Display system

Abstract

To provide a display system with which it is possible to heighten the usability of the display system.SOLUTION: A display system 10 is designed to display the state of painting work, which is the work of painting a relevant surface 2 with a painting material 3 via a prescribed tool 4, the display system comprising a measurement unit 20 that measures a work state parameter related to the state of painting work, and a display control unit that causes a display unit to show the measurement results of the measurement unit 20. The work state parameter includes at least one of the force, moment, speed, angular speed and / or acceleration acting upon the prescribed tool 4, the position and / or attitude of the prescribed tool 4, the number of times the painting material 3 has been pained to the relevant surface 2, and the similarity of the relevant surface 2 painted with the painting material 3 in chromaticity, luminance and / or spatial frequency region.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a display system.

Background Art

[0002] Conventionally, as one of the systems for grasping the quality of painting work by workers, the working time required by the worker is measured and compared with the total actual working time, which is the sum of the actual working times of the worker. When the total actual working time exceeds the total standard working time, a system has been proposed that detects the working processes in which the actual working time exceeds the standard working time in each working process and evaluates the worker's work proficiency (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, in the above conventional system, as described above, although the working processes in which the actual working time exceeds the standard working time in each working process are detected and the work proficiency of the worker is evaluated, shortening the actual working time does not necessarily lead to improving the quality of the painting work. Therefore, it may be difficult to accurately grasp the quality of the painting work based on the evaluation of the work proficiency. Thus, there was room for improvement from the perspective of the usability of the system.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a display system that can improve the usability of the display system.

Means for Solving the Problems

[0006] To solve the above-mentioned problems and achieve the objective, the display system described in claim 1 is a display system for displaying the status of a coating operation, which is the operation of applying a coating material to a target surface via a predetermined device, comprising: measuring means for measuring work status parameters related to the status of the coating operation; and display control means for displaying the measurement results of the measuring means on a display means, wherein the work status parameters are: force, moment, velocity, angular velocity, and / or acceleration acting on the predetermined device; position and / or orientation of the predetermined device; number of times the coating material is applied to the target surface; and chromaticity of the target surface to which the coating material has been applied. The luminance of the target surface, and / or the similarity of the target surface in the spatial frequency domain, which is determined by comparing the phase component of a power spectral image generated based on an image of the target surface with the phase component of a reference power spectral image. and at least one of the following The measurement means includes a first imaging means for capturing images of the painting operation of the painting work, and a first identification means for calculating a painting distance, which is the distance over which the painting operation is performed, based on a first image captured by the first imaging means, and for identifying the number of times the painting material is applied based on the calculated painting distance, and the display control means causes the identification result of the first identification means to be displayed on the display means.

[0007] The display system according to claim 2 is the display system according to claim 1, The measurement means includes a second imaging means for imaging the target surface to which the coating material has been applied, and a second identification means for determining the chromaticity of the target surface based on the second image captured by the second imaging means, and the display control means causes the identification result of the second identification means to be displayed on the display means.

[0008] The display system according to claim 3 is the display system according to claim 1 or 2, The measuring means includes detection means for detecting force, moment, velocity, angular velocity, and / or acceleration acting on the predetermined instrument, and the display control means causes the detection result of the detection means to be displayed on the display means.

[0009] The display system according to claim 4 is the display system according to any one of claims 1 to 3, The measurement means includes a third imaging means for imaging the target surface to which the coating material has been applied, and a third identification means for generating a power spectrum image based on the third image captured by the third imaging means, and for determining the similarity in the spatial frequency domain based on the generated power spectrum image and a reference power spectrum image. The display control means causes the identification result of the third identification means to be displayed on the display means.

[0010] The display system according to claim 5 is the display system according to any one of claims 1 to 4, The system further includes a determination means for determining whether the measurement result of the measurement means approximates a reference value, and the display control means causes the determination result of the determination means to be displayed on the display means. [Effects of the Invention]

[0012] The display system according to claim 1 comprises measuring means for measuring work status parameters and display control means for displaying the measurement results of the measuring means on a display means, and the work status parameters include at least one of the following: force, moment, velocity, angular velocity, or / and acceleration acting on a predetermined device; position and / or orientation of the predetermined device; number of coats of coating material applied to the target surface; and chromaticity, luminance, or / and similarity in the spatial frequency domain of the target surface to which the coating material has been applied. This makes it possible to accurately grasp the quality of the coating work and improve the usability of the display system. Furthermore, the measurement means includes a first imaging means for capturing images of the painting motion during the painting work, and a first identification means for calculating the painting distance based on the first captured image captured by the first imaging means and identifying the number of times the painting material is applied based on the calculated painting distance. The display control means causes the identification result of the first identification means to be displayed on the display means, making it easier to accurately grasp the quality of the painting work.

[0013] According to the display system described in claim 2, The measurement means includes a second imaging means that images the target surface to which the coating material has been applied, and a second identification means that identifies the chromaticity of the target surface based on the second image captured by the second imaging means. The display control means causes the identification result of the second identification means to be displayed on the display means, making it easier to accurately grasp the quality of the coating work.

[0014] According to the display system described in claim 3, The measuring means includes detection means for detecting force, moment, velocity, angular velocity, and / or acceleration acting on a predetermined instrument, and the display control means causes the detection results of the detection means to be displayed on the display means, making it easier to accurately grasp the quality of the painting work.

[0015] According to the display system described in claim 4, The measurement means includes a third imaging means that images the target surface to which the coating material has been applied, and a third identification means that generates a power spectrum image based on the third image captured by the third imaging means, and identifies the similarity in the spatial frequency domain based on the generated power spectrum image and a reference power spectrum image. The display control means causes the identification result of the third identification means to be displayed on the display means, so that the identification result of the third identification means can be displayed, making it easier to accurately grasp the quality of the coating work.

[0016] According to the display system described in claim 5, The system further includes a determination means for determining whether the measurement result of the measuring means approximates a reference value, and a display control means causes the determination result of the determination means to be displayed on the display means, making it easier to accurately grasp the quality of the painting work.

Brief Description of the Drawings

[0018] [Figure 1] It is a diagram conceptually showing the display system according to Embodiment 1 of the present invention. [Figure 2] It is a block diagram showing the electrical configuration of the control unit. [Figure 3] It is a flowchart of the display process according to Embodiment 1. [Figure 4] It is a diagram showing an example of displaying the first detection information, where (a) is a diagram showing the first detection information regarding a skilled person, and (b) is a diagram showing the first detection information regarding an unskilled person. [Figure 5] It is a diagram showing an example of displaying the second detection information, where (a) is a diagram showing the second detection information regarding a skilled person, and (b) is a diagram showing the second detection information regarding an unskilled person. [Figure 6] It is a diagram conceptually showing the display system according to Embodiment 2. <000,0092>It is a block diagram showing the electrical configuration of the control unit. [Figure 8] It is a flowchart of the display process according to Embodiment 2. [Figure 9] It is a diagram showing an example of displaying the painting count information, where (a) is a diagram showing the painting count information when the first painting operation is performed, (b) is a diagram showing the painting count information when the second painting operation is performed, and (c) is a diagram showing the painting count information when the third painting operation is performed. [Figure 10] It is a diagram conceptually showing the display system according to Embodiment 3. [Figure 11] It is a block diagram showing the electrical configuration of the control unit. [Figure 12] It is a flowchart of the display process according to Embodiment 3. [Figure 13] It is a diagram showing an example of display of chromaticity information, where (a) is a diagram showing chromaticity information regarding a skilled person and (b) is a diagram showing chromaticity information regarding an unskilled person. [Figure 14] It is a diagram conceptually showing the display system according to Embodiment 4. [Figure 15] It is a block diagram showing the electrical configuration of the control unit. [Figure 16] It is a flowchart of the display process according to Embodiment 4. [Figure 17] It is a diagram showing an example of display of similarity information.

