction image can be appropriately superimposed and displayed on the painting target.
  • the image data generated by the image generation unit 70 is output to the display device 100 by wireless communication or the like. Note that only one of the film thickness distribution image and the work instruction image may be displayed without being superimposed.
  • the display device 100 can display various images based on the image data generated by the image generation unit 70. For example, the display device 100 displays a film thickness distribution image in which the film thickness of the coating film is classified stepwise and color-coded. Moreover, you may make it the control unit 1 for coating assistance apparatuses display the film thickness value of the coating film for every place with the display apparatus 100. FIG. Further, the painting auxiliary device control unit 1 determines an optimum nozzle from the replaceable nozzles, generates an image for guiding the replacement of the nozzle of the painting device 5, and causes the display unit 100 to display the image. Good.
  • FIG. 6 is a diagram illustrating an example of a display image by the display device 100 according to the first embodiment.
  • the film thickness distribution image and the work instruction image are superimposed and displayed on the painting target surface of the aircraft 11. These images are projected and displayed in alignment with the painting target surface of the aircraft 11.
  • the colors are displayed according to the film thickness of the coating film.
  • Regions 101 and 102 are regions whose film thickness is within a predetermined range from the target film thickness.
  • the region 102 is a region whose film thickness is thinner than the film thickness range of the region 101.
  • the region 103 is a region where the film thickness is thinner than the film thickness range of the region 102 and falls below a predetermined range from the target film thickness.
  • the color difference is expressed using dots and hatching.
  • the pointer 90 shown in FIG. 6 is an image based on the work instruction image, and indicates the target position where the spraying of the paint is started.
  • the pointer 90 instructs the spraying target position to the operator 4 by moving at a speed corresponding to the film thickness to be formed by spraying in the direction indicated by the arrow 91.
  • Various information such as a region where the film thickness of the coating film is insufficient, a spray target position of the coating apparatus 5, and a speed at which the coating apparatus 5 is moved is displayed on the coating target surface.
  • the operator 4 can perform the paint work while adjusting the position and orientation of the coating apparatus 5 while confirming the spray target position.
  • the operator 4 can appropriately paint the aircraft 11 by moving the painting device 5 according to the movement of the pointer 90. For example, when the discharge amount of the paint discharged from the coating apparatus 5 is constant, the film thickness of the coating film formed by the painting operation can be adjusted by adjusting the moving speed of the pointer 90. .
  • the operator 4 is made to spray the paint from the coating apparatus 5 onto the object to be coated for the time when the pointer 90 is displayed in advance, and when the pointer 90 disappears, the operation of stopping the spraying of the coating apparatus 5 is performed.
  • the operator 4 is made to spray the paint from the coating apparatus 5 onto the object to be coated for the time when the pointer 90 is displayed in advance, and when the pointer 90 disappears, the operation of stopping the spraying of the coating apparatus 5 is performed.
  • by projecting the image displayed on such a work instruction screen on the painting work surface of the aircraft 11 or displaying it superimposed on the painting work surface using a see-through type head mounted display It is also possible to greatly reduce the burden on the operator.
  • FIG. 7 is a flowchart showing a flow of processing by the coating film state analyzing apparatus 20 according to the first embodiment. The process shown in FIG. 7 is repeatedly executed when, for example, a painting operation is performed.
  • step S ⁇ b> 100 the surface data acquisition unit 12 of the coating film state analyzer 20 acquires surface data from the measuring device 10. Further, the surface data acquisition unit 12 acquires time information related to the time when the surface data is acquired from the measurement device 10. In step S110, the classification unit 13 classifies the surface data of the painting target area acquired by the surface data acquisition unit 12 into surface data before the painting operation and surface data after the painting operation.
  • step S120 the analysis unit 15 determines whether surface data calculated at different times for the same measurement point is acquired based on the surface data and time information. If the analysis unit 15 acquires surface data calculated at different times for the same measurement point, the analysis unit 15 proceeds to step S130. In step S120, the analysis part 15 returns to step S100, when the surface data calculated at different time about the same measurement point is not acquired.
  • step S130 the analysis unit 15 uses the surface data calculated at different times for the same measurement point, calculates the film thickness of the coating film formed at the measurement point, and generates film thickness information.
  • step S140 the analysis unit 15 determines whether or not there is a measurement point for which the film thickness of the coating film is not calculated. If a positive determination is made in step S140, the process proceeds to step S150. If a negative determination is made in step S140, the process returns to step S130.
  • step S150 the analysis unit 15 generates film thickness distribution information based on the calculated film thickness information at each measurement point.
  • the film thickness distribution information generated by the analysis unit 15 is output to the main body 30 of the coating assisting device control unit 1.
  • FIG. 8 is a flowchart showing the flow of processing by the main body 30 of the painting auxiliary device control unit 1 according to the first embodiment. The process shown in FIG. 8 is repeatedly executed, for example, when a painting operation is performed.
  • step S ⁇ b> 200 the film thickness information acquisition unit 40 of the main body unit 30 acquires the film thickness distribution information from the coating film state analysis apparatus 20.
  • step S210 the coating state determination unit 41, based on the film thickness distribution information and the target film thickness information, the film thickness shortage distribution related to the area where the paint film thickness is insufficient in the paint target area and the film thickness insufficient. Generate information.
  • step S220 the position calculation unit 61 generates repainting area information representing an area that needs to be repainted based on the insufficient film thickness distribution information.
  • step S230 the transition calculation unit 62 calculates a path (route) through which efficient painting can be performed based on the repainting area information. For example, the transition calculation unit 62 calculates a path with a small number of times of operating the trigger of the coating apparatus 5, a path with a small reciprocation of the operator 4 on the gondola, a path with a small number of times of replacing the nozzle of the coating apparatus 5, and the like. .
  • step S240 the transition calculating unit 62 calculates a moving speed for moving the coating apparatus 5 based on the calculated coating path and coating apparatus information.
  • the work information generation unit 60 generates work information related to the painting work to be performed based on the calculated path for painting and the moving speed of the painting apparatus 5.
  • step S250 the image generation unit 70 generates image data based on the film thickness distribution information and work information, and outputs the image data to the display device 100.
  • the display device 100 displays a film thickness distribution image and a work instruction image based on the image data generated by the image generation unit 70. Thereby, the worker 4 can perform the painting work according to the image displayed by the display device 100.
  • the coating film state analyzing apparatus 20 includes an acquisition unit (surface data acquisition unit 12) that acquires surface data of a region to be coated, surface data that has been subjected to a painting operation from the surface data acquired by the acquisition unit, and before the painting operation
  • the surface of the coating film formed in the coating target area is analyzed based on the classification unit 13 that classifies the surface data and the surface data that has been painted and classified by the classification unit 13 and the surface data before the painting operation.
  • an analyzing unit 15 for performing the processing In the present embodiment, the classification unit 13 extracts the surface data of the painted work area and the surface data of the pre-painting work area from the surface data of the painting target area.
  • the analysis part 15 analyzes the state of the coating film formed in the coating object area
  • the coating film immediately after it was estimated that the painting work was completed by recognizing the painting work area at each measurement time based on the position information of the painting worker during the painting work on the painting target area Thickness information can be acquired, and by performing the painting operation based on the film thickness distribution information based on the analysis result by the analysis unit 15, the defective position of the coating film thickness can be quickly obtained immediately after the coating operation area changes. Can be recognized by the painter. Furthermore, it is possible to shorten the time required for reworking the painting work.
  • the aircraft's fuel consumption deteriorates due to excessive film thickness
  • the waterproof and rust resistance decreases due to insufficient film thickness
  • the aircraft due to insufficient film thickness It is possible to prevent the surface temperature from rising.
  • the film thickness measurement device includes an acquisition unit (surface data acquisition unit 12) that repeatedly acquires the shape data of the object to be coated during the painting operation, and the shape data acquired by the acquisition unit. And a calculation unit (analysis unit 15) that calculates the film thickness of the coating film formed on the object to be coated. Since it did in this way, the film thickness of the coating film formed by the painting operation can be acquired at any time during the painting operation. In addition, by performing the painting operation based on the film thickness distribution information based on the analysis result by the analysis unit 15, a desired coating film can be formed quickly, and the time for the painting operation can be shortened. (4) The calculation unit calculates the film thickness based on the difference between the plurality of shape data acquired at different times.
  • the film thickness of a coating film can be calculated based on the shape data of the coating object acquired during the painting operation.
  • a method of calculating the film thickness of the coating film based on the CAD data of the coating target acquired in advance before the start of the painting operation and the shape data of the coating target acquired by distance measurement after the start of the coating operation can be considered.
  • the film thickness is calculated based on the difference between the shape data at different times during the painting operation. Therefore, when performing the painting operation, the film thickness of the coating film formed by painting can be appropriately acquired.
  • the classification unit 13 calculates a difference in color information between the image data before painting and the image data after painting generated by the measuring apparatus 10, and based on the difference in color information, the area before painting and The area after the painting work can be specified.
  • category part 13 can classify
  • Modification 2 In the above-described embodiment, the example in which the position of the worker is specified based on the distance information by the laser beam reflected from the worker has been described. However, the area of the worker in the surface data may be estimated based on signals from a sensor attached to the worker and a sensor that detects the standing position of the worker. Moreover, you may make it estimate the operator's area
  • the coating film state analyzing apparatus 10 is not limited to the three-dimensional data, and may perform the analysis of the coating film state using the two-dimensional image data of the coating target region generated by the imaging device. Good.
  • the coating film state analyzing apparatus 20 analyzes the state of the coating film by comparing image data obtained by imaging before the painting operation with image data obtained by imaging after the painting operation. be able to.
  • the coating film state analyzing apparatus 20 described in the above embodiment is a state of a coating film formed by various other methods such as a roller, a brush, an electrodeposition coating apparatus, a dotting, a vapor deposition method, and a thermal spraying method. It can also be applied to analysis.
  • Modification 7 In the embodiment and the modification described above, the example of calculating the film thickness of the coating film formed on the object to be coated has been described. However, the thickness of the paint applied to the object to be coated may be calculated. Thereby, the presence or absence of dripping of a coating material, the film thickness of the coating film after drying, etc. can be estimated from the thickness of a coating material.

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Abstract

A coating film state analysis device comprising an acquisition unit for acquiring surface data pertaining to a to-be-coated region, a sorting unit for sorting from the surface data acquired by the acquisition unit into post-coating-operation surface data and pre-coating-operation surface data, and an analysis unit for analyzing the state of a coating film formed in the to-be-coated region on the basis of the post-coating-operation surface data and the pre-coating-operation surface data sorted by the sorting unit.

Description

塗膜状態解析装置および膜厚測定装置Coating state analyzer and film thickness measuring device
　本発明は、塗膜状態解析装置および膜厚測定装置に関する。 The present invention relates to a coating film state analyzing apparatus and a film thickness measuring apparatus.
　測定子を塗装面に押接させて塗膜の膜厚を測定する技術が知られている（特許文献１）。 A technique for measuring the film thickness of a coating film by pressing a measuring element against a painted surface is known (Patent Document 1).
日本国特開昭５９－１８０３２２号公報Japanese Unexamined Patent Publication No. 59-180322
　本発明の第１の態様によると、塗膜状態解析装置は、塗装対象領域の表面データを取得する取得部と、前記取得部により取得された前記表面データから塗装作業済みの表面データと塗装作業前の表面データとに分類する分類部と、前記分類部により分類された前記塗装作業済みの表面データと前記塗装作業前の表面データとに基づいて、前記塗装対象領域に形成された塗膜の状態を解析する解析部と、を備える。
　本発明の第２の態様によると、第１の態様の塗膜状態解析装置において、前記塗装対象領域の表面データは、塗装作業済み領域と塗装作業前領域とを含む表面データであり、　前記分類部は、前記取得部により取得された前記表面データから、前記塗装作業済み領域の表面データと前記塗装作業前領域の表面データとを抽出し、抽出されたそれぞれの表面データを分類することが好ましい。
　本発明の第３の態様によると、第２の態様の塗膜状態解析装置において、前記解析部は、少なくとも一部の領域が塗装対象上の同じ位置を示す表面データを含む、前記塗装作業済み領域の表面データと前記塗装作業前領域の表面データとに基づいて、前記塗装対象領域に形成された塗膜の膜厚状態を解析することが好ましい。
　本発明の第４の態様によると、第２の態様の塗膜状態解析装置において、前記取得部は、前記塗装対象領域に対する塗装作業前、塗装作業後、または塗装作業領域への塗装作業進行中における複数の異なる時点でのうち、少なくともいずれか二つの時点での、前記塗装対象領域の表面データを取得し、前記分類部は、前記少なくともいずれか二つの時点での前記塗装対象領域の表面データのそれぞれに対して、塗装作業済み領域の表面データと塗装作業前領域の表面データとに分け、前記解析部は、前記少なくともいずれか二つの時点の一方の前記塗装作業済み領域の表面データと、他方の塗装作業前領域の表面データとに基づいて、前記塗装対象領域に形成された塗膜の膜厚状態を解析することが好ましい。
　本発明の第５の態様によると、第４の態様の塗膜状態解析装置において、前記少なくともいずれか二つの時点の一方の前記塗装作業済み領域の表面データと、他方の塗装作業前領域の表面データとは、少なくとも一部が塗装対象上の同じ位置を示す表面データを含むことが好ましい。
　本発明の第６の態様によると、第１から第５までのいずれか一つの態様の塗膜状態解析装置において、前記取得部で取得される表面データは、前記塗装対象領域の形状データであることが好ましい。
　本発明の第７の態様によると、第６の態様の塗膜状態解析装置において、前記取得部で取得される前記塗装対象領域の形状データは、いずれも同一座標系で表現される３次元形状データであり、前記解析部は、前記塗膜の状態として前記塗装対象領域に形成された塗膜の膜厚情報を取得することが好ましい。
　本発明の第８の態様によると、第６または第７の態様の塗膜状態解析装置において、　前記分類部は、前記取得部により取得された前記形状データから塗装作業者の領域を抽出し、前記塗装作業者の領域に基づいて、塗装作業済み領域の形状データと塗装作業前領域の形状データとを抽出することが好ましい。
　本発明の第９の態様によると、第６から第８までのいずれか一つの態様の塗膜状態解析装置において、前記塗装対象領域の形状データを記憶する記憶部を更に有し、前記分類部は、前記取得部により取得された前記形状データと前記記憶部に記憶された前記形状データとの差を算出し、前記差が所定値よりも大きい領域を塗装作業者の領域として抽出し、前記塗装作業者の領域に基づいて前記塗装作業済み領域を抽出することが好ましい。
　本発明の第１０の態様によると、第１から第７までのいずれか一つの態様の塗膜状態解析装置において、前記取得部は、前記塗装対象領域の形状データが示す前記塗装対象領域の色データを取得し、前記分類部は、前記色データから得られる色分布情報に基づいて、塗装作業済み領域の形状データと塗装作業前領域の形状データとを抽出することが好ましい。
　本発明の第１１の態様によると、第１から第１０までのいずれか一つの態様の塗膜状態解析装置において、前記塗装作業済み領域は、塗装作業において塗布された塗料が乾燥する前の領域を含むことが好ましい。
　本発明の第１２の態様によると、膜厚測定装置は、塗装作業中に塗装対象の形状データを繰り返し取得する取得部と、前記取得部により取得された前記形状データに基づいて、前記塗装対象に形成された塗膜の膜厚を算出する算出部と、を備える。
　本発明の第１３の態様によると、第１２の態様の膜厚測定装置において、前記算出部は、異なる時点で取得された複数の形状データ間の差に基づいて、前記膜厚を算出することが好ましい。 According to the first aspect of the present invention, the coating film state analyzing apparatus includes an acquisition unit that acquires surface data of a region to be coated, surface data that has been painted from the surface data acquired by the acquisition unit, and a painting operation. Based on the classification unit that classifies the previous surface data, the surface data that has been painted and classified by the classification unit, and the surface data before the painting operation, the coating film formed in the coating target region An analysis unit for analyzing the state.
