JP7184614B2 - Painting simulation evaluation system - Google Patents

Description

The present invention relates to a coating simulation evaluation system.

For example, when painting a door panel of an automobile, there are cases in which the painting is performed by a robot, and cases in which an operator actually holds a paint gun in his hand to apply the paint. Of these, manual coating by the operator (so-called hand-blown coating) requires a high level of operating skill in handling the coating gun, so the operator is educated through instruction by skilled technicians.

Specifically, we will practice applying paint to actual workpieces (door panels, etc.) with a paint gun, or apply paint by spraying with water from the viewpoint of cost reduction, and practice how to apply paint at that time. technicians make observations and communicate their concerns to workers to help them master painting gun operation techniques and, in turn, painting techniques.

However, in the current training method, the guidance is based on the subjective evaluation of skilled engineers, and it may be difficult for the workers who receive the guidance to understand, and it takes time to improve their proficiency. was the current situation.

Here, for example, Patent Literature 1 proposes a coating simulation system using a coating gun that is actually used. In this simulation system, during the simulated coating operation of the coating gun, the film thickness distribution pattern of the coating film stored in advance according to the type of coating gun (nozzle) actually used, and the position of the coating gun. and the orientation, a coating film represented by a three-dimensional image is generated on the surface of the workpiece also represented by a three-dimensional image. Further, after the pseudo coating operation of the coating gun is completed, the distribution of the film thickness of the coating film is displayed on the three-dimensional image of the coating film in shades of colors or in a predetermined color scheme.

JP 2012-63990 A

In this way, if training for hand-blown coating is performed using a coating simulation system such as that described in Patent Document 1, the operator can visually recognize the results of coating actually performed in the form of the distribution of the film thickness. Therefore, the worker himself/herself can objectively evaluate the superiority (quality) of the coating work to some extent. Therefore, it is possible to understand which region of the coating film had a problem in the operation (operation of the coating gun) through the variation in the coating thickness. However, even if the film thickness variation can be recognized as described above, it is difficult to make full use of the simulation results unless the cause is known.

In view of the above circumstances, it is a technical problem to be solved in the present invention to efficiently improve the coating technique by utilizing the results of the coating simulation using the actual coating gun more than ever.

The above problems are solved by the coating simulation evaluation system according to the present invention. That is, this evaluation system is a system for evaluating the results of a simulation in which a real painting gun is used to paint a virtual workpiece represented by a three-dimensional image. An image visualizing device that allows a user of a coating gun to visually recognize a coating film represented by a three-dimensional image on the surface of a virtual workpiece, which is the surface to be coated, by the coating operation, and the user uses the coating gun to perform coating. a coating result display device for displaying the results of the coating, the coating result display device displaying the film thickness of the coating film and displaying the state of the coating gun with respect to the surface to be coated during the coating operation in association with the film thickness. Characterized by a point. Note that the “painting operation of the paint gun” here includes not only the operation of actually spraying fluid such as paint or water by operating the paint gun, but also the spraying operation of the paint gun when the fluid is empty (so-called empty spraying operation). blowing motion) shall be included. In addition, the "state of the coating gun with respect to the surface to be coated" referred to here includes not only the position and posture of the coating gun with respect to the surface to be coated, but also changes in the position, posture, etc. with the passage of time. shall be

As described above, in the present invention, when a user paints a virtual workpiece using a painting gun, a painting result display device is provided for displaying the result, and the painting result display device displays the coating film. In addition to displaying the film thickness, the state of the coating gun with respect to the surface to be coated during the coating operation is displayed in association with the film thickness. In this way, by displaying the state of the paint gun with respect to the surface to be coated during the coating operation in association with the film thickness of the coating film, for example, when the film thickness of the coating film is out of the proper range, the cause of the problem can be identified. It can be grasped or estimated in a short time from the state of the gun with respect to the surface to be coated. Therefore, the user (coating operator) can specifically and appropriately reflect on the coating failure and make use of it in the next coating work (or coating simulation).

In the coating simulation evaluation system according to the present invention, the coating result display device includes, as the state of the coating gun with respect to the surface to be coated, the angle of the coating gun with respect to the surface to be coated, the distance between the coating gun and the surface to be coated, At least one item of the moving speed of the paint gun may be displayed.