Embodiments for Carrying Out the Invention

[0019] Hereinafter, with reference to the accompanying drawings, embodiments of the display system according to this invention will be described in detail. First, after explaining 〔I〕the basic concept of the embodiment, 〔II〕the specific content of the embodiment will be described, and finally, 〔III〕modification examples of the embodiment will be described. However, the present invention is not limited by the embodiments.

[0020] 〔I〕Basic Concept of the Embodiment First, the basic concept of the embodiment will be explained. The embodiment generally relates to a display system for displaying the situation of a painting operation, which is an operation of applying a coating material to a target surface through a predetermined tool.

[0021] Here, the "target surface" means a surface to be coated with the coating material. This target surface is, for example, a concept including the outer surface or / and inner surface of construction members (such as wall materials, floor materials, beam materials, column materials, ceiling materials, etc.) constituting a structure. In the embodiment, it will be described as the outer surface of the wall material.

[0022] Furthermore, the specific structure and type of "structure" including the above-mentioned construction materials are arbitrary, and the concept includes, for example, building structures (such as detached houses, apartment buildings and condominiums, office buildings, commercial facilities, etc.) and civil engineering structures (such as bridges, tunnels, dams, etc.).

[0023] Furthermore, the specific type of "coating material" is arbitrary and includes, for example, surface preparation materials (such as mortar or resin-based surface preparation materials), undercoats (such as sealers, primers, fillers, binders, etc.), intermediate coats (such as urethane paints, silicone paints, fluoropolymer paints, etc.), topcoats (such as urethane paints, silicone paints, fluoropolymer paints, etc.), putty materials, and sealants, but in this embodiment, it will be described as a topcoat.

[0024] Furthermore, the specific type of "specified tool" is arbitrary and includes concepts such as roller brushes, brushes, and trowels, but in this embodiment, it will be described as a roller brush having a brush part and a handle part that rotatably supports the brush part.

[0025] [II] Specific details of the embodiment Next, the specific details of the embodiment will be described.

[0026] [Embodiment 1] First, the display system according to Embodiment 1 will be described. In this Embodiment 1, the work status parameters, which will be described later, are the force, moment, angular velocity, and acceleration acting on a predetermined device.

[0027] (Structure - Construction components) First, the structure of the construction member 1 to which the coating material 3 described later according to Embodiment 1 is applied will be explained.

[0028] In the following explanation, the X direction in Figure 1 is referred to as the left-right direction of construction member 1 (-X direction is the left direction of construction member 1, and +X direction is the right direction of construction member 1), the Y direction in Figure 1 is referred to as the front-back direction of construction member 1 (+Y direction is the front direction of construction member 1, and -Y direction is the rear direction of construction member 1), and the Z direction in Figure 1 is referred to as the up-down direction of construction member 1 (+Z direction is the up direction of construction member 1, and -Z direction is the down direction of construction member 1).

[0029] Construction member 1 is the basic structural element of a structure (not shown) (specifically, an office building). This construction member 1 is made up of, for example, concrete wall material and is erected between floor materials (not shown) of the structure.

[0030] Furthermore, as shown in Figure 1, the construction member 1 is provided with a target surface 2. This target surface 2 is the surface to which the coating material 3, described later, will be applied, and as shown in Figure 1, it is provided over the entire main surface (i.e., the entire outer surface) of the two main surfaces of the construction member 1 that are located on the outside of the structure.

[0031] (Configuration - Display System) Next, the configuration of the display system 10 will be described.

[0032] The display system 10 is a system for displaying the status of the work (hereinafter referred to as "painting work") in which coating material 3 (specifically, topcoat material) is applied to the target surface 2 via a predetermined tool 4 (specifically, roller brush), and as shown in Figure 1, it comprises a measurement unit 20 and a control unit 30.

[0033] (Configuration - Display System - Measurement Unit) The measurement unit 20 is a measurement means for measuring work status parameters, and as shown in Figure 1, it includes a detection unit 21.

[0034] Here, "working conditions parameters" refer to parameters related to the painting work conditions, and in Embodiment 1, these are described as the force acting on the predetermined tool 4 (specifically, the pressing force acting when the predetermined tool 4 is pressed against the target surface 2), moment (specifically, the moment of the rotation axis along the direction in which the pressing force acts), angular velocity (specifically, the angular velocity of the handle of the predetermined tool 4), and acceleration. Note that "angular velocity" refers to the rotational speed around each rotation axis with reference to the detection unit 21 attached to the predetermined tool 4 (specifically, the inertial measuring device described later).

[0035] (Configuration - Display System - Measurement Unit - Detection Unit) The detection unit 21 is a detection means for detecting force, moment, angular velocity, and / or acceleration acting on a predetermined device 4. This detection unit 21 is configured using, for example, a known detection device (for example, a combination of a force sensor and an inertial measuring device (so-called IMU)), and is attached to the predetermined device 4 as shown in Figure 1.

[0036] (Configuration - Display System - Control Unit) The control unit 30 is a unit for controlling the display system 10. As shown in Figure 1, the control unit 30 is installed around the construction member 1 (or at a location other than around the construction member 1 (for example, a site office located away from the construction member 1)), and as shown in Figure 2, it comprises an operation unit 31, a communication unit 32, a display unit 33, a power supply unit 34, a control unit 35, and a storage unit 36.

[0037] (Configuration - Display System - Control Unit - Operation Unit) The operation unit 31 is an operating means that receives operation input to the control unit 30.

[0038] (Configuration - Display System - Control Unit - Communication Unit) The communication unit 32 is a communication means for communicating between the measurement unit 20 (specifically, the detection unit 21) and the control unit 30.

[0039] (Configuration - Display System - Control Unit - Display Unit) The display unit 33 is a display means that displays various information based on the control of the control unit 35, and is configured using, for example, a flat panel display such as a well-known liquid crystal display.

[0040] (Configuration - Display System - Control Unit - Power Supply Unit) The power supply unit 34 is a power supply means that supplies power from a commercial power source (not shown) or a battery (e.g., a battery) to each part of the control unit 30, as well as to the measurement unit 20.

[0041] (Configuration - Display System - Control Unit - Control Unit) The control unit 35 is a control means that controls each part of the control unit 30 and the measurement unit 20, and is configured using, for example, a known computer equipped with internal memory.

[0042] Furthermore, as shown in Figure 2, the control unit 35 functionally comprises a display control unit 35a and a determination unit 35b.

[0043] The display control unit 35a is a display control means that causes the measurement results of the measurement unit 20 to be displayed on the display unit 33.

[0044] The determination unit 35b is a determination means that determines whether or not the measurement result from the measurement unit 20 approximates a reference value.

[0045] (Configuration - Display System - Control Unit - Memory Unit) The memory unit 36 ​​is a storage means for storing programs and various data necessary for the operation of the control unit 30, and is configured using a known rewritable recording medium, such as a non-volatile recording medium like flash memory.

[0046] (Display processing) Next, we will describe the display processing performed by the control unit 35 of the control unit 30 in the display system 10 configured as described above. In the following description, steps will be abbreviated as "S" in the description of each process shown in Figure 3.

[0047] The display process is a process for displaying the status of the coating work. The timing of executing this display process is arbitrary, but in Embodiment 1, it is started after power is turned on to the display system 10. Furthermore, regarding the premise of the measurement process, in Embodiment 1, it is assumed that the coating material 3 has not yet been applied to the target surface 2.

[0048] When the display process is activated, as shown in Figure 3, the control unit 35 in SA1 determines whether or not the timing for measuring the work status parameters (hereinafter referred to as the "measurement timing") has arrived.

[0049] The method for determining whether or not this measurement timing has arrived is arbitrary, but for example, it can be determined based on whether or not a predetermined operation has been received via the operation unit 31 of the control unit 30, or whether or not measurement instruction information instructing the measurement of work status parameters has been received from an external device (e.g., a mobile terminal) via the communication unit 32 of the control unit 30. Here, if the predetermined operation has been received or the measurement instruction information has been received, it is determined that the measurement timing has arrived, and if the predetermined operation has not been received or the measurement instruction information has not been received, it is determined that the measurement timing has not arrived.

