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WO2018185891A1 - Dispositif d'analyse d'état de film de revêtement et dispositif de mesure d'épaisseur de film - Google Patents

Dispositif d'analyse d'état de film de revêtement et dispositif de mesure d'épaisseur de film 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
Prior art date
Application number
PCT/JP2017/014278
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English (en)
Japanese (ja)
Inventor
皓之 栢場
Original Assignee
株式会社ニコン
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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/fr
Publication of WO2018185891A1 publication Critical patent/WO2018185891A1/fr

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Classifications

    • 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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Health & Medical Sciences (AREA)
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  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
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  • Engineering & Computer Science (AREA)
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Abstract

Dispositif d'analyse d'état de film de revêtement comprenant une unité d'acquisition pour acquérir des données de surface concernant une région à revêtir, une unité de tri pour trier à partir des données de surface acquises par l'unité d'acquisition en des données de surface de post-revêtement et des données de surface de pré-revêtement, et une unité d'analyse pour analyser l'état d'un film de revêtement formé dans la région à revêtir sur la base des données de surface de post-revêtement et des données de surface de pré-revêtement triées par l'unité de tri.
PCT/JP2017/014278 2017-04-05 2017-04-05 Dispositif d'analyse d'état de film de revêtement et dispositif de mesure d'épaisseur de film WO2018185891A1 (fr)

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JP2023048558A (ja) * 2021-09-28 2023-04-07 東京瓦斯株式会社 風力発電装置の劣化検知システム、劣化検知装置およびプログラム

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