The inventors of the present invention verified the degree of influence of various conditions of the coating surface of the coating gun on the coating quality (here, the film thickness distribution of the coating film) through actual hand spray coating. It was found that the angle with respect to the surface, the distance between the coating gun and the surface to be coated, and the moving speed of the coating gun have a great influence on the coating quality. Therefore, by displaying one or more of these three items (angle, distance, moving speed) together with the thickness of the coating film, the user can more accurately grasp the cause of the defective coating. It is possible to improve the painting technology more efficiently.

Further, in the coating simulation evaluation system according to the present invention, the coating result display device displays the film thickness as a score, and also displays the angle of the coating gun with respect to the surface to be coated, the distance between the coating gun and the surface to be coated, At least one item of the moving speed of the coating gun may be scored and displayed.

In actual painting work, the appropriate angle, distance, and moving speed differ depending on the type of painting gun used and the workpiece to be painted. Therefore, by scoring and displaying at least one of the items described above, it is possible to always evaluate coating quality based on a constant standard regardless of the type of coating gun or workpiece. Therefore, it is possible to comprehensively evaluate the user's painting technique and propose and implement a more effective technique for improving the painting technique.

As described above, according to the painting simulation evaluation system according to the present invention, the results of painting simulations using actual painting guns can be utilized more than before, so that painting techniques can be efficiently improved. It becomes possible.

1 is a diagram showing the overall configuration of a painting simulation evaluation system according to one embodiment of the present invention; FIG. 2 is a diagram conceptually showing the configuration of the processing apparatus shown in FIG. 1; FIG. FIG. 5 is a diagram showing an example of setting points for evaluating the film thickness of a coating film on a surface to be coated of a virtual workpiece; FIG. 4 is a diagram for explaining film thickness, angle, distance, and moving speed at evaluation points shown in FIG. 3; It is an example of criteria for scoring the film thickness, angle, distance, and moving speed at the evaluation points shown in FIG. FIG. 4 is a diagram showing an example of a painting result displayed on a display section by a painting result display device;

Hereinafter, the content of the coating simulation evaluation system according to one embodiment of the present invention will be described based on the drawings.

FIG. 1 conceptually shows the overall configuration of a painting simulation evaluation system 10 according to the present embodiment. The coating simulation evaluation system 10 performs a coating simulation using a real coating gun 11 on a virtual work W represented by a three-dimensional image, and is configured to display the simulation results in a predetermined manner. It constitutes Specifically, the evaluation system 10 includes a real coating gun 11, an image viewing device 12 that enables a user U to view a virtual work W and a coating film C, both of which are expressed as three-dimensional images, and position information. An acquisition device 13 , a processing device 14 , and a coating result display device 15 for displaying the results of a coating simulation performed by the user U using the coating gun 11 are provided. Details of each element will be described below.

The painting gun 11 is composed of a painting spray used in an actual painting process. During the painting simulation using the painting gun 11, the trigger operation of the painting gun 11 may actually spray a fluid such as paint or water. The coating gun 11 is configured so as to be idle. Further, the coating gun 11 is provided with an operating state detection section (not shown) for detecting the operating state of the operating section (usually a trigger) that performs the spraying operation. Information about the presence or absence (on or off) of the spraying operation is transmitted to the processing device 14 . Further, when the operation portion of the coating gun 11 is a trigger, the operation state detection portion also detects the opening degree of the trigger and transmits information about the detected opening degree to the processing device 14 .

The image viewing device 12 is composed of, for example, a head-mounted display, and is used while being mounted on the user's U head. Here, the type of the image viewing device 12 is not particularly limited. ) can be visually recognized by the user U. Of course, not limited to the non-transmissive type as in the present embodiment, although not shown, a transmissive head-mounted display capable of visually recognizing the virtual work W and the coating film C displayed in the real space as a three-dimensional image may be used. It is also possible to apply Furthermore, although not shown, the image viewing device 12 may also be configured with a pair of projectors that respectively emit images for the left eye and the right eye, a transmissive screen, and corresponding polarizing glasses. It is possible.