[0050] The control unit 35 then waits until the measurement timing arrives (SA1, No), and when it is determined that the measurement timing has arrived (SA1, Yes), it proceeds to SA2.

[0051] In SA2, the control unit 35 uses the detection unit 21 to detect the force, moment, angular velocity, and acceleration acting on the predetermined device 4.

[0052] The method for detecting the force, moment, angular velocity, and acceleration acting on this designated device 4 is arbitrary, but for example, they may be detected as follows.

[0053] In other words, in a coating operation, if the worker M applies coating material 3 in a predetermined direction (for example, from the upper end to the lower end of the target surface 2) via a predetermined tool 4 multiple times (hereinafter referred to as "coating operation"), the force, moment, angular velocity, and acceleration acting on the predetermined tool 4 for each coating operation are detected in relation to the time required for the coating operation (hereinafter referred to as "operation time"), and the information indicating the detected force, etc. (hereinafter referred to as "detection information") is transmitted to and stored in the storage unit 36 ​​of the control unit 30 (more specifically, the information indicating the detected force, etc. is stored in the storage unit 36 ​​in relation to each coating operation). The start and end of detection for each coating operation may be set, for example, by receiving a predetermined operation via the operation unit 31 (or detection unit 21) of the control unit 30.

[0054] In SA3, the display control unit 35a displays the detection information detected in SA2 (i.e., the detection result of the detection unit 21) on the display unit 33.

[0055] The method of displaying this detection information is optional, but in Embodiment 1, it is displayed as follows.

[0056] In other words, when displaying information indicating the force acting on a predetermined device 4 (hereinafter referred to as "first detection information") from the detection information, first, the average value and standard deviation of the first detection information detected by multiple painting operations are calculated, and the normalization time is calculated based on the operation time corresponding to the first detection information. Then, as shown in Figure 4, the average value (shown as a solid line in Figure 4) and standard deviation (shown as hatching in Figure 4) of the first detection information calculated above are displayed on a graph displayed on the display unit 33, where the horizontal axis is the normalization time and the vertical axis is the force, in relation to the normalization time calculated above.

[0057] Furthermore, when displaying information indicating the moment acting on the predetermined device 4 (hereinafter referred to as "second detection information") from the detection information, first, the average value and standard deviation of the second detection information detected by multiple painting operations are calculated, and the normalization time is calculated based on the operation time corresponding to the second detection information. Then, as shown in Figure 5, the average value (shown as a solid line in Figure 5) and standard deviation (shown as hatching in Figure 5) of the second detection information calculated above are displayed on a graph displayed on the display unit 33, where the horizontal axis is the normalization time and the vertical axis is the moment, in relation to the normalization time calculated above.

[0058] Furthermore, when displaying information indicating the angular velocity acting on the predetermined device 4 (hereinafter referred to as "third detection information"), the average value and standard deviation of the third detection information detected by multiple painting operations are first calculated, and the normalization time is calculated based on the operation time corresponding to the third detection information. Then, although not shown in the diagram, similarly to Figure 4, the average value and standard deviation of the third detection information calculated above are displayed on a graph on the display unit 33, where the horizontal axis is the normalization time and the vertical axis is the angular velocity, in relation to the normalization time calculated above.

[0059] Furthermore, when displaying information indicating the acceleration acting on the predetermined device 4 (hereinafter referred to as "fourth detection information") from the detection information, first, the average value and standard deviation of the fourth detection information detected by multiple painting operations are calculated, and the normalization time is calculated based on the operation time corresponding to the fourth detection information. Then, although not shown in the diagram, similarly to Figure 4, the average value and standard deviation of the fourth detection information calculated above are displayed on a graph displayed on the display unit 33, where the horizontal axis is the normalization time and the vertical axis is acceleration, in relation to the normalization time calculated above.

[0060] This SA2 and SA3 processing allows the detection results from the detection unit 21 to be displayed, making it easier to accurately grasp the quality of the coating work.

[0061] Returning to Figure 3, in SA4, the determination unit 35b determines whether the detection information detected in SA2 approximates the reference value and generates determination information JD indicating the determination result.

[0062] The method for generating this judgment information JD is arbitrary, but for example, it may be generated as follows.

[0063] In other words, if the detection information detected in SA2 is the first detection information shown in Figure 4(b) (for example, the first detection information concerning unskilled persons), and the reference value is the first detection information shown in Figure 4(a) (for example, the first detection information concerning skilled persons), then it may first be determined whether the number of items where the difference between the average value of the first detection information shown in Figure 4(a) and the average value of the first detection information shown in Figure 4(b) (specifically, the difference for each normalization time) is less than a threshold is less than a predetermined number (or, it may be determined whether the number of items where the difference between the standard deviation of the first detection information shown in Figure 4(a) and the standard deviation of the first detection information shown in Figure 4(b) (specifically, the difference for each normalization time) is less than a threshold is less than a predetermined number). If the number is less than the predetermined number, it may be determined that the detection information approximates the reference value, and if it is not less than the predetermined number, it may be determined that the detection information does not approximate the reference value, and information indicating the result of the determination may be generated as determination information JD (the method for generating determination information JD for the second to fourth detection information is substantially the same).

[0064] Furthermore, the method for setting the reference value is not limited to setting the first detection information concerning the skilled person; for example, a value pre-stored in the memory unit 36 ​​of the control unit 30, or a value entered by the administrator of the display system 10 via the operation unit 31 of the control unit 30 may be set.

[0065] Returning to Figure 3, in SA5, the display control unit 35a displays the judgment information JD generated in SA4 (i.e., the judgment result of the judgment unit 35b) on the display unit 33.

[0066] The method of displaying this judgment information JD is optional, but for example, it may be displayed near each graph, as shown in Figures 4(b) and 5(b). Alternatively, it may be displayed on a different screen from the one on which each graph is displayed.

[0067] This processing of SA4 and SA5 allows the judgment result of the judgment unit 35b to be displayed, making it easier to more accurately grasp the quality of the coating work.

[0068] The processes from SA3 to SA5 may be executed immediately after the processing of SA2. Alternatively, they may be executed after a predetermined operation is received via the operation unit 31 of the control unit 30, so that they can be executed at any time after the processing of SA2.

[0069] Returning to Figure 3, in SA6, the control unit 35 determines whether or not the timing for ending the display process (hereinafter referred to as the "end timing") has arrived.

[0070] The method for determining whether or not this termination timing has arrived is arbitrary, but for example, it can be determined based on whether or not a predetermined operation has been received via the operation unit 31 of the control unit 30, or whether or not termination information instructing the termination of the display process has been received from an external device via the communication unit 32 of the control unit 30. Here, if the predetermined operation has been received or the termination information has been received, it is determined that the termination timing has arrived, and if the predetermined operation has not been received and the termination information has not been received, it is determined that the termination timing has not arrived.

[0071] Then, if the control unit 35 determines that the termination timing has arrived (SA6, Yes), it terminates the display process. On the other hand, if it determines that the termination timing has not arrived (SA6, No), it proceeds to SA1, and repeats the processing from SA1 to SA6 until it determines in SA6 that the termination timing has arrived.

[0072] This type of display processing allows for accurate assessment of the quality of the painting work, thereby improving the usability of the display system 10.

[0073] (Effects of Embodiment 1) As described above, according to Embodiment 1, the system includes a measurement unit 20 for measuring work status parameters and a display control unit 35a for displaying the measurement results of the measurement unit 20 on a display unit 33. The work status parameters include at least one of the following: force, moment, velocity, angular velocity, and / or acceleration acting on a predetermined tool 4; position and / or orientation of the predetermined tool 4; number of coats of coating material 3 applied to the target surface 2; and chromaticity, brightness, and / or similarity in the spatial frequency domain of the target surface 2 to which the coating material 3 has been applied. This allows for accurate assessment of the quality of the coating work and improves the usability of the display system 10.