According to the second aspect of the present invention, in the coating film state analyzing apparatus according to the first aspect, the surface data of the coating target area is surface data including a painted work area and a pre-painting work area, and the classification Preferably, the unit extracts the surface data of the painted area and the surface data of the pre-painting area from the surface data acquired by the acquiring unit, and classifies the extracted surface data. .
According to a third aspect of the present invention, in the coating film state analyzing apparatus according to the second aspect, the analysis unit includes the surface data in which at least a part of the region includes surface data indicating the same position on the object to be coated. It is preferable to analyze the film thickness state of the coating film formed in the coating target area based on the surface data of the area and the surface data of the area before the painting operation.
According to a fourth aspect of the present invention, in the coating film state analyzing apparatus according to the second aspect, the acquisition unit is before the painting work on the painting target area, after the painting work, or during the painting work on the painting work area. The surface data of the paint target area at at least any two time points among a plurality of different time points in the above are obtained, and the classification unit obtains the surface data of the paint target area at the at least any two time points. For each of the above, it is divided into the surface data of the painted work area and the surface data of the area before the painted work, the analysis unit, the surface data of the painted work area of one of the at least any two points of time, It is preferable to analyze the film thickness state of the coating film formed in the coating target area based on the surface data of the other area before the painting operation.
According to a fifth aspect of the present invention, in the coating film state analyzing apparatus according to the fourth aspect, the surface data of one of the painted work areas at one of the at least two time points and the surface of the other pre-painting work area The data preferably includes surface data at least partially showing the same position on the object to be painted.
According to the sixth aspect of the present invention, in the coating film state analyzing apparatus according to any one of the first to fifth aspects, the surface data acquired by the acquisition unit is shape data of the coating target region. It is preferable.
According to the seventh aspect of the present invention, in the paint film state analyzing apparatus according to the sixth aspect, the shape data of the coating target area acquired by the acquisition unit are all three-dimensional shapes expressed in the same coordinate system. It is data and it is preferable that the said analysis part acquires the film thickness information of the coating film formed in the said coating object area | region as the state of the said coating film.
According to an eighth aspect of the present invention, in the coating film state analyzing apparatus according to the sixth or seventh aspect, the classification unit extracts a region of the paint worker from the shape data acquired by the acquisition unit, It is preferable to extract shape data of a painted work area and shape data of a pre-painting work area based on the area of the paint worker.
According to a ninth aspect of the present invention, in the coating film state analyzing apparatus according to any one of the sixth to eighth aspects, the classification unit further includes a storage unit that stores shape data of the coating target region. Calculates a difference between the shape data acquired by the acquisition unit and the shape data stored in the storage unit, and extracts a region where the difference is larger than a predetermined value as a region of the painter, It is preferable to extract the painted work area based on the painter's area.
According to a tenth aspect of the present invention, in the coating film state analyzing apparatus according to any one of the first to seventh aspects, the acquisition unit is configured to display the color of the coating target region indicated by the shape data of the coating target region. It is preferable that the data is acquired, and the classification unit extracts shape data of the painted work area and shape data of the pre-paint work area based on color distribution information obtained from the color data.
According to an eleventh aspect of the present invention, in the coating film state analyzing apparatus according to any one of the first to tenth aspects, the painted work area is an area before the paint applied in the painting work is dried. It is preferable to contain.
According to the twelfth aspect of the present invention, the film thickness measuring apparatus is configured to acquire the shape data of the object to be painted repeatedly during the painting operation, and based on the shape data acquired by the acquisition unit, the coating object And a calculating unit that calculates the film thickness of the coating film formed on.
According to a thirteenth aspect of the present invention, in the film thickness measurement device according to the twelfth aspect, the calculation unit calculates the film thickness based on a difference between a plurality of shape data acquired at different times. Is preferred.
第１の実施の形態による塗装システムを説明するための図である。It is a figure for demonstrating the coating system by 1st Embodiment. 第１の実施の形態による塗装システムを用いた塗装作業時の様子を模式的に示す図である。It is a figure which shows typically the mode at the time of the painting operation | work using the coating system by 1st Embodiment. 第１の実施の形態による塗装補助装置用制御ユニットの構成の一例を説明するためのブロック図である。It is a block diagram for demonstrating an example of a structure of the control unit for coating assistance apparatuses by 1st Embodiment. 第１の実施の形態による測定装置による測定のスキャンパスを示した図である。It is the figure which showed the scan path | pass of the measurement by the measuring apparatus by 1st Embodiment. 第１の実施の形態による塗膜状態解析装置による処理を説明するための図である。It is a figure for demonstrating the process by the coating-film state analyzer by 1st Embodiment. 表示装置による表示画像の一例を示す図である。It is a figure which shows an example of the display image by a display apparatus. 第１の実施の形態による塗膜状態解析装置による処理の流れを示したフローチャートである。It is the flowchart which showed the flow of the process by the coating-film state analyzer by 1st Embodiment. 第１の実施の形態による塗装補助装置用制御ユニットの本体部による処理の流れを示したフローチャートである。It is the flowchart which showed the flow of the process by the main-body part of the control unit for coating assistance apparatuses by 1st Embodiment.
　以下、本発明の実施形態について図面を参照しながら説明するが、本発明はこれに限定されない。また、図面においては、実施形態を説明するため、一部分を大きくまたは強調して記載するなど適宜縮尺を変更して表現している。 Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. Further, in the drawings, in order to describe the embodiment, the scale is appropriately changed and expressed, for example, partly enlarged or emphasized.
－第１の実施の形態－
　図面を参照しながら、第１の実施の形態による塗膜状態解析装置を採用した塗装システムについて説明する。とくに、塗膜状態解析装置を用いて航空機に対する塗装作業を行う場合を例に挙げて説明する。なお、第１の実施の形態は、発明の趣旨の理解のために具体的に説明するためのものであり、特に指定の無い限り、本発明を限定するものではない。 -First embodiment-
With reference to the drawings, a coating system employing the coating film state analyzing apparatus according to the first embodiment will be described. In particular, a case where a painting operation is performed on an aircraft using a coating film state analyzing apparatus will be described as an example. The first embodiment is specifically described for the purpose of understanding the gist of the invention, and does not limit the present invention unless otherwise specified.
　図１は、第１の実施の形態による塗装システムを説明するための図である。また、図２は、第１の実施の形態による塗装システムを用いた塗装作業時の様子を模式的に示す図である。図１および図２では、第１の実施の形態による塗膜状態解析装置が適用される環境の例として、航空機１１が格納される格納庫（ハンガー）２を示している。格納庫２は、航空機１１の塗装や整備等が行われる設備である。 FIG. 1 is a diagram for explaining a coating system according to the first embodiment. Moreover, FIG. 2 is a figure which shows typically the mode at the time of the painting operation | work using the coating system by 1st Embodiment. 1 and 2 show a hangar 2 in which an aircraft 11 is stored as an example of an environment to which the coating film state analysis apparatus according to the first embodiment is applied. The hangar 2 is a facility where the aircraft 11 is painted and maintained.
　格納庫２には、作業者４が乗り込んで塗装作業を行うためのゴンドラ３と、測定装置１０と、マーカ８と、塗装補助装置用制御ユニット１と、表示装置１００と、塗装装置５とが設けられる。なお、塗装補助装置用制御ユニット１は、図３を用いて後述するが、塗膜状態解析装置２０と本体部３０からなる。本実施の形態による塗膜状態解析装置２０は、塗装対象に形成された塗膜の状態を解析する。また、塗装補助装置用制御ユニット１の本体部３０は、塗膜状態解析装置２０が解析した結果に基づいて、航空機１１に対して適切に塗装作業が行われるように塗装作業を補助する情報を生成し、表示装置１００に対して出力する。作業者４は、表示装置１００に出力され表示された情報に従って塗装作業を行う。 The hangar 2 is provided with a gondola 3 for an operator 4 to enter and perform a painting operation, a measuring device 10, a marker 8, a coating auxiliary device control unit 1, a display device 100, and a coating device 5. It is done. The coating auxiliary device control unit 1 includes a coating film state analyzing device 20 and a main body 30 as described later with reference to FIG. The coating film state analyzing apparatus 20 according to the present embodiment analyzes the state of the coating film formed on the object to be coated. Moreover, the main body 30 of the control unit 1 for painting assistance apparatus provides information for assisting the painting work so that the painting work is appropriately performed on the aircraft 11 based on the result of analysis by the coating film state analysis device 20. Generate and output to the display device 100. The worker 4 performs the painting work according to the information output and displayed on the display device 100.
　また、本実施の形態では、塗装補助装置用制御ユニット１と表示装置１００とが別々の場所に配置されているが、本発明には塗装補助装置用制御ユニット１と表示装置１００とが一体的になっているものも含まれる。また、塗装補助装置用制御ユニット１の中に、塗膜状態解析装置２０と本体部３０とを有しているが、本発明は塗膜状態解析装置２０と本体部３０が別々のものであっても構わない。なお、塗膜状態解析装置２０が測定装置１０に組み込まれていてもよい。また、本実施の形態では、測定装置１０をゴンドラ３の近傍位置に配置し、塗装補助装置用制御ユニット１および表示装置１００をゴンドラ３内に配置し、マーカ８を格納庫２の梁に配置している。しかしながら、本発明はこのような配置関係に限定されない。また、作業者４がゴンドラ３を使用せずに塗装作業を行う場合、例えば作業現場における地面に立って塗装作業を行う場合についても、この塗膜状態解析装置を適用することができる。 In the present embodiment, the painting auxiliary device control unit 1 and the display device 100 are arranged at different locations. However, the painting auxiliary device control unit 1 and the display device 100 are integrated in the present invention. Also included are The coating auxiliary device control unit 1 includes the coating film state analyzing device 20 and the main body 30. However, in the present invention, the coating film state analyzing device 20 and the main body 30 are separate. It doesn't matter. The coating film state analyzing apparatus 20 may be incorporated in the measuring apparatus 10. Further, in the present embodiment, the measuring device 10 is disposed in the vicinity of the gondola 3, the painting auxiliary device control unit 1 and the display device 100 are disposed in the gondola 3, and the marker 8 is disposed on the beam of the hangar 2. ing. However, the present invention is not limited to such an arrangement relationship. In addition, when the worker 4 performs the painting work without using the gondola 3, for example, when the painting work is performed while standing on the ground at the work site, the coating state analysis apparatus can be applied.
　ゴンドラ３は、作業者４による操作等によって制御される不図示の駆動部から生じた動力により、所望の位置へ移動できるように構成されている。作業者４は、ゴンドラ３を塗装対象となる航空機１１の塗装対象面に沿って適宜移動させる。そして、ゴンドラ３が塗装対象位置に到着したら、作業者４は塗装装置５を操作して塗装作業を行う。図１に示す例では、図を簡略化するために１つのゴンドラ３が示されているが、航空機１１の大きさ等に応じて複数のゴンドラを設けてもよい。 The gondola 3 is configured to be moved to a desired position by power generated from a drive unit (not shown) controlled by an operation by the worker 4 or the like. The worker 4 appropriately moves the gondola 3 along the painting target surface of the aircraft 11 to be painted. When the gondola 3 arrives at the painting target position, the operator 4 operates the painting device 5 to perform the painting work. In the example shown in FIG. 1, one gondola 3 is shown to simplify the drawing, but a plurality of gondolas may be provided according to the size of the aircraft 11 and the like.