The position information acquisition device 13 can acquire the position and posture of the user U, particularly the head, and the position and posture of the coating gun 11 . It has one sensor 16 , a second sensor 17 attached to the coating gun 11 , and a plurality of (four in this embodiment) cameras 18 a to 18 d for capturing images of the first sensor 16 and the second sensor 17 . By imaging each of the sensors 16 and 17 with a plurality of cameras 18a to 18d, position information (position and orientation) of each of the sensors 16 and 17 can be obtained. The acquired position information is transmitted to the processing device 14 and used by the processing device 14 to generate a three-dimensional image of the virtual work W and the coating film C in the virtual space Vs. In the present embodiment, the case where the position information acquisition device 13 is configured by a so-called optical motion capture system is exemplified, but of course other types (mechanical, magnetic, ultrasonic, etc.) motion capture systems The position information acquisition device 13 may be configured. Alternatively, the position information acquisition device 13 may be configured with a device other than the motion capture system.

The processing device 14 generates a virtual work W and a coating film C as three-dimensional images in the virtual space Vs based on the positional information acquired by the positional information acquiring device 13. In this embodiment, as shown in FIG. , a data storage unit 19, a three-dimensional image generation unit 20, and a painting result processing unit 21 are provided. In this case, the coating result processing unit 21 constitutes the coating result display device 15 together with the display unit 22 (see FIG. 1), which will be described later.

The data storage unit 19 stores (memorizes) a plurality of coating patterns corresponding to the types of the actual coating guns 11. For example, the corresponding coating patterns are stored in association with the numbers of the coating guns 11. FIG. Here, the coating pattern is the film thickness distribution of the coating film C obtained when the coating is actually performed using the coating gun 11, and the coating pattern is the coating surface Wa and the coating surface Wa through a predetermined distance. The data storage unit 19 stores, as a database, the film thickness distribution acquired when the paint is sprayed at a predetermined opening from the direction perpendicular to Wa.

Based on the positional information (position and orientation) of the user U and the coating gun 11 acquired by the positional information acquisition device 13, the three-dimensional image generation unit 20 generates a virtual work W and a coating film C displayed in the virtual space Vs. Generate a three-dimensional image. Here, regarding the three-dimensional image of the coating film C, when information indicating that the spraying state is ON detected by the spraying state detection unit of the coating gun 11 is received, a coating pattern corresponding to the type of the coating gun 11 is sent from the data storage unit 19. The shape and size of the coating film C to be formed on the surface Wa to be coated are calculated with reference to the data relating to . Then, a three-dimensional image of the coating film C is generated at a predetermined position on the virtual workpiece W based on the calculated result and information on the positions and orientations of the user U and the coating gun 11 acquired by the position information acquiring device 13 .

The coating result processing unit 21 processes the results of a coating simulation performed by the user U using the actual coating gun 11, and is used to determine the thickness of the coating film C formed on the surface to be coated Wa of the virtual workpiece W, The state of the coating gun 11 with respect to the surface Wa to be coated during the coating operation is acquired in association with the film thickness. In this embodiment, as shown in FIG. 3, the thickness of the coating film C at predetermined positions P1 to P10 on the surface Wa to be coated of the door panel as the virtual work W, and the coating operation for each of the positions P1 to P10. The state of the coating gun 11 with respect to the surface Wa to be coated at the time of the operation is acquired. Here, the state of the coating gun 11 with respect to the surface to be coated Wa is, for example, at least one of the angle of the coating gun 11 with respect to the surface to be coated Wa, the distance between the coating gun 11 and the surface to be coated Wa, and the moving speed of the coating gun 11. This is one item, and in this embodiment, all of the angle, distance, and moving speed are acquired as evaluation items. Note that the above-described processing may be performed all at once, for example, when a certain period of time has passed since the spraying operation of the coating gun 11 was turned off. may be implemented.

Here, the film thicknesses t1, t2, . . . at the respective positions P1, P2, . dimension along the normal direction).

Also, the angles θ1, θ2, . . . at the respective positions P1, P2, . and the normal line of the surface Wa to be coated intersect at each of the positions P1, P2, . . .