[0074] Furthermore, the measurement unit 20 includes a detection unit 21 that detects force, moment, angular velocity, and / or acceleration acting on a predetermined device 4, and the display control unit 35a displays the detection results of the detection unit 21 on the display unit 33, so the detection results of the detection unit 21 can be displayed, making it easier to accurately grasp the quality of the painting work.

[0075] Furthermore, the system includes a determination unit 35b that determines whether the measurement result of the measurement unit 20 approximates a reference value, and the display control unit 35a displays the determination result of the determination unit 35b on the display unit 33. This allows the determination result of the determination unit 35b to be displayed, making it easier to grasp the quality of the painting work more accurately.

[0076] [Embodiment 2] Next, a display system according to Embodiment 2 will be described. In this Embodiment 2, the work status parameter is the number of coats of coating material applied to the target surface. However, unless otherwise specified, the configuration of this Embodiment 2 is substantially the same as the configuration of Embodiment 1, and for configurations substantially the same as those of Embodiment 1, the same reference numerals and / or names used in this Embodiment 1 will be used as necessary, and their descriptions will be omitted.

[0077] (Structure - Construction components) First, the configuration of the construction member 1 according to Embodiment 2 will be described.

[0078] The construction member 1 according to Embodiment 2 is configured substantially the same as the construction member 1 according to Embodiment 1. Furthermore, as shown in Figure 6, the construction member 1 is provided with a target surface 2, which specifically extends across the entire main surface located on the outside of the structure.

[0079] (Configuration - Display System) Next, the configuration of the display system 110 will be described.

[0080] The display system 110 according to Embodiment 2 is configured substantially the same as the display system 10 according to Embodiment 1, as shown in Figure 6. However, as shown in Figure 7, the determination unit 35b of the control unit 30 is omitted, and the details of the configuration of the measurement unit 20 are modified as described below.

[0081] (Configuration - Display System - Measurement Unit) The measurement unit 20 is a measurement means for measuring work status parameters, and as shown in Figures 6 and 7, it includes a first imaging unit 22 and a first identification unit 23.

[0082] Here, the "work status parameter" in Embodiment 2 is described as the number of times the coating material 3 is applied to the target surface 2.

[0083] (Configuration - Display System - Measurement Unit - First Imaging Unit) Returning to Figure 6, the first imaging unit 22 is a first imaging means for imaging the painting operation of the painting work. This first imaging unit 22 is configured using, for example, a known imaging device (for example, an imaging device for motion measurement such as Kinect®), and as shown in Figure 6, it is located outside the building, beyond the target surface 2 of the construction member 1.

[0084] (Configuration - Display System - Measurement Unit - First Identification Unit) The first identification unit 23 is a first identification means that calculates the distance over which the coating operation was performed (hereinafter referred to as the "coating distance") based on the captured image (hereinafter referred to as the "first captured image") captured by the first imaging unit 22, and identifies the number of times the coating material 3 is applied based on the calculated coating distance. As shown in Figure 7, it is provided in the control unit 35 of the control unit 30.

[0085] (Display processing) Next, the display processing performed by the control unit 35 of the control unit 30 in the display system 110 configured as described above will be explained.

[0086] When the display process is activated, as shown in Figure 8, the control unit 35 in SB1 determines whether or not the measurement timing has arrived, similar to the process in SA1.

[0087] The control unit 35 then waits until the measurement timing arrives (SB1, No), and when it is determined that the measurement timing has arrived (SB1, Yes), it proceeds to SB2.

[0088] In SB2, the control unit 35 uses the first imaging unit 22 to image the painting process.

[0089] The imaging method for this painting process is arbitrary, but in Embodiment 2, the first imaging unit 22 captures a first image (specifically, a video) including at least the target surface 2 and a predetermined instrument 4 from the start to the end of the painting process, and the captured first image is stored in the storage unit 36 ​​of the control unit 30.

[0090] In SB3, the first identification unit 23 calculates the coating distance based on the first image captured by SB2, and determines the number of coats of coating material 3 based on the calculated coating distance.

[0091] The method for determining the number of coats of coating material 3 is arbitrary, but in Embodiment 2, it is determined as follows.

[0092] Specifically, first, point cloud data (specifically, data relating to three-dimensional position coordinates) relating to the target surface 2 is extracted from the first image captured by SB2 using a known image analysis method. Next, point cloud data (specifically, data relating to three-dimensional position coordinates, consisting of position coordinates where the intersection of the central axis of the roller part and the bottom surface is the origin, the direction of the central axis of the roller part is the z-axis, and the x-axis and y-axis are determined based on the z-axis) relating to the predetermined device 4 is extracted from the first image captured by SB2 using a known image analysis method. Then, contact between the roller part of the predetermined device 4 and the point cloud data relating to the target surface 2 is determined using the point cloud data relating to the predetermined device 4, and it is determined whether the point coordinates of the roller part are within the radius of the roller part of the predetermined device 4. Subsequently, based on these determinations, the distance between the point cloud data relating to the target surface 2 and the point cloud data relating to the predetermined device 4 that is less than a threshold is extracted as the painted distance. Next, for the point cloud data relating to the target surface 2, the point cloud data corresponding to the coating distance is treated as if the coating material 3 has been applied, and the number of coats of coating material 3 in that point cloud data is increased by 1 (i.e., incremented by 1). By repeating these steps from the start to the end of the first captured image, the number of coats of the point cloud data corresponding to the coating distance is identified, and information indicating the number of coats of the identified coating material 3 (hereinafter referred to as "coating count information") is generated and stored in the storage unit 36 ​​of the control unit 30 in chronological order, in relation to the point cloud data.

[0093] In SB4, the display control unit 35a displays the number of coats generated in SB3 (i.e., the result of the first identification unit 23) on the display unit 33.

[0094] The method for displaying this paint application count information is optional, but in Embodiment 2, the paint application count information is displayed identifiable on the display unit 33.

[0095] Specifically, as shown in Figures 9(a) to 9(c), the number of coats of coating material 3 is displayed in different forms (e.g., color, and / or pattern) depending on the number of coats applied. Furthermore, the number of coats from the start to the end of the first captured image is displayed in chronological order (for example, in the order of Figures 9(a), 9(b), and 9(c)).

[0096] However, this is not the only option; for example, the number of coats applied by skilled workers and the number of coats applied by unskilled workers could be displayed simultaneously to make it easier to compare and understand this information.

[0097] Alternatively, if the control unit 30 includes a determination unit 35b, in addition to displaying the number of coats information as described above, the determination information may also be displayed on the display unit 33. For example, the determination unit 35b determines whether the number of point cloud data with different coat counts is less than a threshold based on the number of coats information for skilled workers and the number of coats information for unskilled workers. If the number is less than the threshold, the determination unit 35b determines that the measurement result of the measurement unit 20 approximates the reference value, and if it is not less than the threshold, the determination unit 35b determines that the measurement result of the measurement unit 20 does not approximate the reference value, and the determination information indicating the determination result may be displayed on the display unit 33.

[0098] This processing from SB2 to SB4 allows the identification results of the first identification unit 23 to be displayed, making it easier to accurately grasp the quality of the coating work.

[0099] The processing of SB3 and SB4 may be performed immediately after the processing of SB2. Alternatively, they may be performed after a predetermined operation is received via the operation unit 31 of the control unit 30, so that they can be executed at any time after the processing of SB2.

[0100] Returning to Figure 8, in SB5, the control unit 35 determines whether or not the termination timing has arrived, similar to the processing in SA6.

[0101] Then, if the control unit 35 determines that the termination timing has arrived (SB5, Yes), it terminates the display process. On the other hand, if it determines that the termination timing has not arrived (SB5, No), it proceeds to SB1, and the processing from SB1 to SB5 is repeated until it is determined in SB5 that the termination timing has arrived.