　塗装装置５は、例えばスプレー装置（スプレーガン）であり、先端にはノズルが取り付けられている。塗装装置５は、ホース６を介して不図示の塗料供給装置（塗料タンクおよび塗料供給用ポンプ等）に接続されており、塗装装置５に配置されたトリガが操作されることで、塗料供給装置から供給される塗料を吐出（吹き付け）する。ノズルは交換することが可能であり、塗料の吐出される部分の形状が異なるノズルに交換することにより、塗料の塗布パターン（塗料の吐出パターン）を変更することができる。なお、塗装装置５として、ローラー、刷毛、電着塗装装置を用いるようにしてもよい。 The coating device 5 is, for example, a spray device (spray gun), and a nozzle is attached to the tip. The painting device 5 is connected to a paint supply device (not shown) (paint tank, paint supply pump, etc.) via a hose 6, and the paint supply device is operated by operating a trigger disposed in the painting device 5. The paint supplied from is discharged (sprayed). The nozzles can be exchanged, and the paint application pattern (paint discharge pattern) can be changed by replacing the nozzles with different shapes of the parts to which the paint is discharged. In addition, as the coating apparatus 5, you may make it use a roller, a brush, and an electrodeposition coating apparatus.
　測定装置１０は、測定対象物に光を照射し測定対象物から反射した光を受光することにより、測定対象物に対して非接触で、測定装置１０から測定対象物までの距離を測定する。例えば、測定装置１０は、Time Of Flight方式で距離測定を行うレーザレーダ装置であり、周波数変調がなされたレーザ光を用いる。そして、測定装置１０は、周波数が時間とともに変化するレーザ光を航空機１１に対して照射する。測定装置１０は、航空機１１から反射した反射レーザ光と参照レーザ光との周波数差に基づいて、測定装置１０と航空機１１の測定点との間の距離を算出する。なお、測定装置１０は、反射レーザ光と参照レーザ光との強度変化（振幅変化）の位相差に基づいて、測定装置１０と測定点との間の距離を算出するようにしてもよい。また、測定装置１０と測定対象物の測定対象位置との間に障害物がある場合は、ミラーを配置して、測定光を測定対象位置に照射するようにしてもよい。これにより、ミラーを介して測定装置１０からのレーザ光を測定対象物に照射し、かつ測定対象物からの反射光もミラーを介して測定装置１０で検出することができる。 The measurement apparatus 10 measures the distance from the measurement apparatus 10 to the measurement object in a non-contact manner with respect to the measurement object by irradiating the measurement object with light and receiving the light reflected from the measurement object. For example, the measurement device 10 is a laser radar device that measures distance by the Time Of Flight method, and uses laser light that has been frequency-modulated. The measuring apparatus 10 irradiates the aircraft 11 with laser light whose frequency changes with time. The measurement device 10 calculates the distance between the measurement device 10 and the measurement point of the aircraft 11 based on the frequency difference between the reflected laser light reflected from the aircraft 11 and the reference laser light. Note that the measurement apparatus 10 may calculate the distance between the measurement apparatus 10 and the measurement point based on the phase difference of the intensity change (amplitude change) between the reflected laser light and the reference laser light. In addition, when there is an obstacle between the measurement apparatus 10 and the measurement target position of the measurement target, a mirror may be arranged to irradiate the measurement target position with the measurement light. Thereby, the measuring object 10 can be irradiated with the laser beam from the measuring apparatus 10 via the mirror, and the reflected light from the measuring object can also be detected by the measuring apparatus 10 via the mirror.
  マーカ８は、格納庫２内の既知の位置に配置される。マーカ８の位置は、格納庫２内における測定装置１０および航空機１１の位置等を特定するための基準位置となる。格納庫２内に設置される複数の測定装置１０は、各々がマーカ８の座標を測定することにより、マーカ８に対する測定装置１０の相対的な位置および角度を求める。これにより、測定装置１０自体の空間的位置が求まる。図１に示すように、格納庫２内の複数個所にマーカ８を設置して、格納庫２内の各マーカ８の位置を基準にすることにより、広範囲で測定装置１０および測定点の位置を求めることが可能となる。 The heel marker 8 is arranged at a known position in the hangar 2. The position of the marker 8 serves as a reference position for specifying the positions of the measuring device 10 and the aircraft 11 in the hangar 2. The plurality of measuring devices 10 installed in the hangar 2 determine the relative position and angle of the measuring device 10 with respect to the marker 8 by measuring the coordinates of the marker 8. Thereby, the spatial position of the measuring apparatus 10 itself is obtained. As shown in FIG. 1, by setting markers 8 at a plurality of locations in the hangar 2 and using the position of each marker 8 in the hangar 2 as a reference, the positions of the measuring device 10 and the measurement points are obtained over a wide range. Is possible.
　測定装置１０は、測定装置１０と測定対象物との間の距離に加えて、照射するレーザ光の水平方向の角度と垂直方向の角度、および測定装置１０自体の空間的位置情報を用いることにより、航空機１１における測定点の格納庫２内における空間的位置を算出する。この空間的位置を表すための座標系としては、直交座標系や極座標系が用いられる。測定装置１０は、水平方向および垂直方向（方位角及び仰角または俯角）のレーザ光の照射角度を順次変化させて、航空機１１の表面に沿って測定を行う。すなわち、測定装置１０は、照射するレーザ光を方位角及び仰角または俯角を変えながらスキャン（走査）することにより、航空機１１の各測定点の空間的位置を表す点群データを取得する。また、測定装置１０は、ミラーを使用して測定を行った場合は、ミラーの取り付け位置とミラーの反射面の法線方向を示す情報を基に点群データを補正して、正しい位置情報を算出することができる。測定装置１０は、求めた複数の点群データに基づいて、航空機１１の形状を表す形状データを生成する。 In addition to the distance between the measuring device 10 and the measurement object, the measuring device 10 uses the horizontal and vertical angles of the laser beam to be irradiated and the spatial position information of the measuring device 10 itself. The spatial position of the measurement point in the aircraft 11 in the hangar 2 is calculated. As a coordinate system for representing the spatial position, an orthogonal coordinate system or a polar coordinate system is used. The measurement apparatus 10 performs measurement along the surface of the aircraft 11 by sequentially changing the irradiation angle of the laser light in the horizontal direction and the vertical direction (azimuth angle and elevation angle or depression angle). That is, the measurement apparatus 10 acquires point cloud data representing the spatial position of each measurement point of the aircraft 11 by scanning (scanning) the irradiated laser light while changing the azimuth angle, the elevation angle, or the depression angle. In addition, when the measurement device 10 performs measurement using a mirror, the measurement device 10 corrects the point cloud data based on information indicating the mounting position of the mirror and the normal direction of the reflecting surface of the mirror, and correct position information is obtained. Can be calculated. The measuring apparatus 10 generates shape data representing the shape of the aircraft 11 based on the obtained plurality of point cloud data.
　図１に示す例では、図を簡略化するために１つの測定装置１０が示されているが、航空機１１の全面を測定するために、複数の測定装置１０が航空機１１の周囲に配置されてもよい。この場合、測定装置１０は、例えば、ゴンドラ３の近傍位置、移動可能な台車、固定的に設けられる台座などにそれぞれ配置される。測定装置１０を、航空機の１１の上方や下方、自走式のレールの上に配置するようにしてもよい。作業者４に測定装置１０を装着させるようにしてもよい。 In the example shown in FIG. 1, one measuring device 10 is shown to simplify the drawing, but a plurality of measuring devices 10 are arranged around the aircraft 11 in order to measure the entire surface of the aircraft 11. Also good. In this case, the measuring device 10 is disposed, for example, in the vicinity of the gondola 3, a movable carriage, a pedestal provided in a fixed manner, and the like. The measuring device 10 may be arranged above or below the aircraft 11 or on a self-propelled rail. The operator 4 may be made to wear the measuring device 10.
　測定装置１０は、塗装前および塗装後のそれぞれの状態において距離測定を行い、測定装置１０と測定点との間の距離を含む、格納庫２内における測定点の空間的位置情報として３次元位置情報を取得する。そして、測定装置１０は、取得した三次元位置情報を無線通信等により塗装補助装置用制御ユニット１に送信する。すなわち、塗装補助装置用制御ユニット１は、測定装置１０からの航空機１１の塗装対象領域にある複数の測定点の三次元位置情報を取得する。特に、本実施の形態では、塗膜補助装置用制御ユニット１は、塗装前における測定装置１０により得られた測定点の三次元位置情報と、塗装後における測定装置１０により得られた測定点の三次元位置情報とを取得する。これらの三次元位置情報の差は、測定点に形成された塗膜の厚さ（又は塗料の厚さ）に応じた値となる。このため、塗装補助装置用制御ユニット１は、塗装前および塗装後におけるそれぞれの塗装対象領域に含まれる測定点の、塗装前の三次元位置情報と塗装後の三次元位置情報の差を求めることにより、測定点に形成された塗膜の膜厚を算出することができる。 The measuring device 10 performs distance measurement in each state before painting and after painting, and includes three-dimensional position information as spatial position information of the measuring points in the hangar 2 including the distance between the measuring device 10 and the measuring points. To get. And the measuring apparatus 10 transmits the acquired three-dimensional position information to the control unit 1 for auxiliary coating apparatuses by wireless communication or the like. In other words, the painting auxiliary device control unit 1 acquires three-dimensional position information of a plurality of measurement points in the painting target area of the aircraft 11 from the measurement device 10. In particular, in the present embodiment, the control unit 1 for the coating film assisting device includes the three-dimensional position information of the measurement points obtained by the measurement device 10 before painting and the measurement points obtained by the measurement device 10 after painting. Get 3D position information. The difference between these three-dimensional position information is a value corresponding to the thickness of the coating film (or the thickness of the paint) formed at the measurement point. For this reason, the coating auxiliary device control unit 1 obtains the difference between the three-dimensional position information before painting and the three-dimensional position information after painting at the measurement points included in the respective painting target areas before painting and after painting. Thus, the film thickness of the coating film formed at the measurement point can be calculated.
　測定装置１０から得られた測定結果とその測定結果が得られた時のその他の情報（例えば、測定時刻に関する時刻情報や測定時の測定位置の２次元画像データなど）を基に、塗装補助装置用制御ユニット１は、塗装前および塗装後におけるそれぞれの測定結果の差を求めることにより、測定点に形成された塗膜の膜厚を算出することができる。塗装補助装置用制御ユニット１は、航空機１１の各測定点の塗膜の膜厚を算出して、塗膜の膜厚分布に関する膜厚分布情報を生成する。測定装置１０は、作業者４が塗装作業を実施している領域の周囲近傍の領域を随時測定することにより、塗装前、塗装中及び塗装後のそれぞれの時間における三次元位置情報を取得している。塗装補助装置用制御ユニット１は、これらの三次元位置情報から、塗装により形成された塗膜の膜厚を塗装作業中に適宜取得することができる。なお、前述のように塗装前における測定装置１０から測定点までの距離と塗装後における測定装置１０から測定点までの距離の差から塗膜の膜厚を取得したが、塗装補助装置用制御ユニット１は、測定装置１０から取得された航空機１１の塗装前の塗装対象領域の形状データと塗装後の塗装対象領域の形状データとの差から塗膜の膜厚を取得するようにしてもよい。 Based on the measurement result obtained from the measurement device 10 and other information when the measurement result is obtained (for example, time information regarding the measurement time, two-dimensional image data of the measurement position at the time of measurement, etc.) The control unit 1 can calculate the film thickness of the coating film formed at the measurement point by obtaining the difference between the measurement results before and after painting. The coating auxiliary device control unit 1 calculates the film thickness of the coating film at each measurement point of the aircraft 11 and generates film thickness distribution information regarding the film thickness distribution of the coating film. The measuring device 10 obtains three-dimensional position information at each time before painting, during painting, and after painting by measuring the area near the area where the worker 4 is performing the painting work as needed. Yes. From the three-dimensional position information, the coating auxiliary device control unit 1 can appropriately acquire the film thickness of the coating film formed by painting during the painting operation. As described above, the film thickness of the coating film was obtained from the difference between the distance from the measuring device 10 to the measuring point before painting and the distance from the measuring device 10 to the measuring point after painting. 1 may acquire the film thickness of the coating film from the difference between the shape data of the painting target area before painting of the aircraft 11 obtained from the measuring apparatus 10 and the shape data of the painting target area after painting.
　なお、塗装補助装置用制御ユニット１は、塗膜の膜厚を算出する場合に、塗装対象領域の塗装前と塗装後の温度変化に基づいて塗装対象の形状変化を予測し、測定装置１０から取得した塗装前の三次元位置情報を補正するようにしてもよい。そして、塗装補助装置用制御ユニット１は、補正した塗装前の三次元位置情報と塗装後の三次元位置情報とに基づいて、塗膜の膜厚を算出するようにしてもよい。また、測定装置１０は、塗装前における距離測定は直近に塗装する範囲のみについて行い、塗装後に直ちに塗装した範囲の距離測定を行って、塗装補助装置用制御ユニット１は、塗装前および塗装後におけるそれぞれの測定結果から塗膜の膜厚を算出するようにしてもよい。 In addition, when calculating the film thickness of the coating film, the coating auxiliary device control unit 1 predicts the shape change of the coating target based on the temperature change before and after coating in the coating target region, and from the measuring device 10 The acquired three-dimensional position information before painting may be corrected. Then, the coating auxiliary device control unit 1 may calculate the film thickness of the coating film based on the corrected three-dimensional position information before painting and three-dimensional position information after painting. Further, the measuring device 10 measures the distance before painting only for the most recently painted range, measures the distance of the painted range immediately after painting, and the painting auxiliary device control unit 1 performs the painting before and after painting. You may make it calculate the film thickness of a coating film from each measurement result.
