Painting work management device and painting work management method, and program
The painting work management device and method address the challenge of inconsistent paint film thickness by providing real-time feedback to workers, ensuring uniformity and reducing waste and emissions in manual painting processes.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- HITACHI LTD
- Filing Date
- 2022-06-20
- Publication Date
- 2026-07-03
AI Technical Summary
Existing painting methods, whether manual or robotic, struggle to ensure consistent paint film thickness, leading to quality variations, increased costs, and environmental hazards due to solvent-based paints, especially in complex structures.
A painting work management device and method that uses a measuring unit to track the position and orientation of a paint gun, calculating film thickness distribution based on distance, inclination, and movement speed, providing real-time feedback to workers to maintain uniform film thickness.
Ensures appropriate paint film thickness, reducing waste and environmental emissions by minimizing skill dependence and optimizing paint usage, while improving aesthetic and protective qualities of painted surfaces.
Smart Images
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Abstract
Description
[Technical Field]
[0001] The present invention relates to a painting work management device and a painting work management method, and more particularly to a painting work management device and a painting work management method that enable the formation of an appropriate paint film thickness when painting an object to be painted. [Background technology]
[0002] Many structures, including buildings, are painted for purposes such as enhancing their aesthetic appeal or providing protection. Furthermore, in mobile vehicles such as railway cars and automobiles, it is necessary to smooth the painted surface to enhance their appearance and reduce aerodynamic drag.
[0003] While paint films can sometimes be single-layered, they are often multi-layered to ensure a smooth surface. For example, when forming a paint film on a metal surface, the process typically involves roughening the metal surface with blasting, applying and drying a rust-preventive primer; applying, drying, and sanding putty to cover any unevenness on the metal surface and ensure smoothness; applying, drying, and sanding a surfacer to cover any fine irregularities on the putty surface; applying, drying, and sanding an intermediate coat; and finally applying, drying, and sanding a topcoat to add aesthetic appeal to the outermost surface.
[0004] Painting is generally done either manually by workers or using automated machines such as robots. When workers paint, they use sprays, brushes, rollers, etc., but it is difficult to quantitatively grasp the paint film thickness in real time or immediately after painting, and it depends heavily on the skill of the worker. As a result, the quality of the painting varies depending on the skill level of the worker, and it takes time to train skilled workers.
[0005] On the other hand, using robots involves high capital investment, and if paints containing organic solvents are used, explosion-proof specifications are required, further increasing the capital investment. In addition, a large space is needed to install the robot, and if the object to be painted is heated, procedures such as moving the robot or moving the object to be painted for heating are necessary, making it difficult to easily introduce them.
[0006] In robotic painting, there is a method for obtaining the paint film thickness distribution through simulation. For example, Patent Document 1 discloses a "paint film thickness simulation method" as a simulation technique. According to the simulation method in Patent Document 1, the film thickness distribution value at the paint gun position is obtained based on a reference pattern, and the film thickness distribution value of the object to be painted is obtained by integrating these film thickness distribution values. [Prior art documents] [Patent Documents]
[0007] [Patent Document 1] Japanese Patent Publication No. 2006-122830 [Overview of the Initiative] [Problems that the invention aims to solve]
[0008] The method described in Patent Document 1 relates to robotic painting and requires capital investment. Furthermore, painting of parts with complex structures generally relies heavily on manual labor, making it impossible to eliminate human intervention in painting operations. For this reason, it is essential to reduce costs by minimizing the need for worker skill while maintaining and improving quality through manual painting, and by reducing the amount of paint wasted due to repainting caused by painting defects. Moreover, reducing the amount of paint wasted will also lead to a reduction in the emission of volatile organic compounds, which are harmful to the environment and are contained in solvent-based paints that use organic solvents as diluents, thus providing benefits from an environmental protection perspective.
[0009] In general, whether painting is done manually by an operator or using a robot, attention must be paid to the paint film thickness. If the film thickness is thinner than the specified thickness, problems such as insufficient protection from the paint or failure to achieve the desired aesthetic appearance may occur. If the film thickness is thicker than the specified thickness, solvent may remain in the paint film and vaporize, causing problems such as blistering and cracking, and may also lead to increased costs due to the use of a large amount of paint. Furthermore, if these problems occur in combination, the aesthetic appearance may be impaired due to unevenness, etc. To prevent these problems, it is necessary to ensure the appropriate film thickness over the entire painted surface of the object to be painted.