[0102] (Effects of Embodiment 2) As described above, according to Embodiment 2, the measurement unit 20 includes a first imaging unit 22 that captures images of the painting operation of the painting work, and a first identification unit 23 that calculates the painting distance based on the first captured image captured by the first imaging unit 22 and identifies the number of times the painting material 3 is applied based on the calculated painting distance. The display control unit 35a displays the identification result of the first identification unit 23 on the display unit 33, so that the identification result of the first identification unit 23 can be displayed, making it easier to accurately grasp the quality of the painting work.

[0103] [Embodiment 3] Next, a display system according to Embodiment 3 will be described. In this Embodiment 3, the work status parameters are the chromaticity and luminance of the target surface to which the coating material has been applied. However, unless otherwise specified, the configuration of this Embodiment 3 is substantially the same as the configuration of Embodiment 1, and for configurations substantially the same as those of Embodiment 1, the same reference numerals and / or names used in this Embodiment 1 will be used as necessary, and their descriptions will be omitted.

[0104] (Structure - Construction components) First, the configuration of the construction member 1 according to Embodiment 3 will be described.

[0105] The construction member 1 according to Embodiment 3 is configured substantially the same as the construction member 1 according to Embodiment 1. Furthermore, as shown in Figure 10, the construction member 1 is provided with a target surface 2, which specifically extends across the entire main surface located on the outside of the structure.

[0106] (Configuration - Display System) Next, the configuration of the display system 210 will be described.

[0107] The display system 210 according to Embodiment 3 is configured substantially the same as the display system 10 according to Embodiment 1, as shown in Figure 10. However, as shown in Figure 11, the determination unit 35b of the control unit 30 is omitted, and the details of the configuration of the measurement unit 20 are modified as described below.

[0108] (Configuration - Display System - Measurement Unit) The measurement unit 20 is a measurement means for measuring work status parameters, and as shown in Figures 10 and 11, it includes a second imaging unit 24 and a second identification unit 25.

[0109] Here, in Embodiment 3, the "working condition parameters" are described as the chromaticity and luminance of the target surface 2 to which the coating material 3 has been applied.

[0110] (Configuration - Display System - Measurement Unit - Second Imaging Unit) Returning to Figure 10, the second imaging unit 24 is a second imaging means for imaging the target surface 2 to which the coating material 3 has been applied. This second imaging unit 24 is configured using, for example, a known imaging device (for example, a digital camera), and as shown in Figure 10, it is located outside the building, beyond the target surface 2 of the construction member 1.

[0111] (Configuration - Display System - Measurement Unit - Second Identification Unit) The second identification unit 25 is a second identification means that identifies the chromaticity and / or brightness of the target surface 2 based on the captured image (hereinafter referred to as the "second captured image") captured by the second imaging unit 24, and is provided in the control unit 35 of the control unit 30, as shown in Figure 11.

[0112] (Display processing) Next, the display processing performed by the control unit 35 of the control unit 30 in the display system 210 configured as described above will be explained.

[0113] When the display process is activated, as shown in Figure 12, the control unit 35 in SC1 determines whether or not the measurement timing has arrived, similar to the process in SA1.

[0114] The control unit 35 then waits until the measurement timing arrives (SC1, No), and when it is determined that the measurement timing has arrived (SC1, Yes), it proceeds to SC2.

[0115] In SC2, the control unit 35 uses the second imaging unit 24 to image the target surface 2 to which the coating material 3 has been applied.

[0116] The method for imaging the target surface 2 is arbitrary, but in Embodiment 3, after the painting work is completed, a second image (specifically, a still image) including the target surface 2 is captured in the imaging box 40 shown in Figure 10 (for example, an imaging box 40 with an open side facing the target surface 2, and equipped with a light source (for example, an LED light, etc.). This is shown by dashed lines in Figure 10), and the captured second image is stored in the storage unit 36 ​​of the control unit 30. However, this is not limited to this, and for example, if the desired light environment is already set up, the second image may be captured without using the imaging box 40.

[0117] In SC3, the second identification unit 25 determines the chromaticity and brightness of the target surface 2 based on the second image captured by SC2 (specifically, the portion of the second image where the coating material 3 is applied).

[0118] Here, the method for determining the chromaticity of the target surface 2 is arbitrary, but in Embodiment 3, a known image analysis method is used to determine the chromaticity of each pixel from the second image captured by SC2. Furthermore, based on the chromaticity of each pixel determined above, the average chromaticity, variance, skewness, and kurtosis are calculated, and information indicating the calculated average chromaticity, variance, skewness, and kurtosis (hereinafter referred to as "chromaticity information") is generated.

[0119] Furthermore, while the method for determining the brightness of the target surface 2 is arbitrary, in Embodiment 3, a known image analysis method is used to determine the brightness of each pixel from the second image captured by SC2. In addition, based on the brightness of each pixel determined above, the average brightness and variance are calculated, and information indicating the calculated average brightness and variance (hereinafter referred to as "brightness information") is generated.

[0120] In SC4, the display control unit 35a displays the chromaticity information and luminance information generated in SC3 (i.e., the identification result of the second identification unit 25) on the display unit 33.

[0121] Here, the method of displaying the chromaticity information and luminance information is arbitrary, but in Embodiment 3, multiple chromaticity information (or multiple luminance information) is displayed simultaneously on the display unit 33.

[0122] Specifically, as shown in Figure 13(a), multiple chromaticity information for skilled workers (corresponding to "Professional Chromaticity Information" to "Professional Chromaticity Information" in Figure 13(a)) and information showing the average value and variance of average chromaticity, variance, distortion, and kurtosis calculated based on that chromaticity information are displayed in a table format. Furthermore, as shown in Figure 13(b), multiple chromaticity information for unskilled workers (corresponding to "Amateur Chromaticity Information" in Figure 13(b)) and information showing the average value and variance of average chromaticity, variance, distortion, and kurtosis calculated based on that chromaticity information are also displayed in a table format (the method of displaying multiple luminance information is substantially the same).

[0123] However, this is not limited to this; for example, only a single piece of chromaticity information (or a single piece of luminance information) may be displayed on the display unit 33.

[0124] Alternatively, if the control unit 30 includes a determination unit 35b, in addition to displaying the chromaticity information and luminance information described above, the determination information may also be displayed on the display unit 33. For example, the determination unit 35b determines whether the difference between the average value (or variance, skewness, kurtosis) of the average chromaticity (or variance, skewness, kurtosis) calculated based on multiple chromaticity information related to skilled workers and the average value (or variance) of the average chromaticity (or variance, skewness, kurtosis) calculated based on multiple chromaticity information related to unskilled workers is less than a threshold. If the difference is less than the threshold, the determination unit 35b determines that the measurement result of the measurement unit 20 approximates the reference value, and if the difference is not less than the threshold, the determination unit 35b determines that the measurement result of the measurement unit 20 does not approximate the reference value, and displays the determination information indicating the determination result on the display unit 33.

[0125] This processing from SC2 to SC4 allows the identification result of the second identification unit 25 to be displayed, making it easier to accurately grasp the quality of the coating work.

[0126] The processes for SC3 and SC4 may be executed immediately after the process for SC2. Alternatively, they may be executed after a predetermined operation is received via the control unit 30's operation section 31, so that they can be executed at any time after the process for SC2.

[0127] Returning to Figure 12, in SC5, the control unit 35 determines whether or not the termination timing has arrived, similar to the processing in SA6.

[0128] Then, if the control unit 35 determines that the termination timing has arrived (SC5, Yes), it terminates the display process. On the other hand, if it determines that the termination timing has not arrived (SC5, No), it proceeds to SC1, and the processing from SC1 to SC5 is repeated until it is determined in SC5 that the termination timing has arrived.

[0129] (Effects of Embodiment 3) As described above, according to Embodiment 3, the measurement unit 20 includes a second imaging unit 24 that images the target surface 2 to which the coating material 3 has been applied, and a second identification unit 25 that identifies the chromaticity and / or brightness of the target surface 2 based on the second image captured by the second imaging unit 24. The display control unit 35a causes the identification result of the second identification unit 25 to be displayed on the display unit 33, so that the identification result of the second identification unit 25 can be displayed, making it easier to accurately grasp the quality of the coating work.