　測定装置１０は、塗装対象領域の測定点の三次元位置を測定することに加えて、測定装置１０を基準にした塗装装置５の三次元位置を測定する。これにより、塗装装置５の位置および姿勢に関連する情報を取得する。塗装装置５の姿勢に関連する情報は、例えば、塗装装置５のノズルの向きに関する情報であり、塗装装置５の複数個所の三次元位置を測定することにより取得することができる。測定装置１０は、取得した塗装装置５の位置および姿勢に関連する情報を、無線通信等により塗装補助装置用制御ユニット１に送信する。なお、測定装置１０により塗装装置５の位置および姿勢に関する測定を行う代わりに、塗装装置５に距離センサおよび傾斜センサを設けてもよい。距離センサは、塗装装置５から測定点までの距離を測定し、傾斜センサは、塗装装置５の姿勢を測定する。 The measuring device 10 measures the three-dimensional position of the coating device 5 with reference to the measuring device 10 in addition to measuring the three-dimensional position of the measurement point in the coating target area. Thereby, information related to the position and posture of the coating apparatus 5 is acquired. The information related to the posture of the coating apparatus 5 is, for example, information related to the orientation of the nozzle of the coating apparatus 5 and can be acquired by measuring a three-dimensional position at a plurality of locations of the coating apparatus 5. The measuring apparatus 10 transmits information related to the acquired position and orientation of the painting apparatus 5 to the painting auxiliary apparatus control unit 1 by wireless communication or the like. Note that a distance sensor and an inclination sensor may be provided in the coating apparatus 5 instead of performing measurement related to the position and orientation of the coating apparatus 5 by the measuring apparatus 10. The distance sensor measures the distance from the coating device 5 to the measurement point, and the inclination sensor measures the posture of the coating device 5.
　測定装置１０は、撮像装置（不図示）を含んで構成することもできる。測定装置１０は、撮像装置に撮像を行わせて、塗装対象の色情報を含む画像データを生成する。測定装置１０は、例えば、測定点の三次元位置を測定する光学系と撮像画像を撮像する光学系の光軸が共通であるような構成とし、距離測定と撮像を同時に行う。それにより、各測定点について、測定された測定点の三次元位置情報に対応付けて色情報を取得する。すなわち、測定装置１０は、塗装対象の三次元位置情報とその三次元位置情報に対応する画像データとを生成し、内部のメモリ等に各測定点の三次元位置情報および画像データを関連付けて記憶させる。なお、撮像装置を測定装置１０に設ける代わりに、別の撮像装置を設けて、その撮像装置により色情報を有する画像データを取得するようにしてもよい。測定装置１０は、取得した画像データを無線通信等により塗装補助装置用制御ユニット１に送信する。 The measuring device 10 can also be configured to include an imaging device (not shown). The measuring device 10 causes the imaging device to perform imaging, and generates image data including color information of a painting target. For example, the measurement apparatus 10 is configured such that the optical axis of the optical system that measures the three-dimensional position of the measurement point and the optical system that captures the captured image are the same, and performs distance measurement and imaging simultaneously. Thereby, color information is acquired for each measurement point in association with the three-dimensional position information of the measured measurement point. That is, the measuring apparatus 10 generates three-dimensional position information of the object to be painted and image data corresponding to the three-dimensional position information, and stores the three-dimensional position information and image data of each measurement point in association with each other in an internal memory or the like. Let Instead of providing the imaging device in the measurement device 10, another imaging device may be provided, and image data having color information may be acquired by the imaging device. The measuring apparatus 10 transmits the acquired image data to the painting auxiliary apparatus control unit 1 by wireless communication or the like.
　塗装補助装置用制御ユニット１は、例えばＣＰＵ等の演算処理回路、ＲＯＭやＲＡＭ等のメモリを有し、所定のプログラムを実行してその機能を実現する。また、塗装補助装置用制御ユニット１は、塗装装置５に関する塗装装置情報を取得する。具体的には、図示していないユーザインターフェースにより塗装装置情報を取得することができる。塗装装置情報とは、例えば、塗装装置５のノズルの種類や、そのノズルから吐出（噴出）される塗料の吐出量および吐出分布に関する情報等である吐出情報などである。塗装補助装置用制御ユニット１は、膜厚分布情報、塗装装置情報、および形成すべき塗膜の膜厚に関する情報である目標膜厚情報に基づいて、塗装作業者が行うべき塗装作業に関する作業情報または自動塗装装置に供給する制御情報を生成する。また、塗装補助装置用制御ユニット１は、膜厚分布情報を表す画像である膜厚分布画像や作業を指示する画像である作業指示画像を表示させるための画像データを生成する。塗装補助装置用制御ユニット１は、生成した画像データ（画像）を無線通信等により表示装置１００に送信する。なお、塗膜が形成されていない領域に塗装を開始する場合は、塗装補助装置用制御ユニット１は、塗装装置情報および目標膜厚情報に基づいて作業情報または自動塗装装置に供給する制御情報を生成するようにしてもよい。 The painting auxiliary device control unit 1 has, for example, an arithmetic processing circuit such as a CPU and a memory such as a ROM and a RAM, and implements its function by executing a predetermined program. Further, the painting auxiliary device control unit 1 acquires painting device information related to the painting device 5. Specifically, the painting apparatus information can be acquired by a user interface (not shown). The coating device information is, for example, discharge information that is information on the type of nozzle of the coating device 5, the discharge amount and discharge distribution of the paint discharged (spouted) from the nozzle, and the like. The coating auxiliary device control unit 1 performs work information on the coating work to be performed by the coating worker based on the film thickness distribution information, the coating device information, and the target film thickness information that is information on the film thickness of the coating film to be formed. Alternatively, control information to be supplied to the automatic coating apparatus is generated. Moreover, the coating auxiliary device control unit 1 generates image data for displaying a film thickness distribution image that is an image representing the film thickness distribution information and a work instruction image that is an image instructing work. The painting auxiliary device control unit 1 transmits the generated image data (image) to the display device 100 by wireless communication or the like. In addition, when starting coating to the area | region in which the coating film is not formed, the control unit 1 for auxiliary coating apparatuses gives work information or control information supplied to the automatic coating apparatus based on the coating apparatus information and the target film thickness information. You may make it produce | generate.
　表示装置１００は、例えば画像を投影表示するプロジェクタであり、塗装補助装置用制御ユニット１から送信された画像データに基づいて画像を表示する。表示装置１００は、塗装補助装置用制御ユニット１により出力される画像データに基づいて、塗装対象面に画像を投影して表示させる。作業者４は、表示装置１００により表示された作業指示画像に従って塗装作業を行うことが可能となる。図１に示す例では、図を簡略化するために１つの表示装置１００が示されているが、航空機１１の全面に画像を投影可能とするために、複数の表示装置１００を航空機１１の周囲に配置してもよい。この場合、表示装置１００は、例えば、ゴンドラ３の近傍位置、移動可能な台車、固定的に設けられる台座、格納庫２の梁や柱の近傍位置などにそれぞれ配置される。なお、表示装置１００を測定装置１０に設けるようにしてもよい。 The display device 100 is a projector that projects and displays an image, for example, and displays an image based on the image data transmitted from the control unit 1 for painting assistance device. The display device 100 projects and displays an image on the surface to be coated based on the image data output by the painting auxiliary device control unit 1. The worker 4 can perform the painting work according to the work instruction image displayed by the display device 100. In the example shown in FIG. 1, one display device 100 is shown to simplify the drawing, but in order to project an image on the entire surface of the aircraft 11, a plurality of display devices 100 are arranged around the aircraft 11. You may arrange in. In this case, for example, the display device 100 is disposed at a position near the gondola 3, a movable carriage, a fixed base, a position near the beam or column of the hangar 2, and the like. Note that the display device 100 may be provided in the measurement device 10.
　上記説明のように、本実施の形態では、表示装置１００により塗装作業に関する作業指示画像が塗装対象面に投影されることにより、作業者４に対して塗装作業の指示が行われる。なお、表示装置１００として、ＣＲＴや液晶表示装置などを用いてもよい。また、表示装置１００として作業者４がヘッドマウントディスプレイ（ＨＭＤ）を装着して、塗装作業に関する作業指示画像を作業者４に提示してもよい。塗装補助装置用制御ユニットおよび表示装置としての機能を有するタブレット端末などを備えるようにしてもよい。 As described above, in the present embodiment, the display device 100 projects a work instruction image relating to the painting work onto the surface to be painted, thereby instructing the worker 4 to perform the painting work. Note that a CRT, a liquid crystal display device, or the like may be used as the display device 100. Alternatively, the worker 4 may wear a head mounted display (HMD) as the display device 100 and present the worker 4 with a work instruction image related to the painting work. You may make it provide the tablet terminal etc. which have a function as a control unit for painting auxiliary | assistance apparatuses, and a display apparatus.
　図３は、第１の実施の形態による塗装補助装置用制御ユニット１の構成の一例を説明するためのブロック図である。図３においては、塗装補助装置用制御ユニット１は、塗膜状態解析装置２０と本体部３０から構成されており、画像データの出力を表示装置１００に行っている例を示している。もちろん、本発明では、前述のように自動塗装装置に制御情報を供給するようにしてもよい。塗膜状態解析装置２０は、表面データ取得部１２と、分類部１３と、記憶部１４と、解析部１５とを有する。本体部３０は、膜厚情報取得部４０と、塗装状態判定部４１と、記憶部５０と、作業情報生成部６０と、画像生成部７０とを有する。 FIG. 3 is a block diagram for explaining an example of the configuration of the control unit 1 for the auxiliary painting apparatus according to the first embodiment. FIG. 3 shows an example in which the coating auxiliary device control unit 1 includes a coating film state analyzing device 20 and a main body 30 and outputs image data to the display device 100. Of course, in the present invention, control information may be supplied to the automatic coating apparatus as described above. The coating film state analysis apparatus 20 includes a surface data acquisition unit 12, a classification unit 13, a storage unit 14, and an analysis unit 15. The main body 30 includes a film thickness information acquisition unit 40, a paint state determination unit 41, a storage unit 50, a work information generation unit 60, and an image generation unit 70.
　表面データ取得部１２は、測定装置１０で測定された塗装対象領域の表面データを取得する。塗装対象領域の表面データは、例えば、塗装対象領域の点群データにより生成される塗装対象領域の形状データを少なくとも含む。塗装対象領域の表面データは、塗装対象領域にある複数の測定点の三次元位置情報を含むデータである。また、表面データ取得部１２は、表面データが取得された時刻に関する時刻情報を、測定装置１０から取得する。表面データ取得部１２は、例えば、同一の塗装対象領域について、塗装作業前および塗装作業後における２つの時点における塗装対象領域の表面データを取得する。図１および図２に示す例では、測定装置１０はゴンドラ３に固定して配置される。このような配置において、塗装作業中はゴンドラ３の位置を固定するようにして塗装作業を行う場合には、２つの時点における塗装対象領域の表面データは、必然的に同一の塗装対象領域のものとなる。 The surface data acquisition unit 12 acquires the surface data of the painting target area measured by the measuring device 10. The surface data of the painting target area includes at least shape data of the painting target area generated from point cloud data of the painting target area, for example. The surface data of the painting target area is data including three-dimensional position information of a plurality of measurement points in the painting target area. Further, the surface data acquisition unit 12 acquires time information related to the time when the surface data is acquired from the measurement device 10. For example, the surface data acquisition unit 12 acquires surface data of the painting target area at two points in time before and after the painting work for the same painting target area. In the example shown in FIGS. 1 and 2, the measuring device 10 is fixed to the gondola 3. In such an arrangement, when the painting operation is performed so that the position of the gondola 3 is fixed during the painting operation, the surface data of the painting target region at the two points in time are necessarily in the same painting target region. It becomes.
　分類部１３は、表面データ取得部１２により取得された塗装対象領域の表面データを、塗装作業前の表面データと塗装作業後の表面データとに分類する。塗装作業前の表面データと塗装作業後の表面データとの分類は、例えば、次の手順により行う。記憶部１４に、塗装対象の形状データを予め、記憶しておく。塗装対象の形状データとは、例えば、塗装対象である航空機１１の設計データ（ＣＡＤデータ）である。測定装置１０は、上記説明のように、塗装作業中の航空機１１の塗装対象領域の各測定点の三次元位置を測定する。その際、測定装置１０は、塗装作業中の作業者も含めて三次元位置を測定する。分類部１３は、作業者の三次元位置情報に基づいて、作業者の位置を特定する。分類部１３は、特定した作業者の位置から、塗装作業における下流側に位置する表面データを塗装作業前の表面データとし、塗装作業における上流側の表面データを塗装作業後の表面データとすることで表面データを分類する。なお、ここで「上流」との意味は、塗装作業中の塗装作業者が居る位置を基準にして、塗装作業の進行方向に対して、逆側のことを称し、「下流」との意味は、塗装作業中の塗装作業者が居る位置を基準にして、塗装作業の進行方向側のことを称する。この具体的な方法について、図４を参照して説明する。 The classification unit 13 classifies the surface data of the painting target area acquired by the surface data acquisition unit 12 into surface data before the painting operation and surface data after the painting operation. The classification of the surface data before the painting work and the surface data after the painting work is performed, for example, by the following procedure. In the storage unit 14, shape data to be painted is stored in advance. The shape data of the painting target is, for example, design data (CAD data) of the aircraft 11 that is the painting target. As described above, the measurement device 10 measures the three-dimensional position of each measurement point in the painting target area of the aircraft 11 during the painting operation. At that time, the measuring apparatus 10 measures the three-dimensional position including the worker who is performing the painting work. The classification unit 13 specifies the position of the worker based on the three-dimensional position information of the worker. The classification unit 13 sets the surface data located downstream in the painting work from the identified worker position as the surface data before the painting work, and the upstream surface data in the painting work as the surface data after the painting work. Classify surface data with. In addition, here, the meaning of “upstream” refers to the opposite side of the traveling direction of the painting work with respect to the position where the painting worker is present during the painting work, and the meaning of “downstream” means This refers to the direction in which the painting work proceeds with reference to the position where the painting worker is present during the painting work. This specific method will be described with reference to FIG.