Further, the distances D1, D2, . . . at the respective positions P1, P2, . Of course, the distances D1, D2, . . . may be calculated as the shortest distances between the respective positions P1, P2, .

Also, the moving speeds v1, v2, . . . at the respective positions P1, P2, . It is calculated as the speed when At this time, the moving speeds v1, v2, .

In this embodiment, the reference point Pg of the coating gun 11 is set at the tip of the nozzle of the coating gun 11, but of course the reference point Pg is set at a position other than the tip of the nozzle (for example, the center of gravity of the coating gun 11). may be provided to calculate the angles θ1, θ2, . . . , the distances D1, D2, .

, angles θ1, θ2 . . . , distances D1, D2 . It is possible to calculate by referring to information about the positions and postures of the user U and the coating gun 11 used when the work W and the coating film C are generated.

The coating result processing unit 21 acquires the film thicknesses t1, t2, . . . , the angles .theta.1, .theta.2, . 2 is displayed on the display unit 22 provided separately from the image viewing device 12. FIG. In this embodiment, the coating result processing unit 21 performs a process of scoring the obtained film thicknesses t1, t2, . . . , the angles .theta.1, .theta.2, . Specifically, points are given or points are deducted according to the numerical values of film thicknesses t1, t2, . . . , angles .theta.1, .theta.2, .

FIG. 5 shows an example of criteria for scoring each item. This standard uses a point deduction system. 5, the coating result processing unit 21, for example, regarding the film thicknesses t1, t2, etc., is within the appropriate range (9 μm or more and less than 11 μm in FIG. 5). The points of (P2 . In this illustrated example, the numerical values of the film thicknesses t1, t2, .

Further, regarding the angles θ1, θ2 . ) is given full marks (no deduction), and if it deviates from the appropriate range, the degree of deduction will be changed according to the size. In this illustrated example, points are set to decrease as the numerical values of the angles .theta.1, .theta.2, . . .

Also, regarding the distances D1, D2, etc., the painting result processing unit 21 gives full marks to the corresponding positions P1 (P2, etc.) when the acquired numerical values are within the appropriate range (250 mm or more and less than 350 mm in FIG. 5). (no point deduction), and if it deviates vertically from the appropriate range, the degree of deduction will be changed according to the size. In this illustrated example, points are deducted more as the numerical values of the distances D1, D2, . . .

Regarding the movement speeds v1, v2, etc., the painting result processing unit 21 determines the positions P1 (P2, . ) will be given full marks (no points deducted), and if it deviates vertically from the appropriate range, the degree of deduction will be changed according to the size. In this illustrated example, the points are set to decrease as the values of the moving speeds v1, v2, .

In this way, the painting result processing section 21 scores the evaluation items of the respective positions P1, P2, . Here, in the present embodiment, as shown in FIG. 6, the overall evaluation of the coating simulation is finally displayed as one score, and each evaluation item is weighted. For example, the film thicknesses t1, t2, . It is set lighter than the score. The detailed scoring rate is as described in the column of item names in FIG. . In this case, the overall evaluation score is a total of 10 points at each position P1 (P2 . . . ). It is set to be 100 points.

In this case, for example, as shown in FIG. 6, the display unit 22 displays the total evaluation score of one application simulation at the top, and below it, for each evaluation point (positions P1, P2 . . . ) Details of the score are displayed numerically for each item. At this time, as shown in the figure, the positions of the evaluation points on the surface to be coated Wa may also be displayed, or the score rate for each item may be displayed as a graph.

As described above, the painting simulation evaluation system 10 according to the present invention includes the painting result display device 15 that displays the result when the user U paints the virtual workpiece W using the painting gun 11. The coating result display device 15 displays the film thicknesses t1, t2, . I made it According to this, when the film thicknesses t1, t2, . . Alternatively, the user U can recognize that although the film thicknesses t1, t2, . Therefore, the user U can specifically and appropriately reflect on this coating failure and make use of it in the next coating work (or coating simulation).