[0130] [Embodiment 4] Next, a display system according to Embodiment 4 will be described. In this Embodiment 4, the work status parameter is the similarity in the spatial frequency domain of the target surface to which the coating material has been applied. However, unless otherwise specified, the configuration of this Embodiment 4 is substantially the same as the configuration of Embodiment 1, and for configurations substantially the same as those of Embodiment 1, the same reference numerals and / or names used in this Embodiment 1 will be used as necessary, and their descriptions will be omitted.

[0131] (Structure - Construction components) First, the configuration of the construction member 1 according to Embodiment 4 will be described.

[0132] The construction member 1 according to Embodiment 4 is configured substantially the same as the construction member 1 according to Embodiment 1. Furthermore, as shown in Figure 14, the construction member 1 is provided with a target surface 2, which specifically extends across the entire main surface located on the outside of the structure.

[0133] (Configuration - Display System) Next, the configuration of the display system 310 will be described.

[0134] As shown in Figure 14, the display system 310 according to Embodiment 4 is configured substantially the same as the display system 10 according to Embodiment 1. However, as shown in Figure 15, the determination unit 35b of the control unit 30 is omitted, and the details of the configuration of the measurement unit 20 are modified as described below.

[0135] (Configuration - Display System - Measurement Unit) The measurement unit 20 is a measurement means for measuring work status parameters, and as shown in Figures 14 and 15, it includes a third imaging unit 26 and a third identification unit 27.

[0136] Here, in Embodiment 4, the "working condition parameter" is described as the similarity in the spatial frequency domain of the target surface 2 to which the coating material 3 has been applied.

[0137] (Configuration - Display System - Measurement Unit - Third Imaging Unit) Returning to Figure 14, the third imaging unit 26 is a third imaging means that images the target surface 2 to which the coating material 3 has been applied. This third imaging unit 26 is configured using, for example, a known imaging device (for example, a digital camera), and as shown in Figure 14, it is located outside the building, beyond the target surface 2 of the construction member 1.

[0138] (Configuration - Display System - Measurement Unit - Third Specific Unit) The third identification unit 27 is a third identification means that generates a power spectrum image based on the third image captured by the third imaging unit 26, and identifies the similarity in the spatial frequency domain based on the generated power spectrum image and a reference power spectrum image, and is provided in the control unit 35 of the control unit 30 as shown in Figure 15.

[0139] (Display processing) Next, the display processing performed by the control unit 35 of the control unit 30 in the display system 310 configured as described above will be explained.

[0140] When the display process is activated, as shown in Figure 16, the control unit 35 in SD1 determines whether or not the measurement timing has arrived, similar to the process in SA1.

[0141] The control unit 35 then waits until the measurement timing arrives (SD1, No), and when it is determined that the measurement timing has arrived (SD1, Yes), it proceeds to SD2.

[0142] In SD2, the control unit 35 uses the third imaging unit 26 to image the target surface 2 to which the coating material 3 has been applied, in substantially the same manner as in SC2.

[0143] In SD3, the third identification unit 27 generates a power spectrum image based on the third image captured in SD2 (specifically, the portion of the third image where the coating material 3 is applied), and determines the similarity in the spatial frequency domain based on the generated power spectrum image and the reference power spectrum image.

[0144] Here, "reference power spectrum image" means a power spectrum image that serves as a reference for determining similarity in the spatial frequency domain. This reference power spectrum image may be, for example, a power spectrum image pre-stored in the memory unit 36. Alternatively, it may be a power spectrum image generated based on an image captured by the third imaging unit 26 and including the target surface 2 to which the coating material 3 has been applied by a skilled person, using a method for generating a power spectrum image based on a third imaging image described later.

[0145] Furthermore, while the method for determining the similarity in the spatial frequency domain is optional, in Embodiment 4 it is determined as follows.

[0146] Specifically, first, the portion of the third image captured by SD2 in which the coating material 3 is applied (hereinafter referred to as the "extracted image") is extracted. Next, the extracted image is Fourier transformed using a known image processing method. Then, using a known image processing method, the extracted image is transformed so that the frequency of the central part of the Fourier-transformed extracted image becomes 0 Hz (by performing a so-called frequency domain swap), thereby generating a power spectrum image. Next, after extracting only a predetermined frequency domain (for example, a low-frequency domain such as a frequency domain of less than 100 cycles / mm) from each of the generated power spectrum image and the reference power spectrum image, respectively, the extracted frequency domains are transformed into logarithmic polar coordinates using a known image processing method. Then, using a known method (for example, the phase cross-correlation method), the phase component of the transformed power spectrum image and the phase component of the transformed reference power spectrum image are compared to determine the similarity in the spatial frequency domain, and information indicating the determined similarity (hereinafter referred to as "similarity information") is generated.

[0147] In SD4, the display control unit 35a displays the similarity information generated in SD3 (i.e., the identification result of the third identification unit 27) on the display unit 33.

[0148] Here, the method of displaying the similarity information is optional, but in Embodiment 4, multiple similarity information items are displayed simultaneously on the display unit 33.

[0149] Specifically, if the third image captured by SD2 includes an image of the target surface 2 coated with coating material 3 by a skilled worker and an image of the target surface 2 coated with coating material 3 by an unskilled worker, then, as shown in Figure 17, multiple similarity information (multiple similarity information between each power spectrum image in Figure 17) generated based on these images (in Figure 17, "First Pro Power Spectrum Image" and "Second Pro Power Spectrum Image" are the power spectrum images related to the skilled worker, and "Amateur Power Spectrum Image" is the power spectrum image related to the unskilled worker) and a reference power spectrum image is displayed in a table format.

[0150] However, this is not the only option; for example, only a single piece of similarity information may be displayed on the display unit 33.

[0151] Alternatively, if the control unit 30 includes a determination unit 35b, in addition to displaying the similarity information described above, the determination information may also be displayed on the display unit 33. For example, the determination unit 35b may determine whether the similarity information is less than a threshold, and if it is less than the threshold, it may determine that the measurement result of the measurement unit 20 is close to the reference value, and if it is not less than the threshold, it may determine that the measurement result of the measurement unit 20 is not close to the reference value, and display the determination information indicating the determination result on the display unit 33.

[0152] This processing from SD2 to SD4 allows the identification results of the third identification unit 27 to be displayed, making it easier to accurately grasp the quality of the coating work.

[0153] The processing of SD3 and SD4 may be performed immediately after the processing of SD2. Alternatively, they may be performed after a predetermined operation is received via the operation unit 31 of the control unit 30, so that they can be executed at any time after the processing of SD2.

[0154] Returning to Figure 16, in SD5, the control unit 35 determines whether or not the termination timing has arrived, similar to the processing in SA6.

[0155] Then, if the control unit 35 determines that the termination timing has arrived (SD5, Yes), it terminates the display process. On the other hand, if it determines that the termination timing has not arrived (SD5, No), it proceeds to SD1 and repeats the processing from SD1 to SD5 until it determines in SD5 that the termination timing has arrived.

[0156] (Effects of Embodiment 4) As described above, according to Embodiment 4, the measurement unit 20 includes a third imaging unit 26 that images the target surface 2 to which the coating material 3 has been applied, and a third identification unit 27 that generates a power spectrum image based on the third image captured by the third imaging unit 26 and identifies the similarity in the spatial frequency domain based on the generated power spectrum image and a reference power spectrum image. The display control unit 35a displays the identification result of the third identification unit 27 on the display unit 33, so that the identification result of the third identification unit 27 can be displayed, making it easier to accurately grasp the quality of the coating work.

[0157] [III] Modifications of the Embodiment While embodiments of the present invention have been described above, the specific configurations and means of the present invention can be arbitrarily modified and improved within the scope of the technical idea of ​​each invention described in the claims. Such modifications will be described below.