[0010] The object of the present invention is to provide a painting work management device and a painting work management method that enable the formation of an appropriate paint film thickness when painting an object to be painted. [Means for solving the problem]
[0011] To give an example of the "painting work management device" of the present invention for solving the above problems, the painting work management device is a device for managing painting work in which paint is applied by spraying paint onto an object to be painted with a paint gun, and comprises a measuring unit for measuring the position and orientation of the paint gun with respect to the painted surface of the object to be painted, and a painting work management unit for calculating the film thickness distribution formed on the painted surface of the object to be painted. The painting work management unit identifies the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the object to be painted with respect to the painted surface, and the movement speed of the paint gun from the position and orientation of the paint gun with respect to the painted surface of the object to be painted, and calculates the film thickness distribution formed on the painted surface of the object to be painted based on the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the object to be painted with respect to the painted surface, the movement speed of the paint gun, and information of a model formula representing a film thickness distribution pattern according to painting conditions.
[0012] Also, if an example of the "painting work management method" of the present invention is given, it is a painting work management method for managing a painting work in which painting is performed by spraying paint on a painting object with a paint gun, the measuring unit measures the position and orientation of the paint gun with respect to the painting surface of the painting object, the painting work management unit determines the distance of the paint gun with respect to the painting surface of the painting object, the inclination angle with respect to the painting surface of the painting object, and the moving speed of the paint gun from the position and orientation of the paint gun with respect to the painting surface of the painting object, and the painting work management unit calculates the film thickness distribution formed on the painting surface of the painting object based on the information regarding the distance of the paint gun with respect to the painting surface of the painting object, the inclination angle with respect to the painting surface of the painting object, the moving speed of the paint gun, and the information of the model formula representing the film thickness distribution pattern according to the painting conditions.
Effect of the Invention
[0013] According to the present invention, it is possible to provide a painting work management device and a painting work management method capable of forming an appropriate paint film thickness when painting a painting object.
[0014] Problems, configurations, and effects other than those described above will be clarified by the description of the following embodiments.
Brief Description of the Drawings
[0015] [Figure 1] It is a configuration diagram showing the overall configuration of a painting work management device according to an embodiment of the present invention. [Figure 2A] It is an explanatory diagram showing the inclination angle (horizontal angle) of the paint gun with respect to the painting surface. [Figure 2B] It is an explanatory diagram showing the inclination angle (vertical angle) of the paint gun with respect to the painting surface. [Figure 2C] It is an explanatory diagram showing the three-dimensional position coordinates of the tip of the paint gun from time to time and the coordinates of the painting surface in the direction of each paint gun tip direction vector. [Figure 3] It is an explanatory diagram showing the types of painting patterns. [Figure 4]This is a diagram illustrating a model of paint film thickness patterns. [Figure 5A] This is an explanatory diagram showing the trend of paint film thickness patterns depending on the distance between the paint gun and the surface to be painted. [Figure 5B] This is an explanatory diagram showing the trend of paint film thickness patterns due to differences in paint gun movement speed. [Figure 5C] This is an explanatory diagram showing the trend of paint film thickness patterns due to differences in the vertical inclination between the paint gun and the surface being painted. [Figure 6A] This is an explanatory diagram showing the coating film thickness distribution in the pattern width direction of a painted pattern. [Figure 6B] This diagram illustrates the geometric relationship between the x-coordinate system when the paint gun is not tilted and the x-coordinate system when the paint gun is tilted. [Figure 7] This figure shows an example of a condition management table based on paint and paint gun conditions. [Figure 8] This is a diagram showing the film thickness distribution. [Figure 9A] This figure shows a histogram of the film thickness distribution image. [Figure 9B] This is an explanatory diagram showing how to indicate areas that have been repainted. [Figure 10] This is a flowchart showing the flow of painting work according to an embodiment of the present invention. [Modes for carrying out the invention]
[0016] Embodiments of the present invention will be described below with reference to the drawings. However, the present invention is not to be construed as being limited to the embodiments described below. It will be readily apparent to those skilled in the art that the specific configuration can be modified without departing from the spirit or essence of the present invention. In addition, in each figure used to illustrate the embodiments, the same names and reference numerals are used for identical components whenever possible, and repeated explanations are omitted.