　図４は、塗装作業中に実施される測定装置１０による測定のスキャンパス（スキャン経路）１１１を示した図である。本実施の形態では、塗装作業中に塗装対象領域１１０を測定することで、塗装作業者４が塗装作業を完了したと推定される領域を、塗装作業者４が隣接する塗装作業領域１１０に塗装作業を実施している最中でリアルタイムに測定する運用を行う。そこで、本実施の形態では、塗装作業が図４の左側（上流側）から右側（下流側）に進行する場合、測定装置１０は、塗装作業者４よりも左側の領域及び右側の領域を作業者がいる領域を含めて、測定を行う。そこで、本実施の形態では、前回の測定領域を記憶しつつ、塗装作業者４を追跡して塗装作業者４の位置を常に把握するか、経験則的な知見される作業スピードを基に塗装作業者４の位置を推定しながら、今回の測定領域を決定していく。そして、測定装置１０は、作業者４が移動せずに塗装できる範囲の推定情報を基に、図４のように塗装作業者４の位置（又は推定位置）を中心に上流側から下流側に掛けて、塗装対象領域１１０の各測定点の測定を行う。なお、各測定点は、図４に点線で示されたスキャンパス１１１の線上に存在する。また、測定装置１０は、スキャンパス１１１が示す矢印方向に沿って、順次測定点における三次元位置座標を測定することとなる。 FIG. 4 is a diagram showing a scan path (scan path) 111 of measurement by the measuring apparatus 10 performed during the painting operation. In the present embodiment, by measuring the painting target area 110 during the painting operation, the area estimated to have been completed by the painting worker 4 is painted on the painting work area 110 adjacent to the painting worker 4. Operate to measure in real time while working. Therefore, in the present embodiment, when the painting work proceeds from the left side (upstream side) to the right side (downstream side) in FIG. 4, the measuring apparatus 10 works on the left side area and the right side area with respect to the painting worker 4. Measure including the area where the person is. Therefore, in the present embodiment, while the previous measurement area is memorized, the painter 4 is tracked and the position of the painter 4 is always grasped, or the painter 4 is painted based on an empirically known work speed. The current measurement area is determined while estimating the position of the operator 4. And the measuring apparatus 10 is based on the estimated information of the range which the worker 4 can paint without moving, from the upstream side to the downstream side with the position (or estimated position) of the coating worker 4 as the center as shown in FIG. And measure each measurement point of the painting target area 110. Each measurement point exists on the scan path 111 indicated by a dotted line in FIG. Further, the measuring apparatus 10 sequentially measures the three-dimensional position coordinates at the measurement points along the arrow direction indicated by the scan path 111.
　図５は、第１の実施の形態による塗膜状態解析装置２０による処理を説明するための図である。図５において、（ａ）および（ｂ）は、互いに異なる第１および第２の２つの時点における測定装置１０の測定対象物を模式的に示している。図５における（ａ）において、８０ａは、測定装置１０により測定された範囲を示し、表面データ取得部１２が取得する表面データの範囲を示す。８１ａは、分類部１３により作業者４の位置が特定され、作業者４の位置と上述のように作業者４が移動せずに塗装作業を行える範囲の推定情報を基に、塗装作業中と推定される領域である。８２ａは、８１ａに対して作業者４の作業進行方向に位置する領域で、測定装置１０で表面データが測定された領域である。この領域は、分類部１３により塗装作業前と推定される。８３ａは、８１ａに対して塗装作業者４の作業進行方向とは逆の方向に位置する領域で、測定装置１０で測定された領域である。この領域は、分類部１３により塗装作業後と推定される。分類部１３は、８２ａの領域の測定結果については、塗装作業前の表面データとして記憶部１４に記憶し、８３ａの領域の測定結果については、塗装作業後の表面データとして記憶部１４に記憶する。 FIG. 5 is a diagram for explaining processing by the coating film state analyzing apparatus 20 according to the first embodiment. In FIG. 5, (a) and (b) schematically show the measurement object of the measurement apparatus 10 at the first and second time points different from each other. In FIG. 5A, 80a indicates the range measured by the measuring apparatus 10, and indicates the range of the surface data acquired by the surface data acquisition unit 12. 81a, the position of the worker 4 is specified by the classification unit 13, and based on the estimated information of the position of the worker 4 and the range in which the worker 4 can perform the painting work without moving as described above, This is the estimated area. 82a is an area located in the direction of work progress of the operator 4 with respect to 81a, and is an area where the surface data is measured by the measuring apparatus 10. This area is estimated by the classification unit 13 as before the painting work. Reference numeral 83a denotes an area located in the direction opposite to the work progressing direction of the coating worker 4 with respect to 81a, and is an area measured by the measuring device 10. This region is estimated after the painting operation by the classification unit 13. The classification unit 13 stores the measurement result of the region 82a in the storage unit 14 as the surface data before the painting operation, and stores the measurement result of the region 83a in the storage unit 14 as the surface data after the painting operation. .
　図５における（ｂ）において、８０ｂは、（ａ）に示した時点より所定の時間が経過した時点において、測定装置１０により測定された範囲を示し、表面データ取得部１２が取得する表面データの範囲を示す。８１ｂは、分類部１３により作業者４が特定され、塗装作業中と考えられる領域である。８２ｂは、８１ｂに対して塗装作業者４の塗装作業進行方向に位置し、かつ（ａ）に示した時点より所定の時間後に測定された領域である。この領域は、分類部１３により塗装作業前と推定される。８３ｂは、８１ｂに対して作業者４の作業進行方向とは逆の方向に位置し、かつ（ａ）に示した時点より所定の時間後に測定された領域である。この領域は、分類部１３により塗装作業後と推定される。 In FIG. 5B, 80 b indicates a range measured by the measurement device 10 when a predetermined time has elapsed from the time shown in FIG. 5A, and the surface data acquired by the surface data acquisition unit 12. Indicates the range. Reference numeral 81b denotes an area where the worker 4 is specified by the classification unit 13 and is considered to be in the painting work. 82b is an area which is located in the painting work progressing direction of the painting worker 4 with respect to 81b and is measured after a predetermined time from the time shown in (a). This area is estimated by the classification unit 13 as before the painting work. Reference numeral 83b denotes an area which is located in a direction opposite to the work progressing direction of the worker 4 with respect to 81b and is measured after a predetermined time from the time shown in (a). This region is estimated after the painting operation by the classification unit 13.
　なお、図５において、(ａ)の８２ａで示す領域は、（ｂ）の８３ｂで示す領域と同じ領域である。すなわち、（ａ）の時点において塗装作業前であった８２ａは、時間が経過する間に塗装作業が進んだことにより、（ｂ）の時点においては塗装作業後の領域８３ｂとなっている。(ａ)の８２ａの表面データは塗装作業前として記憶部１４に記憶され、これに相当する（ｂ）の８３ｂの表面データは塗装作業後として記憶部１４に記憶される。記憶部１４には、表面データとその表面データが取得された時刻に関する時刻情報とが対応付けて記憶される。 In FIG. 5, the area indicated by 82a in (a) is the same area as the area indicated by 83b in (b). That is, 82a before the painting work at the time of (a) is an area 83b after the painting work at the time of (b) because the painting work has progressed over time. The surface data of 82a of (a) is stored in the storage unit 14 before the painting operation, and the corresponding surface data of 83b of (b) is stored in the storage unit 14 after the painting operation. The storage unit 14 stores surface data and time information related to the time when the surface data was acquired in association with each other.
　解析部１５は、分類部１３により分類されて記憶部１４に記憶された塗装作業前後のぞれぞれの表面データに基づいて、塗装対象領域の塗膜の状態を解析する。すなわち、解析部１５は、同じ領域における塗装作業前の表面データと塗装作業後の表面データとの位置情報の差、塗膜の色の差などの検出結果から、塗装対象領域に塗膜が正常に形成されているか否かを解析する。また、解析部１５は、各測定点の三次元位置の差分情報に基づいて、膜厚分布情報を生成する。解析部１５により生成された膜厚分布情報は、塗装補助装置用制御ユニット１の本体部３０に出力される。 The analysis unit 15 analyzes the state of the coating film in the coating target region based on the surface data before and after the painting operation classified by the classification unit 13 and stored in the storage unit 14. That is, the analysis unit 15 determines that the coating film is normal in the coating target area based on the detection results such as the positional information difference between the surface data before the painting work and the surface data after the painting work in the same area, and the color difference of the coating film. It is analyzed whether or not it is formed. Moreover, the analysis part 15 produces | generates film thickness distribution information based on the difference information of the three-dimensional position of each measurement point. The film thickness distribution information generated by the analysis unit 15 is output to the main body 30 of the coating assisting device control unit 1.
　図３に戻り、膜厚情報取得部４０には、塗膜状態解析装置２０から出力される膜厚分布情報が入力される。膜厚分布情報は、上記の通り塗装対象に形成された塗膜の膜厚分布に関する情報である。塗装状態判定部４１は、膜厚情報取得部４０により取得された膜厚分布情報に基づいて、塗装対象領域の各々の測定点に対して塗装済み領域か未塗装領域かを判定する。また、塗装状態判定部４１は、塗装済み領域であっても、塗膜厚が十分な領域であるか、塗膜厚が不十分な領域であるかを判定する。塗装状態判定部４１は、塗装対象面における塗装後の膜厚分布情報から塗膜の膜厚が不足している領域と塗膜の不足厚さについての情報である膜厚不足分布情報を生成する。 3, the film thickness distribution information output from the coating film state analyzing apparatus 20 is input to the film thickness information acquisition unit 40. The film thickness distribution information is information regarding the film thickness distribution of the coating film formed on the object to be coated as described above. Based on the film thickness distribution information acquired by the film thickness information acquisition unit 40, the coating state determination unit 41 determines whether each of the measurement points in the coating target area is a painted area or an unpainted area. Moreover, even if it is a painted area | region, the coating state determination part 41 determines whether it is an area | region where a coating film thickness is enough, or a coating film thickness is inadequate. The coating state determination unit 41 generates insufficient film thickness distribution information, which is information about a region where the film thickness of the coating film is insufficient and the insufficient thickness of the coating film, from the film thickness distribution information after coating on the surface to be coated. .
　記憶部５０は、膜厚情報取得部４０に入力された膜厚分布情報を記憶する。また、記憶部５０は、作業者４による入力操作等により、塗装装置５に関する塗装装置情報、および形成すべき塗膜の膜厚に関する情報（目標膜厚情報など）を記憶する。例えば、記憶部５０は、塗装装置情報として、複数のノズルについての吐出情報が記憶される。記憶部５０は、ＲＡＭ等の半導体メモリやハードディスク装置等の記憶媒体を含んで構成される。 The storage unit 50 stores the film thickness distribution information input to the film thickness information acquisition unit 40. In addition, the storage unit 50 stores coating apparatus information related to the coating apparatus 5 and information (such as target film thickness information) related to the film thickness of the coating film to be formed by an input operation by the operator 4 or the like. For example, the storage unit 50 stores discharge information for a plurality of nozzles as the coating apparatus information. The storage unit 50 includes a semiconductor memory such as a RAM and a storage medium such as a hard disk device.
　作業情報生成部６０は、目標膜厚情報、膜厚分布情報および塗装装置情報等に応じて、塗装対象に対して行うべき塗装作業に関する情報である作業情報を生成する。作業情報は、例えば、塗装装置５による塗料の吹き付け目標位置に関する情報、塗装装置５の位置およびノズルの向きに関する情報、塗装装置５を動かす速度（速さと方向）に関する情報等である。作業情報生成部６０は、位置算出部６１と、推移算出部６２とを有する。 The work information generation unit 60 generates work information that is information related to the painting work to be performed on the painting target in accordance with the target film thickness information, the film thickness distribution information, the coating apparatus information, and the like. The work information is, for example, information related to the target position of the paint sprayed by the coating apparatus 5, information related to the position of the coating apparatus 5 and the direction of the nozzle, information related to the speed (speed and direction) of moving the coating apparatus 5. The work information generation unit 60 includes a position calculation unit 61 and a transition calculation unit 62.
　位置算出部６１は、塗装装置５がスプレーガンの場合であれば、塗装対象における塗装装置５による塗料の吹き付け目標位置を算出する。また、位置算出部６１は、塗装装置５が刷毛の場合であれば、刷毛の航空機１１に接触させる目標位置を算出する。また、位置算出部６１は、塗装装置５が電着塗装装置の場合であれば、電着塗料液に浸漬させる部位を算出する。なお、以下の説明では、塗装装置５がスプレーガンの場合について説明する。 If the coating apparatus 5 is a spray gun, the position calculation unit 61 calculates a target position for spraying the paint by the coating apparatus 5 on the object to be coated. Further, if the coating apparatus 5 is a brush, the position calculation unit 61 calculates a target position to be brought into contact with the brush aircraft 11. Moreover, the position calculation part 61 calculates the site | part immersed in an electrodeposition coating liquid, when the coating device 5 is an electrodeposition coating device. In the following description, the case where the coating apparatus 5 is a spray gun will be described.