[0158] (Regarding the problems to be solved and the effects of the invention) First, the problems that the invention aims to solve and the effects of the invention are not limited to those described above. The present invention may solve problems not described above, produce effects not described above, solve only some of the problems described above, or produce only some of the effects described above.

[0159] (Regarding shape, numerical values, structure, and time series) With regard to the components illustrated in the embodiments and drawings, their shapes, numerical values, or the interrelationships of the structure or time series of multiple components can be arbitrarily modified and improved within the scope of the technical concept of the present invention.

[0160] (Regarding work status parameters) In embodiments 1 to 4 described above, the working condition parameters were explained to include, but are not limited to, the force, moment, angular velocity, and acceleration acting on the predetermined tool 4, the number of coats of coating material 3 applied to the target surface 2, and the chromaticity, luminance, and similarity in the spatial frequency domain of the target surface 2 to which the coating material 3 has been applied. For example, the working condition parameters may further include, at least one of, the speed acting on the predetermined tool 4 and the position of the predetermined tool 4 (specifically, the three-dimensional position of the predetermined tool 4) and / or its orientation (specifically, the rotation angle of the brush portion of the predetermined tool 4 relative to the handle portion of the predetermined tool 4 (the rotation angle in the XZ plane in Figure 1)).

[0161] Here, the measurement method and display method when the work status parameter is the speed acting on the predetermined device 4 are arbitrary, but for example, they may be carried out as follows.

[0162] In other words, the above-mentioned method for measuring speed first involves capturing an image (specifically, a video) including the target surface 2 and the predetermined device 4 using the same imaging means as the first imaging unit 22. Next, point cloud data (specifically, data relating to the three-dimensional position coordinates) relating to the predetermined device 4 (specifically, the roller portion of the predetermined device 4) is extracted from the captured image using a known image analysis method. Then, the speed may be measured by dividing the difference in the position of the predetermined device 4 at t=T and t=T+1 by time (T+1-T), respectively, from the extracted point cloud data. However, the method is not limited to this, and for example, the speed may be measured using the detection unit 21 according to Embodiment 1.

[0163] Furthermore, regarding the method of displaying the above speeds, the above speeds may be displayed in a table or graph format for each time series, or the average value of the above speeds for each painting operation may be displayed in a table or graph format.

[0164] Furthermore, the measurement method and display method when the work status parameter is at the position of the designated device 4 are arbitrary, but for example, they may be carried out as follows.

[0165] In other words, the method for measuring the position of the predetermined device 4 may involve first acquiring point cloud data (specifically, data relating to the three-dimensional position coordinates) related to the predetermined device 4 using a known three-dimensional distance image sensor. Alternatively, point cloud data (specifically, data relating to the three-dimensional position coordinates) related to the predetermined device 4 may be acquired using a known motion capture system (for example, an optical motion capture system using an RGBD camera). The position of the predetermined device 4 may then be estimated based on these two sets of point cloud data (for example, the position may be measured by extracting an area within a manually defined painting target area where no people are visible, and then using a particle filter to find the part to be estimated within the extracted area). However, the method is not limited to this; for example, the position of the predetermined device 4 may also be estimated based on point cloud data related to the predetermined device 4 acquired by either the three-dimensional distance image sensor or the motion capture system.

[0166] Furthermore, regarding the method of displaying the position of the predetermined device 4, the position of the predetermined device 4 may be displayed in a table or graph format for each time series. Alternatively, the amount of movement of the predetermined device 4 (specifically, the amount of movement of its three-dimensional position) for each painting operation may be displayed in a table format. Alternatively, the position of the predetermined device 4 may be superimposed on the captured image (specifically, the captured image including the target surface 2).

[0167] Furthermore, while the measurement method and display method for the work status parameter when the position of the predetermined device 4 are arbitrary, they may be carried out as follows, for example.

[0168] In other words, regarding the method for measuring the orientation of the predetermined device 4, first, point cloud data (specifically, data relating to the three-dimensional position coordinates) of the predetermined device 4 is acquired using a known three-dimensional distance image sensor. Also, point cloud data (specifically, data relating to the three-dimensional position coordinates) of the predetermined device 4 is acquired using a known motion capture system (for example, an optical motion capture system using an RGBD camera). Then, using a known method, the rotation angle of the brush portion of the predetermined device 4 (the rotation angle in the XZ plane in Figure 1) is calculated based on these two point cloud data. At the same time as the above point cloud data, the rotation angle of the handle portion of the predetermined device 4 (the rotation angle in the XZ plane in Figure 1) is detected using the detection unit 21 according to Embodiment 1. Then, the rotation angle of the brush portion of the predetermined device 4 relative to the handle portion of the predetermined device 4 may be calculated from the above-calculated rotation angles of the brush portion and the handle portion of the predetermined device 4 to measure the orientation.

[0169] Furthermore, regarding the method of displaying the posture of the specified device 4, the posture of the specified device 4 may be displayed in a table or graph format for each time series. Alternatively, the average value of the posture of the specified device 4 for each painting operation may be displayed in a table format. Alternatively, the posture of the specified device 4 may be superimposed on the captured image (specifically, the captured image including the target surface 2) (in this case, the color of the specified device 4 may be changed depending on the direction of the posture).

[0170] (Regarding the control unit) In Embodiment 1, the control unit 30 was described as including a determination unit 35b, but it is not limited to this, and for example, the determination unit 35b may be omitted. In this case, the display processing SA4 and SA5 may be omitted.

[0171] (Regarding the measurement unit) In Embodiment 1, the measurement unit 20 was described as including a detection unit 21, but it is not limited to this. For example, in addition to the detection unit 21, the measurement unit may also include a first imaging unit 22, a first identification unit 23, a second imaging unit 24, a second identification unit 25, a third imaging unit 26, and / or a third identification unit 27, so that the display processing according to at least one of Embodiments 2 to 4 can be performed.

[0172] In this case, for example, if the measurement unit 20 is configured to perform the display processing according to Embodiments 3 and 4, it may be provided with an imaging unit having the functions of both the second imaging unit 24 and the third imaging unit 26 (corresponding to the second imaging means and the third imaging means), rather than having both the second imaging unit 24 and the third imaging unit 26.

[0173] (Regarding display processing) In Embodiment 1, it was explained that in SA2, the control unit 35 uses the detection unit 21 to detect the force, moment, angular velocity, and acceleration acting on the predetermined device 4. However, the invention is not limited to this, and for example, only one, two, or three of the force, moment, angular velocity, or acceleration acting on the predetermined device 4 may be detected.

[0174] Furthermore, while it was explained in Embodiment 1 that when force, moment, angular velocity, and acceleration acting on the predetermined device 4 are detected in SA2, this detection information is immediately displayed in SA3, the invention is not limited to this. For example, after the force, moment, angular velocity, and acceleration acting on the predetermined device 4 are detected in SA2 and temporarily stored in the storage unit 36 ​​of the control unit 30, the control unit 35 of the control unit 30 (or a control unit of another control device different from the control unit 30, which has the same function as the control unit 35) may analyze this detection information using a known analysis method after a predetermined time has elapsed. After the above analysis is performed, the control unit 35 of the control unit 30 (or the control unit of another control device) may display the analysis results together with the detection information (the display processing in Embodiments 2 to 4 is substantially the same).

[0175] Furthermore, in Embodiment 3, it was explained that in SC3, the second identification unit 25 identifies the chromaticity and brightness of the target surface 2 based on the second image captured by SC2. However, this is not limited to this, and for example, only the chromaticity or brightness of the target surface 2 may be identified. In this case, in SC4, the display control unit 35a may display only the chromaticity information or the brightness information on the display unit 33.