[0017] The following describes a manual painting method using the painting work management device according to the present invention, using railway vehicle painting as an example. Figure 1 shows an example of the configuration of painting equipment including the painting work management device. In this embodiment, the painting equipment for painting a railway vehicle 20 includes a painting machine (hereinafter referred to as a paint gun) 100, a paint supply machine 101, and a painting work management device 10. The paint gun 100 is equipped with multiple markers 102 that can identify the operation (position and orientation) of the paint gun. The painting work management device 10 includes a measurement unit 120 that measures the operation of the paint gun during painting, and a painting work management unit 130 that analyzes the measurement results from the measurement unit 120, calculates the film thickness distribution formed on the surface to be painted 103 from the results of the analysis, analyzes the calculated film thickness distribution, and provides instructions to the worker based on the results of the analysis.
[0018] The measurement unit 120 is installed in the space where painting work is performed (hereinafter referred to as the painting work space) and consists of multiple position detection sensors 121, such as cameras, and a marker analysis unit 122. The painting work management unit 130 consists of a painting gun operation calculation unit 131 that calculates the operation of the painting gun 100 on the surface to be painted 103, a film thickness calculation unit 132 that calculates the film thickness distribution formed on the surface to be painted from the analysis results of the painting gun operation, a painting state analysis unit 133 that determines the content to be taught to the worker based on the calculation results of the painting gun operation calculation unit 131 and the film thickness calculation unit 132, and a painting state / work teaching unit 134 that displays the content to be taught to the worker and the film thickness distribution based on the film thickness calculation unit 132 and the painting state analysis unit 133.
[0019] This embodiment shows an example of an air spray system in which painting is performed by supplying air to a paint gun 100. The paint gun 100, which is part of the painting equipment, is connected to a paint supply unit 101 by a paint hose, and paint is supplied from the paint supply unit to the paint gun. The painter blows pressurized air supplied from a compressor or the like (not shown) through an air hose onto the paint supplied from the paint supply unit to the paint gun to atomize the paint, and then sprays the atomized paint pattern 104 onto the surface to be painted 103 to perform the painting. When the painter is painting the side of a railway vehicle, the painter holds the paint gun several hundred mm away from the surface to be painted (vehicle surface), and paints by moving the paint gun back and forth in the horizontal direction (Figure 1 X direction) while also moving it in the vertical direction (Figure 1 Y direction). This paint gun is used to paint a certain horizontal area (a range of several hundred mm in width from the top to the bottom of the vehicle). Once this is complete, the worker moves along the length of the vehicle (direction X in Figure 1) and repeats the same paint gun operation to paint the entire side of the vehicle. Furthermore, the painting method is not limited to air spraying; any form such as an air gun, airless gun, or electrostatic gun is acceptable.
[0020] During painting, multiple position detection sensors 121 of the measurement unit 120 installed in the painting workspace detect the position of each marker at any given time interval (Δt). One method for detecting the position of each marker with the position detection sensors 121 is to irradiate the paint gun with light (visible light or infrared light) from the position detection sensors and detect the light reflected by the markers 102. Alternatively, the markers themselves can be used as light emitters, and the light directly emitted by the markers 102 can be detected by the position detection sensors 121. Furthermore, by analyzing the light signals detected at regular time intervals (Δt) by the multiple position detection sensors 121 in the marker analysis unit 122 of the measurement unit 120, the three-dimensional position coordinates (x,y,z) of the paint gun tip 105 in the painting workspace and the paint gun tip direction vector (a,b,c), which originates from the paint gun tip and indicates the orientation of the paint gun tip, are calculated using the principle of triangulation commonly used in motion capture systems.