　位置算出部６１は、塗装装置情報に含まれる吐出量および吐出分布に関する情報に基づいて、塗装装置５による塗装を施す目標位置およびその際の塗装装置５の目標姿勢を算出する。より具体的には、位置算出部６１は、膜厚不足分布情報、吐出量および吐出分布の情報等を用いて、塗装対象に対する吹き付け目標位置、塗装装置５の位置および姿勢を算出する。なお、位置算出部６１は、測定装置１０により生成される形状データにおける吹き付け目標位置を算出するようにしてもよい。また、位置算出部６１は、塗装対象の形状および大きさに応じて、吹き付け目標位置を調整するようにしてもよい。 The position calculation unit 61 calculates a target position where the coating apparatus 5 performs coating and a target posture of the coating apparatus 5 at that time based on information on the discharge amount and the discharge distribution included in the coating apparatus information. More specifically, the position calculating unit 61 calculates the spray target position with respect to the coating target and the position and orientation of the coating apparatus 5 using the information on the insufficient film thickness distribution information, the discharge amount and the discharge distribution, and the like. Note that the position calculation unit 61 may calculate the spray target position in the shape data generated by the measurement apparatus 10. Further, the position calculation unit 61 may adjust the spray target position according to the shape and size of the painting target.
　推移算出部６２は、例えば、塗装装置情報等に基づいて、塗料の吹き付け作業の一連の工程において、時間ごとの吹き付け目標位置を算出する。すなわち、推移算出部６２は、塗装作業を行う際の塗装装置５の位置の時間的推移を算出する。また、例えば、推移算出部６２は、塗装装置５に使用しているノズルから吐出される塗料の吐出量やその吐出分布に関する情報、および解析部１５により算出される膜厚と設計時の膜厚（目標膜厚）との差に関する情報等に基づいて、塗装装置５を動かす速度を算出する。塗装装置５を動かす速度は、例えば、塗装装置５の塗装対象に対する単位時間あたりの移動距離である。 The transition calculation unit 62 calculates the spray target position for each time in a series of steps of the paint spraying operation based on, for example, the painting apparatus information. That is, the transition calculation unit 62 calculates the temporal transition of the position of the coating apparatus 5 when performing the painting work. In addition, for example, the transition calculation unit 62 includes information on the discharge amount of the paint discharged from the nozzles used in the coating apparatus 5 and information on its discharge distribution, and the film thickness calculated by the analysis unit 15 and the film thickness at the time of design. The speed at which the coating apparatus 5 is moved is calculated based on information relating to the difference from (target film thickness). The speed at which the coating apparatus 5 is moved is, for example, the moving distance per unit time of the coating apparatus 5 with respect to the coating target.
　上記説明のように、作業情報生成部６０は、塗装作業により塗装対象面に形成された塗膜の膜厚の状態に応じて、塗料の吹き付け目標位置や塗装装置５の位置や動かす速度等の、行うべき塗装作業に関する作業情報を生成する。なお、作業情報生成部６０は、塗装対象の周囲温度および湿度、塗料の特性、全体の作業時間等を考慮して、作業情報を生成するようにしてもよい。作業情報生成部６０により生成された作業情報は、画像生成部７０に出力される。 As described above, the work information generation unit 60 determines the paint spray target position, the position of the coating apparatus 5, the moving speed, and the like in accordance with the state of the film thickness of the coating film formed on the painting target surface by the painting work. Generate work information on the painting work to be performed. The work information generation unit 60 may generate the work information in consideration of the ambient temperature and humidity of the object to be coated, the characteristics of the paint, the overall work time, and the like. The work information generated by the work information generation unit 60 is output to the image generation unit 70.
　画像生成部７０は、膜厚分布画像や作業指示画像を表示するための画像データを生成する。画像生成部７０は、例えば、膜厚分布情報、作業情報、および塗装対象の形状データに基づいて、膜厚分布画像と作業指示画像とを塗装対象面上に重畳して表示するための画像データを生成する。画像生成部７０により生成される画像データは、塗装対象面に対する表示装置１００の位置および姿勢に基づいて生成される。例えば、表示装置１００の位置および姿勢に関する情報を画像生成部７０に入力し、画像生成部７０は、表示装置１００の位置および姿勢に関する情報に基づいて、表示する膜厚分布画像や作業指示画像等の画像データを生成する。これにより、膜厚分布画像と作業指示画像とを塗装対象上に適切に重畳して表示させることが可能となる。画像生成部７０により生成された画像データは、無線通信等により表示装置１００に出力される。なお、膜厚分布画像と作業指示画像とを重畳して表示させずに、いずれか一方のみを表示させるようにしてもよい。 The image generation unit 70 generates image data for displaying a film thickness distribution image and a work instruction image. The image generation unit 70 is, for example, image data for displaying a film thickness distribution image and a work instruction image superimposed on the coating target surface based on the film thickness distribution information, the work information, and the shape data of the coating target. Is generated. The image data generated by the image generation unit 70 is generated based on the position and orientation of the display device 100 with respect to the painting target surface. For example, information on the position and orientation of the display device 100 is input to the image generation unit 70, and the image generation unit 70 displays a film thickness distribution image, work instruction image, and the like to be displayed based on the information on the position and orientation of the display device 100. Image data is generated. As a result, the film thickness distribution image and the work instruction image can be appropriately superimposed and displayed on the painting target. The image data generated by the image generation unit 70 is output to the display device 100 by wireless communication or the like. Note that only one of the film thickness distribution image and the work instruction image may be displayed without being superimposed.
　表示装置１００は、画像生成部７０により生成される画像データによって、種々の画像を表示することができる。例えば、表示装置１００は、塗膜の膜厚を段階的に分類して色分けした膜厚分布画像を表示する。また、塗装補助装置用制御ユニット１は、表示装置１００により場所ごとの塗膜の膜厚値を表示させるようにしてもよい。また、塗装補助装置用制御ユニット１は、交換可能なノズルから最適なノズルを決定して、塗装装置５のノズルの交換を案内する画像を生成して、表示部１００により表示させるようにしてもよい。 The display device 100 can display various images based on the image data generated by the image generation unit 70. For example, the display device 100 displays a film thickness distribution image in which the film thickness of the coating film is classified stepwise and color-coded. Moreover, you may make it the control unit 1 for coating assistance apparatuses display the film thickness value of the coating film for every place with the display apparatus 100. FIG. Further, the painting auxiliary device control unit 1 determines an optimum nozzle from the replaceable nozzles, generates an image for guiding the replacement of the nozzle of the painting device 5, and causes the display unit 100 to display the image. Good.
　図６は、第１の実施の形態による表示装置１００による表示画像の一例を示す図である。図６に示す例では、航空機１１の塗装対象面上に、膜厚分布画像と作業指示画像とを重畳して表示している。これらの画像は、航空機１１の塗装対象面に位置合わせされて投影表示される。図６に示す膜厚分布画像においては、塗膜の膜厚に応じて色分けして表示されている。領域１０１および領域１０２は、膜厚が目標膜厚から所定の範囲内である領域である。領域１０２は、膜厚が領域１０１の膜厚範囲よりも薄い領域である。領域１０３は、膜厚が領域１０２の膜厚範囲よりもさらに薄く、目標膜厚から所定の範囲を下回る領域である。なお、図６においては、色の違いをドットおよびハッチングを用いて表現している。 FIG. 6 is a diagram illustrating an example of a display image by the display device 100 according to the first embodiment. In the example shown in FIG. 6, the film thickness distribution image and the work instruction image are superimposed and displayed on the painting target surface of the aircraft 11. These images are projected and displayed in alignment with the painting target surface of the aircraft 11. In the film thickness distribution image shown in FIG. 6, the colors are displayed according to the film thickness of the coating film. Regions 101 and 102 are regions whose film thickness is within a predetermined range from the target film thickness. The region 102 is a region whose film thickness is thinner than the film thickness range of the region 101. The region 103 is a region where the film thickness is thinner than the film thickness range of the region 102 and falls below a predetermined range from the target film thickness. In FIG. 6, the color difference is expressed using dots and hatching.
　図６に示すポインタ９０は、作業指示画像に基づく画像であり、塗料の吹き付けを開始する目標位置を示している。ポインタ９０は、矢印９１で示す方向に吹き付けにより形成したい膜厚に応じた速度で移動することにより、作業者４に対して吹き付け目標位置を指示する。塗装対象面には、塗膜の膜厚が不足している領域、塗装装置５の吹き付け目標位置、塗装装置５を動かす速度などの種々の情報が表示される。作業者４は、吹き付け目標位置を確認しながら塗装装置５の位置及び向きを調整しながら塗料作業を行うことができる。作業者４は、このポインタ９０の移動に従って塗装装置５を移動させることにより、航空機１１に対して適切に塗装を行うことが可能となる。例えば、塗装装置５から吐出される塗料の吐出量が一定の場合は、ポインタ９０の移動する速度を調整することで、塗装作業により形成される塗膜の膜厚を調整することが可能となる。 The pointer 90 shown in FIG. 6 is an image based on the work instruction image, and indicates the target position where the spraying of the paint is started. The pointer 90 instructs the spraying target position to the operator 4 by moving at a speed corresponding to the film thickness to be formed by spraying in the direction indicated by the arrow 91. Various information such as a region where the film thickness of the coating film is insufficient, a spray target position of the coating apparatus 5, and a speed at which the coating apparatus 5 is moved is displayed on the coating target surface. The operator 4 can perform the paint work while adjusting the position and orientation of the coating apparatus 5 while confirming the spray target position. The operator 4 can appropriately paint the aircraft 11 by moving the painting device 5 according to the movement of the pointer 90. For example, when the discharge amount of the paint discharged from the coating apparatus 5 is constant, the film thickness of the coating film formed by the painting operation can be adjusted by adjusting the moving speed of the pointer 90. .
　また、予め作業者４には、ポインタ９０が表示されている時間だけ、塗料を塗装装置５から塗装対象物に吹き付けさせ、ポインタ９０が消えたら、塗装装置５の吹き付けを停止する操作を行うように通達することで、無駄に塗料が塗装対象物に吹き付けられることを防ぐことができ、塗装作業の低コスト化につなげることができる。なお、このような作業指示画面で表示される画像を航空機１１の塗装作業面に投影したり、シースルータイプのヘッドマウントディスプレイを用いて塗装作業表面に重畳して表示するようにしたりすることで、作業者の負担を大きく軽減することも可能となる。 In addition, the operator 4 is made to spray the paint from the coating apparatus 5 onto the object to be coated for the time when the pointer 90 is displayed in advance, and when the pointer 90 disappears, the operation of stopping the spraying of the coating apparatus 5 is performed. By being notified, it is possible to prevent the paint from being sprayed on the object to be painted unnecessarily, and to reduce the cost of the painting work. In addition, by projecting the image displayed on such a work instruction screen on the painting work surface of the aircraft 11 or displaying it superimposed on the painting work surface using a see-through type head mounted display, It is also possible to greatly reduce the burden on the operator.
　図７は、第１の実施の形態による塗膜状態解析装置２０による処理の流れを示したフローチャートである。図７に示す処理は、例えば塗装作業を行っている際に繰り返し実行される。 FIG. 7 is a flowchart showing a flow of processing by the coating film state analyzing apparatus 20 according to the first embodiment. The process shown in FIG. 7 is repeatedly executed when, for example, a painting operation is performed.
　ステップＳ１００において、塗膜状態解析装置２０の表面データ取得部１２は、測定装置１０から表面データを取得する。また、表面データ取得部１２は、測定装置１０からその表面データが取得された時刻に関する時刻情報を取得する。ステップＳ１１０において、分類部１３は、表面データ取得部１２により取得された塗装対象領域の表面データを、塗装作業前の表面データと塗装作業後の表面データとに分類する。 In step S <b> 100, the surface data acquisition unit 12 of the coating film state analyzer 20 acquires surface data from the measuring device 10. Further, the surface data acquisition unit 12 acquires time information related to the time when the surface data is acquired from the measurement device 10. In step S110, the classification unit 13 classifies the surface data of the painting target area acquired by the surface data acquisition unit 12 into surface data before the painting operation and surface data after the painting operation.
　ステップＳ１２０において、解析部１５は、表面データおよび時刻情報に基づいて、同一の測定点について異なる時間に算出された表面データを取得したか否かを判定する。解析部１５は、同一の測定点について異なる時間に算出された表面データを取得した場合には、ステップＳ１３０へ進む。ステップＳ１２０において、解析部１５は、同一の測定点について異なる時間に算出された表面データを取得していない場合には、ステップＳ１００へ戻る。 In step S120, the analysis unit 15 determines whether surface data calculated at different times for the same measurement point is acquired based on the surface data and time information. If the analysis unit 15 acquires surface data calculated at different times for the same measurement point, the analysis unit 15 proceeds to step S130. In step S120, the analysis part 15 returns to step S100, when the surface data calculated at different time about the same measurement point is not acquired.
　ステップＳ１３０において、解析部１５は、同一の測定点について異なる時間に算出された表面データを用いて、測定点に形成された塗膜の膜厚を算出して膜厚情報を生成する。ステップＳ１４０において、解析部１５は、塗膜の膜厚を算出していない測定点が無いか否かを判定する。ステップＳ１４０で肯定判定されると、ステップＳ１５０へ進み、ステップＳ１４０で否定判定されると、ステップＳ１３０へ戻る。 In step S130, the analysis unit 15 uses the surface data calculated at different times for the same measurement point, calculates the film thickness of the coating film formed at the measurement point, and generates film thickness information. In step S140, the analysis unit 15 determines whether or not there is a measurement point for which the film thickness of the coating film is not calculated. If a positive determination is made in step S140, the process proceeds to step S150. If a negative determination is made in step S140, the process returns to step S130.