Further, in the present embodiment, the coating result display device 15 displays the angles θ1, θ2, . , and the moving speed v1, v2, . . . of the coating gun 11 are displayed. In this way, by displaying these three items (angles θ1, θ2, distances D1, D2, moving speeds v1, v2, etc.) together with film thicknesses t1, t2, etc. of the coating film C, the user can U can grasp the cause of the coating failure more accurately, and can work to improve the coating technique more efficiently.

In particular, in this embodiment, the coating result display device 15 displays the film thicknesses t1, t2, . It was made to be scored and displayed. By displaying each evaluation item in a scored manner in this manner, the coating quality can always be evaluated according to a constant standard, regardless of the type of the coating gun 11 or the work. Also, by scoring each item, the overall evaluation score of the coating simulation can be displayed as a single numerical value (see FIG. 6). Therefore, it is possible to comprehensively evaluate the painting technique of the user U and propose and implement a more effective technique for improving the painting technique.

Of course, by graphing the score of each item as a score rate (see FIG. 6), the user U can understand at a glance which item was problematic (not good). As a result, the user U can immediately grasp the problem of the painting technique.

In addition, in the present embodiment, the display unit 22 of the coating result display device 15 (a display disposed at a position away from the user U in FIG. 1) is provided separately from the image viewing device 12 worn by the user U. is provided, not only the user U but also the instructor and fellow workers can objectively recognize and evaluate the coating result. Therefore, it is possible to have a common recognition of improvement, and to improve the painting technique more efficiently.

An embodiment of the present invention has been described above, but the coating simulation evaluation system according to the present invention can adopt configurations other than those described above without departing from the spirit of the present invention.

For example, in the above embodiment, as a result of the painting simulation, the score for each evaluation point (position P1, P2, etc.) of each evaluation item (film thickness, angle, distance, moving speed), the score rate of each evaluation item, and the total Although the display unit 22 of the coating result display device 15 displays the evaluation points, etc., of the coating result, the display mode of the coating result is of course not limited to the form shown in FIG. For example, although illustration is omitted, comments regarding improvement points for each evaluation item may be displayed based on the score for each evaluation point of the following evaluation items. Further, instead of the demerit point system, a point addition system may be adopted in which points are added when the numerical value related to each evaluation item is within the appropriate range.

In the above embodiment, the film thickness, angle, distance, and moving speed of the coating film C were exemplified as evaluation items, but items other than these may be added, or one of the angle, distance, and moving speed may be used. One or two may be displayed. Here, as evaluation items that can be newly added, the painting work time (the time from the start of the painting operation by the painting gun 11 to the end), the number of times of repeated painting, the presence or absence of passage of predetermined coordinates, etc. can be mentioned. .

In the above description, the case of painting the surface of a door panel as a virtual work W has been explained, but of course, the present invention can also be applied to the case of simulating the painting of the surface of a work other than a door panel. is possible.

10 coating simulation evaluation system 11 coating gun 12 image viewing device 13 position information acquisition device 14 processing device 15 coating result display devices 16, 17 sensors 18a, 18b, 18c, 18d camera 19 data storage unit 20 three-dimensional image generation unit 21 coating Result processing unit 22 Display unit U User Vs Virtual space W Virtual work Wa Surface to be coated C Coating films P1, P2 Evaluation points t1, t2 Film thickness θ1, θ2 Angles D1, D2 Distances v1, v2 Moving speed

Claims (2)

A system for evaluating the results of a simulation of painting a virtual workpiece represented by a three-dimensional image using a real painting gun,
an image visualizing device that enables a user of the painting gun to visually recognize the virtual work and a coating film expressed as a three-dimensional image on the surface of the virtual work that is the surface to be coated by the painting operation of the painting gun; ,
a coating result display device for displaying the result of coating performed by the user using the coating gun;
The coating result display device displays the film thickness of the coating film and also displays the state of the coating gun with respect to the surface to be coated during the coating operation in association with the film thickness. The coating result display device includes, as the state of the coating gun with respect to the surface to be coated, the angle of the coating gun with respect to the surface to be coated, the distance between the coating gun and the surface to be coated, and the moving speed of the coating gun. 2. The painting simulation evaluation system according to claim 1, which displays at least one item among

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