[0021] In the painting work management unit 130, the paint gun operation calculation unit 131 calculates the distance l of the paint gun tip 105 relative to the surface to be painted 103, the inclination angle of the paint gun tip 105 relative to the surface to be painted 103 (horizontal angle: φ, vertical angle: θ), the movement speed of the paint gun, the horizontality of the paint gun trajectory, and the interval of the paint gun trajectory, which represent the state of the paint gun operation, from the three-dimensional position coordinates (x, y, z) of the paint gun tip 105 calculated by the marker analysis unit 122, the direction vector (a, b, c) of the paint gun tip, and the normal vector (α, β, γ) in the coordinates (x', y', z') of the surface to be painted in the direction of the paint gun tip direction vector (a, b, c).
[0022] The following explains how to calculate the distance l between the paint gun tip 105 and the surface to be painted 103, the inclination angle of the paint gun tip 105 relative to the surface to be painted 103 (horizontal angle: φ, vertical angle: θ), and the movement speed v of the paint gun, using Figures 2A, 2B, and 2C.
[0023] Figure 2A shows a plan view (XZ plane) of the paint gun and the surface to be painted as seen from the Y direction. The angle of the paint gun tip 105 with respect to the surface to be painted 103 is the horizontal angle φ shown in the figure. The orthogonal projections of the paint gun tip direction vector (a,b,c) and the normal vector (α,β,γ) on the surface to be painted in the direction of the paint gun tip direction vector onto the XZ plane are (a,0,c) and (α,0,γ) shown in the figure, respectively. The horizontal angle φ is expressed as the angle between these vectors and can be calculated using equation (1).
[0024]
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[0025] Figure 2B shows a plan view (YZ plane) of the paint gun and the painted surface as seen from the X direction. At this time, the angle of the paint gun tip 105 with respect to the painted surface 103 is the vertical angle shown in the figure: θ. The orthographic projections of the paint gun tip direction vector (a, b, c) and the normal vector (α, β, γ) on the painted surface in the direction of the paint gun tip direction vector onto the YZ plane are respectively (0, b, c) and (0, β, γ) shown in the figure. The vertical angle: θ is represented by the angle formed by these vectors and can be obtained by Equation (2).
[0026]
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[0027] Also, Figure 2C shows the three-dimensional position coordinate data series 200 (x , ,
[0028] , , , , , y k , z k ) of the paint gun tip at various times during painting, and the painted surface coordinates (x k ′, y k ′, z k ′) in the direction of each paint gun tip direction vector. At this time, the distance: l of the paint gun tip from the painted surface at various times can be obtained from (x k , y k , z k ) and (x k ′, y k ′, z k ′) by Equation (3). The moving speed: v of the paint gun can be obtained from the three-dimensional position coordinate data (x k , y k , z k ) of the paint gun tip at various times, the three-dimensional position coordinate data (x k , y k , z k ) of the paint gun tip detected at the previous timing from (x k-1 , y k-1 , z k―1 ), and the detection time interval (Δt) of the paint gun tip position by Equation (4).
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[0030] Next, we will explain the trajectory of the paint gun (horizontality of the trajectory and the spacing of the trajectory) using Figures 3 and 4.
[0031] The shape of the paint pattern shown in Figure 3 changes depending on the settings of the paint gun, and usually three types are formed: a rectangular pattern 300, an elliptical pattern 301, and a circular pattern 302. When the paint film thickness pattern is a rectangular or elliptical pattern, the width along the long axis is called the pattern width 303, and during painting, the paint gun 100 is moved in a direction perpendicular to the direction of the pattern width 303 (paint line direction), and in the case of a circular pattern, the paint is continuously sprayed while moving in either the vertical or horizontal (horizontal or vertical) direction.
[0032] Figure 4 shows the trajectory 400 of the paint gun tip. Once painting is completed up to the end of the painting line, the paint gun 100 is moved a certain distance perpendicular to the direction of the painting line before continuing to paint the next painting line. For each of these painting lines, a straight line 402 (Y=aX+b, a: line slope, b: y-intercept) is fitted to a data sequence 401 of the in-plane coordinates (x',y') in the direction of the paint gun tip direction vector (a,b,c) to calculate the line slope:a and y-intercept:b. The angle (ψ) that the fitted line 402 in that painting line makes with the vertical direction of the pattern width is defined as the trajectory horizontality 403. The distance between the fitted line 404 in the painting line immediately preceding the current painting line and the in-plane coordinates (x',y') in the direction of the paint gun tip direction vector is defined as the trajectory interval 405 of the paint gun. The trajectory spacing of 405 on this paint gun is commonly referred to as the coating interval, and the recommended value varies depending on the pattern shape. Typically, 3 / 4 of the pattern width is recommended for rectangular patterns, 2 / 3 for elliptical patterns, and 1 / 2 for circular patterns. By painting at the recommended intervals, it is possible to obtain a nearly uniform film thickness.