[0176] Furthermore, in Embodiment 3, it was explained that the second identification unit 25 identifies the chromaticity and luminance of the target surface 2 based on the second image captured by the second imaging unit 24, and the display control unit 35a displays the identification result of the second identification unit 25 on the display unit 33, but the invention is not limited to this. For example, the second identification unit 25 may use a known image processing method to create a chromaticity distribution image and / or a luminance distribution image based on the second image captured by the second imaging unit 24, and the display control unit 35a may display the chromaticity distribution image and / or a luminance distribution image on the display unit 33. In this case, for example, if the second identification unit 25 creates chromaticity distribution images and / or luminance distribution images based on a plurality of second images (for example, a second image of a skilled person and a second image of an unskilled person), the display control unit 35a may display the plurality of chromaticity distribution images and / or the plurality of luminance distribution images on the display unit 33 simultaneously.

[0177] (Note) The display system described in Appendix 1 is a display system for displaying the status of a coating operation, which is the operation of applying a coating material to a target surface via a predetermined device, and comprises measuring means for measuring work status parameters related to the status of the coating operation, and display control means for displaying the measurement results of the measuring means on a display means, wherein the work status parameters include at least one of the following: force, moment, velocity, angular velocity, and / or acceleration acting on the predetermined device; position and / or orientation of the predetermined device; number of coats of the coating material applied to the target surface; and chromaticity, luminance, and / or similarity in the spatial frequency domain of the target surface to which the coating material has been applied.

[0178] The display system in Appendix 2 is the display system described in Appendix 1, wherein the measuring means includes detection means for detecting force, moment, velocity, angular velocity, and / or acceleration acting on the predetermined instrument, and the display control means causes the detection result of the detection means to be displayed on the display means.

[0179] The display system described in Appendix 3 is the display system described in Appendix 1 or 2, wherein the measuring means comprises a first imaging means for capturing images of the painting operation of the painting work, and a first identifying means for calculating a painting distance, which is the distance over which the painting operation was performed, based on a first image captured by the first imaging means, and for identifying the number of times the painting material was applied based on the calculated painting distance, and the display control means causes the identifying result of the first identifying means to be displayed on the display means.

[0180] The display system described in Appendix 4 is the display system described in any one of Appendix 1 to 3, wherein the measuring means comprises a second imaging means for imaging the target surface to which the coating material has been applied, and a second identification means for identifying the chromaticity and / or brightness of the target surface based on the second image captured by the second imaging means, and the display control means causes the identification result of the second identification means to be displayed on the display means.

[0181] The display system described in Appendix 5 is the display system described in any one of Appendix 1 to 4, wherein the measurement means comprises a third imaging means for imaging the target surface to which the coating material has been applied, and a third identification means for generating a power spectrum image based on the third image captured by the third imaging means, and for identifying the similarity in the spatial frequency domain based on the generated power spectrum image and a reference power spectrum image, and the display control means causes the identification result of the third identification means to be displayed on the display means.

[0182] The display system described in Appendix 6 is the display system described in any one of Appendix 1 to 5, further comprising a determination means for determining whether the measurement result of the measuring means approximates a reference value, and the display control means causes the determination result of the determination means to be displayed on the display means.

[0183] (Effect of the note) According to the display system described in Appendix 1, the system comprises measuring means for measuring work status parameters and display control means for displaying the measurement results of the measuring means on a display means. The work status parameters include at least one of the following: force, moment, velocity, angular velocity, or / or acceleration acting on a predetermined device; position, or / or orientation of the predetermined device; number of coats of coating material applied to the target surface; and chromaticity, luminance, or / or similarity in the spatial frequency domain of the target surface to which the coating material has been applied. This allows for accurate assessment of the quality of the coating work and improves the usability of the display system.

[0184] According to the display system described in Appendix 2, the measuring means includes a detection means for detecting force, moment, velocity, angular velocity, and / or acceleration acting on a predetermined instrument, and the display control means causes the detection results of the detection means to be displayed on the display means. This makes it possible to display the detection results of the detection means and makes it easier to accurately grasp the quality of the painting work.

[0185] According to the display system described in Appendix 3, the measurement means includes a first imaging means for capturing images of the painting operation during painting work, and a first identification means for calculating the painting distance based on the first captured image captured by the first imaging means and identifying the number of times the coating material is applied based on the calculated painting distance. The display control means causes the identification result of the first identification means to be displayed on the display means, making it easier to accurately grasp the quality of the painting work.

[0186] According to the display system described in Appendix 4, the measurement means includes a second imaging means for imaging a target surface to which a coating material has been applied, and a second identification means for identifying the chromaticity and / or brightness of the target surface based on the second image captured by the second imaging means. The display control means causes the identification result of the second identification means to be displayed on the display means, making it easier to accurately grasp the quality of the coating work.

[0187] According to the display system described in Appendix 5, the measurement means includes a third imaging means that images the target surface to which the coating material has been applied, and a third identification means that generates a power spectrum image based on the third image captured by the third imaging means, and identifies the similarity in the spatial frequency domain based on the generated power spectrum image and a reference power spectrum image. The display control means causes the identification result of the third identification means to be displayed on the display means, so that the identification result of the third identification means can be displayed, making it easier to accurately grasp the quality of the coating work.

[0188] According to the display system described in Appendix 6, the system further includes a determination means for determining whether the measurement result of the measuring means approximates a reference value, and the display control means causes the determination result of the determination means to be displayed on the display means, making it easier to accurately grasp the quality of the painting work. [Explanation of symbols]

[0189] 1. Construction components 2 Target surface 3. Coating material 4 Prescribed equipment 10 Display Systems 20 Measurement section 21 Detection unit 22 First Imaging Section 23 1st Specific Part 24 Imaging Department 2 25 Second Specific Part 26. Third Imaging Unit 27 Third Specific Part 30 Control Units 31 Operation section 32 Communications Department 33 Display section 34 Power supply section 35 Control Unit 35a Display Control Unit 35b Judgment part 36 Memory section 40 imaging boxes 110 Display System 210 Display System 310 Display System JD judgment information M Operator

Claims

1. A display system for displaying the status of a coating operation, which is the process of applying a coating material to a target surface using a predetermined tool, A measuring means for measuring work status parameters related to the status of the aforementioned painting work, The system includes a display control means for displaying the measurement results of the measurement means on a display means, The aforementioned work condition parameters include at least one of the following: force, moment, velocity, angular velocity, and / or acceleration acting on the predetermined device; position and / or orientation of the predetermined device; number of coats of the coating material applied to the target surface; chromaticity of the target surface to which the coating material is applied, luminance of the target surface, and / or similarity in the spatial frequency domain of the target surface, which is determined by matching the phase component of a power spectral image generated based on an image of the target surface with the phase component of a reference power spectral image. The aforementioned measuring means is A first imaging means for imaging the painting operation of the aforementioned painting work, The system comprises: a first imaging means that calculates a coating distance, which is the distance over which the coating operation is performed, based on a first image captured by the first imaging means, and a first identifying means that identifies the number of times the coating material is applied based on the calculated coating distance; The display control means causes the display means to display the result of the first identification means. Display system.

2. The measuring means is A second imaging means for imaging the target surface to which the coating material has been applied, The system comprises a second identifying means for determining the chromaticity of the target surface based on a second image captured by the second imaging means, The display control means causes the display means to display the result of the second identification means. The display system according to claim 1.

3. The measuring means includes detection means for detecting force, moment, velocity, angular velocity, and / or acceleration acting on the predetermined instrument. The display control means causes the detection result of the detection means to be displayed on the display means. The display system according to claim 1 or 2.

4. The aforementioned measuring means is A third imaging means for imaging the target surface to which the coating material has been applied, The system comprises: a third imaging means that generates a power spectral image based on a third imaging image captured by the third imaging means, and a third identification means that identifies the similarity in the spatial frequency domain based on the generated power spectral image and a reference power spectral image; The display control means causes the display means to display the result of the third identification means. The display system according to any one of claims 1 to 3.

5. The measurement means further comprises a determination means for determining whether the measurement result of the measurement means approximates a reference value. The display control means causes the determination result of the determination means to be displayed on the display means. The display system according to any one of claims 1 to 4.

Images