　ステップＳ１５０において、解析部１５は、算出した各測定点の膜厚情報に基づいて、膜厚分布情報を生成する。解析部１５により生成された膜厚分布情報は、塗装補助装置用制御ユニット１の本体部３０に出力される。 In step S150, the analysis unit 15 generates film thickness distribution information based on the calculated film thickness information at each measurement point. The film thickness distribution information generated by the analysis unit 15 is output to the main body 30 of the coating assisting device control unit 1.
　図８は、第１の実施の形態による塗装補助装置用制御ユニット１の本体部３０による処理の流れを示したフローチャートである。図８に示す処理は、例えば塗装作業を行っている際に繰り返し実行される。 FIG. 8 is a flowchart showing the flow of processing by the main body 30 of the painting auxiliary device control unit 1 according to the first embodiment. The process shown in FIG. 8 is repeatedly executed, for example, when a painting operation is performed.
　ステップＳ２００において、本体部３０の膜厚情報取得部４０は、塗膜状態解析装置２０から膜厚分布情報を取得する。ステップＳ２１０において、塗装状態判定部４１は、膜厚分布情報および目標膜厚情報に基づいて、塗装対象領域における塗膜厚が不足している領域および塗膜圧の不足厚さに関する膜厚不足分布情報を生成する。 In step S <b> 200, the film thickness information acquisition unit 40 of the main body unit 30 acquires the film thickness distribution information from the coating film state analysis apparatus 20. In step S210, the coating state determination unit 41, based on the film thickness distribution information and the target film thickness information, the film thickness shortage distribution related to the area where the paint film thickness is insufficient in the paint target area and the film thickness insufficient. Generate information.
　ステップＳ２２０において、位置算出部６１は、膜厚不足分布情報に基づいて、再塗装が必要な領域を表す再塗装領域情報を生成する。ステップＳ２３０において、推移算出部６２は、再塗装領域情報に基づき、効率の良い塗装を行うことができるパス（経路）を算出する。例えば、推移算出部６２は、塗装装置５のトリガを操作する回数が少ないパスや作業者４のゴンドラ上の往復移動が少ないパス、塗装装置５のノズルを交換する回数が少ないパス等を算出する。ステップＳ２４０において、推移算出部６２は、算出した塗装を行うパスおよび塗装装置情報を基に、塗装装置５を動かす移動速度を算出する。作業情報生成部６０は、算出された塗装を行うパスおよび塗装装置５の移動速度等に基づいて、行うべき塗装作業に関する作業情報を生成する。 In step S220, the position calculation unit 61 generates repainting area information representing an area that needs to be repainted based on the insufficient film thickness distribution information. In step S230, the transition calculation unit 62 calculates a path (route) through which efficient painting can be performed based on the repainting area information. For example, the transition calculation unit 62 calculates a path with a small number of times of operating the trigger of the coating apparatus 5, a path with a small reciprocation of the operator 4 on the gondola, a path with a small number of times of replacing the nozzle of the coating apparatus 5, and the like. . In step S240, the transition calculating unit 62 calculates a moving speed for moving the coating apparatus 5 based on the calculated coating path and coating apparatus information. The work information generation unit 60 generates work information related to the painting work to be performed based on the calculated path for painting and the moving speed of the painting apparatus 5.
　ステップＳ２５０において、画像生成部７０は、膜厚分布情報および作業情報等に基づいて画像データを生成して、表示装置１００に出力する。表示装置１００は、画像生成部７０により生成される画像データによって、膜厚分布画像や作業指示画像を表示する。これにより、作業者４は、表示装置１００により表示された画像に従って塗装作業を行うことが可能となる。 In step S250, the image generation unit 70 generates image data based on the film thickness distribution information and work information, and outputs the image data to the display device 100. The display device 100 displays a film thickness distribution image and a work instruction image based on the image data generated by the image generation unit 70. Thereby, the worker 4 can perform the painting work according to the image displayed by the display device 100.
　上述した第１の実施の形態によれば、次の作用効果が得られる。
（１）塗膜状態解析装置２０は、塗装対象領域の表面データを取得する取得部（表面データ取得部１２）と、取得部により取得された表面データから塗装作業済みの表面データと塗装作業前の表面データとに分類する分類部１３と、分類部１３により分類された塗装作業済みの表面データと塗装作業前の表面データとに基づいて、塗装対象領域に形成された塗膜の状態を解析する解析部１５と、を備える。本実施の形態では、分類部１３は、塗装対象領域の表面データから塗装作業済み領域の表面データと塗装作業前領域の表面データとを抽出する。そのため、塗装対象における塗装を行った領域と塗装を行っていない領域とを把握することができる。また、解析部１５は、塗装作業済み領域の表面データと塗装作業前領域の表面データとに基づいて、塗装対象領域に形成された塗膜の状態を解析する。そのため、塗装を行った領域に塗膜が正常に形成されているか否かを確認することができる。特に、塗装対象領域に対して塗装作業途中に、塗装作業者の位置情報に基づいて、各測定時点での塗装作業領域を認識することで、塗装作業が完了したと推定された直後の塗膜厚情報を取得することができ、解析部１５による解析結果に基づく膜厚分布情報に基づいて塗装作業を行わせることにより、塗装作業領域が推移した直後の時点で速やかに塗膜厚の不良位置を塗装作業者に認識させることができる。さらに、塗装作業の手戻りのための時間を短縮させることができる。 According to the first embodiment described above, the following operational effects are obtained.
(1) The coating film state analyzing apparatus 20 includes an acquisition unit (surface data acquisition unit 12) that acquires surface data of a region to be coated, surface data that has been subjected to a painting operation from the surface data acquired by the acquisition unit, and before the painting operation The surface of the coating film formed in the coating target area is analyzed based on the classification unit 13 that classifies the surface data and the surface data that has been painted and classified by the classification unit 13 and the surface data before the painting operation. And an analyzing unit 15 for performing the processing. In the present embodiment, the classification unit 13 extracts the surface data of the painted work area and the surface data of the pre-painting work area from the surface data of the painting target area. Therefore, it is possible to grasp the area where the painting is applied and the area where the painting is not performed. Moreover, the analysis part 15 analyzes the state of the coating film formed in the coating object area | region based on the surface data of the area | region where the painting work was completed, and the surface data of the area before the painting work. Therefore, it can be confirmed whether the coating film is normally formed in the painted area. In particular, the coating film immediately after it was estimated that the painting work was completed by recognizing the painting work area at each measurement time based on the position information of the painting worker during the painting work on the painting target area Thickness information can be acquired, and by performing the painting operation based on the film thickness distribution information based on the analysis result by the analysis unit 15, the defective position of the coating film thickness can be quickly obtained immediately after the coating operation area changes. Can be recognized by the painter. Furthermore, it is possible to shorten the time required for reworking the painting work.
（２）一般的に、航空機のコスト等を考慮して航空機の運休期間を短くする必要があるため、限られた時間内に塗装作業を行う必要がある。また、航空機の需要は増大すると考えられている。そこで、本実施の形態では、塗膜の状態を塗装作業中に適宜解析して、解析結果を作業者に提示する。これにより、作業者は、塗膜の膜厚が不足している領域等を確認しながら塗装作業を行うことができ、塗装の塗り直しや出戻り作業を削減して塗装作業を速やかに完了させることができる。その結果、航空機の稼動効率を向上させることができる。また、膜厚分布情報に基づいて適切な塗装作業を行うことにより、過剰な膜厚による航空機の燃費の悪化、膜厚の不足による防水性や防錆性の低下、および膜厚の不足による機体表面の温度上昇等が生じることを防止することができる。 (2) Generally, since it is necessary to shorten the aircraft suspension period in consideration of the cost of the aircraft, it is necessary to perform the painting work within a limited time. Aircraft demand is also expected to increase. Therefore, in this embodiment, the state of the coating film is appropriately analyzed during the painting operation, and the analysis result is presented to the operator. As a result, the worker can perform the painting work while confirming the area where the film thickness of the coating film is insufficient, and the painting work can be completed promptly by reducing the repainting and return work. Can do. As a result, the operational efficiency of the aircraft can be improved. In addition, by performing appropriate painting work based on the film thickness distribution information, the aircraft's fuel consumption deteriorates due to excessive film thickness, the waterproof and rust resistance decreases due to insufficient film thickness, and the aircraft due to insufficient film thickness. It is possible to prevent the surface temperature from rising.
（３）膜厚測定装置（塗膜状態解析装置２０）は、塗装作業中に塗装対象の形状データを繰り返し取得する取得部（表面データ取得部１２）と、取得部により取得された形状データに基づいて、塗装対象に形成された塗膜の膜厚を算出する算出部（解析部１５）と、を備える。このようにしたので、塗装作業により形成された塗膜の膜厚を、塗装作業中に随時取得することができる。また、解析部１５による解析結果に基づく膜厚分布情報に基づいて塗装作業を行わせることにより、所望の塗膜を速やかに形成させることができ、塗装作業の時間を短縮させることができる。
（４）算出部は、異なる時点で取得された複数の形状データ間の差に基づいて、膜厚を算出する。このようにしたので、塗装作業中に取得した塗装対象の形状データに基づいて、塗膜の膜厚を算出することができる。塗装作業の開始前に予め取得した塗装対象のＣＡＤデータと、塗装作業の開始後に距離測定により取得した塗装対象の形状データとに基づいて塗膜の膜厚を算出する方法が考えられる。しかし、塗装作業中の温度による影響や塗装対象の自重等によって塗装対象の変形が生じるため、この方法では、ＣＡＤデータと塗装作業中に取得した塗装対象の形状データとの比較が困難である。本実施の形態では、塗装作業中の異なる時点での形状データ間の差に基づいて膜厚を算出する。そのため、塗装作業を行う際に、塗装により形成された塗膜の膜厚を適宜取得することができる。 (3) The film thickness measurement device (coating film state analysis device 20) includes an acquisition unit (surface data acquisition unit 12) that repeatedly acquires the shape data of the object to be coated during the painting operation, and the shape data acquired by the acquisition unit. And a calculation unit (analysis unit 15) that calculates the film thickness of the coating film formed on the object to be coated. Since it did in this way, the film thickness of the coating film formed by the painting operation can be acquired at any time during the painting operation. In addition, by performing the painting operation based on the film thickness distribution information based on the analysis result by the analysis unit 15, a desired coating film can be formed quickly, and the time for the painting operation can be shortened.
(4) The calculation unit calculates the film thickness based on the difference between the plurality of shape data acquired at different times. Since it did in this way, the film thickness of a coating film can be calculated based on the shape data of the coating object acquired during the painting operation. A method of calculating the film thickness of the coating film based on the CAD data of the coating target acquired in advance before the start of the painting operation and the shape data of the coating target acquired by distance measurement after the start of the coating operation can be considered. However, since the deformation of the coating object occurs due to the influence of the temperature during the painting work, the weight of the painting object, etc., it is difficult to compare the CAD data with the shape data of the painting object acquired during the painting work. In the present embodiment, the film thickness is calculated based on the difference between the shape data at different times during the painting operation. Therefore, when performing the painting operation, the film thickness of the coating film formed by painting can be appropriately acquired.
　次のような変形も本発明の範囲内であり、変形例の一つ、もしくは複数を上述の実施形態と組み合わせることも可能である。 The following modifications are also within the scope of the present invention, and one or a plurality of modifications can be combined with the above-described embodiment.
（変形例１）
　上述した実施の形態では、特定した作業者の位置に基づいて、表面データにおける塗装作業前の領域および塗装作業後の領域の特定を行う例について説明した。しかし、塗装対象の色情報に基づいて、塗装作業前後の領域の特定を行うようにしてもよい。例えば、分類部１３は、測定装置１０により生成された塗装前の画像データおよび塗装後の画像データのそれぞれの色情報の差を算出し、この色情報の差に基づいて塗装作業前の領域および塗装作業後の領域を特定することができる。また、分類部１３は、特定された塗装作業前後の領域に基づいて、塗装作業前後の表面データの分類を行うことができる。 (Modification 1)
In the above-described embodiment, the example in which the area before the painting work and the area after the painting work in the surface data are specified based on the specified worker position has been described. However, the area before and after the painting work may be specified based on the color information of the painting target. For example, the classification unit 13 calculates a difference in color information between the image data before painting and the image data after painting generated by the measuring apparatus 10, and based on the difference in color information, the area before painting and The area after the painting work can be specified. Moreover, the classification | category part 13 can classify | categorize the surface data before and behind a painting operation based on the area | region before and after the specified painting operation.
（変形例２）
　上述した実施の形態では、作業者から反射したレーザ光による距離情報に基づいて、作業者の位置を特定する例について説明した。しかし、作業者に対して取り付けられたセンサや作業者の立ち位置を検出するセンサからの信号に基づいて、表面データにおける作業者の領域を推定するようにしてもよい。また、塗装作業の進行スケジュールと距離測定を行った時刻とに基づいて、表面データにおける作業者の領域を推定するようにしてもよい。 (Modification 2)
In the above-described embodiment, the example in which the position of the worker is specified based on the distance information by the laser beam reflected from the worker has been described. However, the area of the worker in the surface data may be estimated based on signals from a sensor attached to the worker and a sensor that detects the standing position of the worker. Moreover, you may make it estimate the operator's area | region in surface data based on the progress schedule of a painting operation | work, and the time which measured distance.