[0033] The horizontality of the paint gun's trajectory can be calculated from the slope value a of the fitting line 402 equation using equation (5). The spacing 405 of the paint gun's trajectory is calculated using equation (6) from the Y coordinate (y″) obtained by substituting the X coordinate (x′) in the direction of the paint gun tip direction vector of the painting line into the fitting line 404 equation of the painting line immediately preceding the painting line, and the Y coordinate (y′) in the direction of the paint gun tip direction vector of the painting line.
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[0036] The film thickness calculation unit 132 of the painting work management unit calculates the film thickness distribution formed on the surface to be painted based on the information calculated by the painting gun operation calculation unit 131, including the distance l of the tip of the painting gun relative to the surface to be painted, the inclination angle of the tip of the painting gun relative to the surface to be painted (horizontal angle: φ, vertical angle: θ), and the movement speed v of the painting gun, as well as the information on the amount of paint supplied detected by the paint supply machine 101.
[0037] Here, the trends in the change of the film thickness distribution pattern in response to changes in the distance of the paint gun tip relative to the surface to be painted, the inclination angle of the paint gun tip relative to the surface to be painted, and the movement speed of the paint gun will be explained using Figures 5A, 5B, and 5C.
[0038] Figure 5A shows the relationship between the distance of the paint gun to the surface to be painted 103 and the paint film thickness pattern, Figure 5B shows the relationship between the movement speed of the paint gun and the paint film thickness pattern, and Figure 5C shows the relationship between the vertical inclination relative to the surface to be painted 103 and the paint film thickness pattern. The figures show the paint film thickness pattern 104 produced by the paint gun. As shown in Figure 5A, when the distance between the paint gun 100 and the surface to be painted 103 is short, the paint pattern formed on the surface to be painted 103 becomes small, so the paint is densely packed and the film thickness becomes large. When the distance between the paint gun 100 and the surface to be painted 103 is long, the paint pattern formed on the surface to be painted 103 becomes large, so the paint is dispersed and the film thickness becomes small.
[0039] Furthermore, as shown in Figure 5B, if the speed at which the paint gun 100 is moved is high, the paint transfer efficiency (the ratio of the mass of paint used to the mass of paint actually attached to the painted object) decreases due to the effect of airflow, resulting in a smaller film thickness. Conversely, if the speed at which the paint gun 100 is moved is low, the transfer efficiency increases and the film thickness increases.
[0040] Furthermore, as shown in Figure 5C, when the paint gun 100 is tilted relative to the surface to be painted 103, the film thickness is greater where the distance between the paint gun 100 and the surface to be painted 103 is close, and the film thickness is smaller where the distance between the paint gun 100 and the surface to be painted 103 is farther, resulting in an uneven film thickness formed on the painted surface.
[0041] Based on the above trends, the painting work management device in this embodiment maintains a model equation that represents the film thickness distribution pattern according to the painting conditions (distance of the paint gun tip to the surface to be painted, inclination angle of the paint gun tip to the surface to be painted, and movement speed of the paint gun), and the model equation can be expressed by equations (7) to (11).