（変形例３）
　上述した実施の形態では、塗装作業前の領域の表面データと塗装作業後の領域の表面データとに基づいて、塗膜の状態の解析を行う例について説明した。しかし、測定装置１０が塗装対象面の一点のみを定点観測し、塗膜状態解析装置２０は、測定装置１０による観測結果を基に、塗装作業前の状態なのか、塗装作業後の状態なのかを判定して、塗装前の表面データと塗装後の表面データとが得られたと判断した場合に塗膜の状態を解析するようにしてもよい。例えば、塗膜状態解析装置２０は、取得した塗装対象の色情報に基づいて、塗装作業前の状態なのか、塗装作業後の状態なのかを判定する。 (Modification 3)
In the above-described embodiment, the example in which the state of the coating film is analyzed based on the surface data of the area before the painting work and the surface data of the area after the painting work has been described. However, the measuring device 10 observes only one point on the surface to be painted, and whether the coating film state analyzing device 20 is in a state before or after the painting operation based on the observation result by the measuring device 10. When the surface data before painting and the surface data after painting are judged to be obtained, the state of the coating film may be analyzed. For example, the coating film state analyzing apparatus 20 determines whether the state is before the painting work or after the painting work based on the acquired color information of the painting target.
（変形例４）
　上述した実施の形態では、塗装対象領域の表面データの一例である塗装対象領域の形状データに基づいて、塗膜の状態の解析を行う例について説明した。しかし、塗膜状態解析装置１０は、３次元データだけに限られず、撮像装置により生成される塗装対象領域の２次元の画像データ等を用いて、塗膜の状態の解析を行うようにしてもよい。例えば、塗膜状態解析装置２０は、塗装作業前に撮像して得られた画像データと、塗装作業後に撮像して得られた画像データとを比較することにより、塗膜の状態の解析を行うことができる。 (Modification 4)
In the above-described embodiment, the example in which the state of the coating film is analyzed based on the shape data of the painting target area which is an example of the surface data of the painting target area has been described. However, the coating film state analyzing apparatus 10 is not limited to the three-dimensional data, and may perform the analysis of the coating film state using the two-dimensional image data of the coating target region generated by the imaging device. Good. For example, the coating film state analyzing apparatus 20 analyzes the state of the coating film by comparing image data obtained by imaging before the painting operation with image data obtained by imaging after the painting operation. be able to.
（変形例５）
　上述した実施の形態では、塗装装置５の一例であるスプレー装置（スプレーガン）を用いて形成された塗膜の状態を解析する例について説明した。しかし、上述の実施の形態で説明した塗膜状態解析装置２０は、ローラー、刷毛、電着塗装装置、どぶ付け、蒸着法、溶射法など他の様々な方法によって形成される塗膜の状態の解析にも適用することができる。 (Modification 5)
In embodiment mentioned above, the example which analyzes the state of the coating film formed using the spray apparatus (spray gun) which is an example of the coating apparatus 5 was demonstrated. However, the coating film state analyzing apparatus 20 described in the above embodiment is a state of a coating film formed by various other methods such as a roller, a brush, an electrodeposition coating apparatus, a dotting, a vapor deposition method, and a thermal spraying method. It can also be applied to analysis.
（変形例６）
　上述した実施の形態および変形例では、塗装対象として航空機を用いる例について説明したが、塗装対象は自動車であってもよいし、船舶であってもよく、特に限定されない。本発明は、種々の塗装対象の塗膜状態の解析に適用することができる。 (Modification 6)
In the embodiment and the modification described above, an example in which an aircraft is used as a painting target has been described. However, the painting target may be an automobile or a ship, and is not particularly limited. The present invention can be applied to the analysis of the coating state of various coating objects.
（変形例７）
　上述した実施の形態および変形例では、塗装対象に形成された塗膜の膜厚を算出する例について説明したが、塗装対象に塗布された塗料の厚さを算出するようにしてもよい。これにより、塗料の厚さから塗料の液だれの有無や乾燥後の塗膜の膜厚などを推定することができる。 (Modification 7)
In the embodiment and the modification described above, the example of calculating the film thickness of the coating film formed on the object to be coated has been described. However, the thickness of the paint applied to the object to be coated may be calculated. Thereby, the presence or absence of dripping of a coating material, the film thickness of the coating film after drying, etc. can be estimated from the thickness of a coating material.
　なお、上述の各実施形態の要件は、適宜組み合わせることができる。また、一部の構成要素を用いない場合もある。また、法令で許容される限りにおいて、上述の各実施形態及び変形例で引用した検出装置などに関する全ての公開公報及び米国特許の開示を援用して本文の記載の一部とする。 Note that the requirements of the above-described embodiments can be combined as appropriate. Some components may not be used. In addition, as long as it is permitted by law, the disclosure of all published publications and US patents related to the detection devices and the like cited in the above embodiments and modifications are incorporated herein by reference.
　上記では、種々の実施の形態および変形例を説明したが、本発明はこれらの内容に限定されるものではない。本発明の技術的思想の範囲内で考えられるその他の態様も本発明の範囲内に含まれる。 Although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other embodiments conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.
１０…測定装置、１２…表面データ取得部、１３…分類部、１４…記憶部、１５…解析部、２０…塗膜状態解析装置 DESCRIPTION OF SYMBOLS 10 ... Measuring apparatus, 12 ... Surface data acquisition part, 13 ... Classification part, 14 ... Memory | storage part, 15 ... Analysis part, 20 ... Coating-film state analysis apparatus

Claims (13)

  1. 　塗装対象領域の表面データを取得する取得部と、
    　前記取得部により取得された前記表面データから塗装作業済みの表面データと塗装作業前の表面データとに分類する分類部と、
    　前記分類部により分類された前記塗装作業済みの表面データと前記塗装作業前の表面データとに基づいて、前記塗装対象領域に形成された塗膜の状態を解析する解析部と、
    を備える塗膜状態解析装置。     An acquisition unit for acquiring the surface data of the area to be painted;
    A classification unit that classifies the surface data acquired by the acquisition unit into surface data that has been painted and surface data before the painting operation;
    Based on the surface data after the painting operation classified by the classification unit and the surface data before the painting operation, an analysis unit that analyzes the state of the coating film formed in the coating target region;
    A coating state analysis apparatus comprising:
  2. 　請求項１に記載の塗膜状態解析装置において、
    　前記塗装対象領域の表面データは、塗装作業済み領域と塗装作業前領域とを含む表面データであり、
    　前記分類部は、前記取得部により取得された前記表面データから、前記塗装作業済み領域の表面データと前記塗装作業前領域の表面データとを抽出し、抽出されたそれぞれの表面データを分類する塗膜状態解析装置。     In the paint film state analyzing apparatus according to claim 1,
    The surface data of the area to be painted is surface data including a painted work area and a pre-painting work area,
    The classification unit extracts surface data of the painted area and surface data of the pre-painting area from the surface data acquired by the acquisition unit, and classifies the extracted surface data. Membrane state analyzer.
  3. 　請求項２に記載の塗膜状態解析装置において、
    　前記解析部は、少なくとも一部の領域が塗装対象上の同じ位置を示す表面データを含む、前記塗装作業済み領域の表面データと前記塗装作業前領域の表面データとに基づいて、前記塗装対象領域に形成された塗膜の膜厚状態を解析する塗膜状態解析装置。     In the coating film state analysis apparatus according to claim 2,
    The analysis unit includes the surface data indicating the same position on the object to be painted, and includes the surface data indicating the same position on the object to be painted, based on the surface data of the area after the painting operation and the surface data of the area before the painting operation A coating film state analyzing apparatus for analyzing the film thickness state of the coating film formed on the surface.
  4. 　請求項２に記載の塗膜状態解析装置において、
    　前記取得部は、前記塗装対象領域に対する塗装作業前、塗装作業後、または塗装作業領域への塗装作業進行中における複数の異なる時点でのうち、少なくともいずれか二つの時点での、前記塗装対象領域の表面データを取得し、
    　前記分類部は、前記少なくともいずれか二つの時点での前記塗装対象領域の表面データのそれぞれに対して、塗装作業済み領域の表面データと塗装作業前領域の表面データとに分け、
    　前記解析部は、前記少なくともいずれか二つの時点の一方の前記塗装作業済み領域の表面データと、他方の塗装作業前領域の表面データとに基づいて、前記塗装対象領域に形成された塗膜の膜厚状態を解析する塗膜状態解析装置。     In the coating film state analysis apparatus according to claim 2,
    The acquisition unit is configured to apply the painting target region at least at any two time points among a plurality of different time points before, after, or during the painting work on the painting target region. The surface data of
    The classification unit, for each of the surface data of the area to be painted at the time of the at least any two points, is divided into the surface data of the painted work area and the surface data of the area before the painting work,
    The analysis unit, based on the surface data of one of the painted work area at one of the at least two points of time and the surface data of the other area before the painting work, the coating film formed in the paint target area A coating state analyzer that analyzes film thickness.
  5. 　請求項４に記載の塗膜状態解析装置において、
    　前記少なくともいずれか二つの時点の一方の前記塗装作業済み領域の表面データと、他方の塗装作業前領域の表面データとは、少なくとも一部が塗装対象上の同じ位置を示す表面データを含む塗膜状態解析装置。     In the coating film state analysis apparatus according to claim 4,
    The coating data including at least part of the surface data of the painted area at one of the two points in time and the surface data of the other area before the painting work include surface data at least partially indicating the same position on the object to be painted. State analysis device.
  6. 　請求項１から請求項５までのいずれか一項に記載の塗膜状態解析装置において、
    　前記取得部で取得される表面データは、前記塗装対象領域の形状データである塗膜状態解析装置。     In the coating film state analysis apparatus according to any one of claims 1 to 5,
    The surface data acquired by the acquisition unit is a coating film state analyzing apparatus that is shape data of the coating target region.
  7. 　請求項６に記載の塗膜状態解析装置において、
    　前記取得部で取得される前記塗装対象領域の形状データは、いずれも同一座標系で表現される３次元形状データであり、
    　前記解析部は、前記塗膜の状態として前記塗装対象領域に形成された塗膜の膜厚情報を取得する塗膜状態解析装置。     In the coating film state analysis apparatus according to claim 6,
    The shape data of the coating target area acquired by the acquisition unit is three-dimensional shape data expressed in the same coordinate system,
    The said analysis part is a coating-film state analysis apparatus which acquires the film thickness information of the coating film formed in the said coating object area | region as the state of the said coating film.
  8. 　請求項６または請求項７に記載の塗膜状態解析装置において、
    　前記分類部は、前記取得部により取得された前記形状データから塗装作業者の領域を抽出し、前記塗装作業者の領域に基づいて、塗装作業済み領域の形状データと塗装作業前領域の形状データとを抽出する塗膜状態解析装置。     In the coating film state analyzing apparatus according to claim 6 or 7,
    The classification unit extracts the area of the paint worker from the shape data acquired by the acquisition unit, and based on the area of the paint worker, the shape data of the painted work area and the shape data of the area before the paint work A coating state analyzer that extracts
  9. 　請求項６から請求項８までのいずれか一項に記載の塗膜状態解析装置において、
    　前記塗装対象領域の形状データを記憶する記憶部を更に有し、
    　前記分類部は、前記取得部により取得された前記形状データと前記記憶部に記憶された前記形状データとの差を算出し、前記差が所定値よりも大きい領域を塗装作業者の領域として抽出し、前記塗装作業者の領域に基づいて前記塗装作業済み領域を抽出する塗膜状態解析装置。     In the paint film state analyzing apparatus according to any one of claims 6 to 8,
    A storage unit for storing shape data of the coating target area;
    The classification unit calculates a difference between the shape data acquired by the acquisition unit and the shape data stored in the storage unit, and extracts a region where the difference is larger than a predetermined value as a region of the paint worker And the coating-film state analysis apparatus which extracts the said painted work area | region based on the said painter's area | region.
  10. 　請求項１から請求項７までのいずれか一項に記載の塗膜状態解析装置において、
    　前記取得部は、前記塗装対象領域の形状データが示す前記塗装対象領域の色データを取得し、
    　前記分類部は、前記色データから得られる色分布情報に基づいて、塗装作業済み領域の形状データと塗装作業前領域の形状データとを抽出する塗膜状態解析装置。     In the coating film state analysis apparatus according to any one of claims 1 to 7,
    The acquisition unit acquires the color data of the painting target area indicated by the shape data of the painting target area,
    The said classification | category part is a coating-film state analysis apparatus which extracts the shape data of the area | region which has been painted, and the shape data of the area before the painting work based on the color distribution information obtained from the color data.
  11. 　請求項１から請求項１０までのいずれか一項に記載の塗膜状態解析装置において、
    　前記塗装作業済み領域は、塗装作業において塗布された塗料が乾燥する前の領域を含む塗膜状態解析装置。     In the coating-film state analyzer as described in any one of Claim 1- Claim 10,
    The coating work analysis area includes the area before the paint applied in the painting work is dried.
  12. 　塗装作業中に塗装対象の形状データを繰り返し取得する取得部と、
    　前記取得部により取得された前記形状データに基づいて、前記塗装対象に形成された塗膜の膜厚を算出する算出部と、
    を備える膜厚測定装置。     An acquisition unit that repeatedly acquires the shape data of the object to be painted during the painting operation;
    Based on the shape data acquired by the acquisition unit, a calculation unit that calculates the film thickness of the coating film formed on the coating target;
    A film thickness measuring device comprising:
  13. 　請求項１２に記載の膜厚測定装置において、
    　前記算出部は、異なる時点で取得された複数の形状データ間の差に基づいて、前記膜厚を算出する膜厚測定装置。
          In the film thickness measuring device according to claim 12,
    The said calculation part is a film thickness measuring apparatus which calculates the said film thickness based on the difference between the some shape data acquired at different time.
PCT/JP2017/014278 2017-04-05 2017-04-05 Coating film state analysis device and film thickness measurement device WO2018185891A1 (en)

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