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[0046]
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[0047] <Explanation of each function and parameter> P θ (x θ ): Film thickness distribution function in the pattern width direction P0(x): Reference film thickness distribution function under standard conditions (Polynomial approximation of measured film thickness data under standard conditions) α(v): Coating efficiency based on paint gun movement speed β(l): Coating efficiency based on the distance of the paint gun tip from the surface to be painted. γ(l): Pattern width expansion rate due to the distance of the paint gun tip from the painted surface. T(x): Coordinate transformation function for vertical tilt of paint gun x: Position in the pattern width direction x θ : Pattern width direction position in the paint gun tilt coordinate system v: Paint gun movement speed l: Distance of the paint gun tip relative to the surface to be painted θ: Vertical tilt angle of the paint gun a, b, c, d, e, f: Coefficients (calculated from experimental data)
[0048] The above model equation will be explained below using Figures 6A and 6B. Equation (7) represents the film thickness distribution in the pattern width direction formed around the in-surface coordinates (x', y') in the direction of the paint gun tip direction vector when the paint gun is moved at a constant speed. Figure 6A shows the film thickness distribution 600 in the pattern width direction, and Figure 6B shows the x-coordinate system of the surface to be painted 601 when the paint gun 100 is not tilted, and the x-coordinate system of the surface to be painted 602 when the paint gun is tilted by θ. θ This shows the geometric relationships of the coordinate system.
[0049] The film thickness distribution function in the pattern width direction shown by equation (7): P θ (x θ The film thickness distribution pattern at each standard value (hereinafter referred to as "standard conditions") of the aforementioned painting conditions (distance of the paint gun tip relative to the surface to be painted, inclination angle of the paint gun tip relative to the surface to be painted, and movement speed of the paint gun) is defined as the reference film thickness distribution function: P0(x), and this reference film thickness distribution function is expressed as follows: α(v) representing the effect of the movement speed of the paint gun shown in equation (8), β(l) representing the effect of the distance of the paint gun tip relative to the surface to be painted shown in equation (9), γ(l) representing the pattern width expansion rate due to the distance of the paint gun tip relative to the surface to be painted shown in equation (10), and T(x) representing the effect of the vertical inclination angle of the paint gun shown in equation (11).
[0050] Furthermore, each function can be represented as a linear function using multiple model parameters (a to f above) that respond to changes in painting conditions. For this reason, as shown in Figure 7, the painting work management device maintains a condition management table 700 that shows model parameter values corresponding to these combinations of paint and paint gun conditions, and selects a model parameter set according to the paint and paint gun conditions during painting.
[0051] Furthermore, the aforementioned reference film thickness distribution function may be determined by actually measuring the film thickness distribution in the pattern width direction when painting is performed under the above standard conditions using a film thickness gauge and deriving an approximate formula from the measured results, or it may be calculated from a simulation of the paint film thickness under the above standard conditions.
[0052] Furthermore, the painting condition analysis unit 133 of the painting work management unit identifies the state of the paint gun operation and the state of the film thickness distribution, based on the distance of the paint gun tip to the surface to be painted, the inclination angle of the paint gun tip to the surface to be painted, the movement speed of the paint gun, the horizontality of the paint gun trajectory, and the spacing of the paint gun trajectory at any given time during painting, as calculated by the paint gun operation calculation unit 131, and the film thickness distribution data formed on the painted surface of the object to be painted, as well as the state of the film thickness distribution.
[0053] Therefore, as shown in Figure 7, the painting work management device maintains a condition management table 700 that shows the appropriate ranges for paint gun operation (distance of the paint gun tip to the surface to be painted at any given time during painting, the inclination angle of the paint gun tip to the surface to be painted, the movement speed of the paint gun, the horizontality of the paint gun trajectory, and the spacing of the paint gun trajectory) and the appropriate range of paint film thickness, according to the paint and paint gun conditions. Based on these appropriate ranges, the device determines whether the identified paint gun operation state and the film thickness distribution state are within the appropriate ranges. Note that each of the above appropriate ranges is determined by conducting painting tests in advance and finding the range in which there are no painting defects (e.g., drips or streaks) for each paint and paint gun condition.
[0054] As shown in Figure 7, the condition management table 700 has the following fields: ID number 701, paint type 702, paint gun model 703, paint pattern width 704, paint supply flow rate 705, air pressure 706, model parameter set 707, and appropriate value range set 708.
[0055] ID number 701 stores sequential numbers starting from 1 to identify each paint and paint gun condition. Paint type 702 stores information about the paint product name. Paint gun model 703 stores the model name of paint gun 100. Paint pattern width 704 stores the paint pattern width in units of "mm". Paint supply flow rate 705 stores the flow rate of paint supplied to the paint gun in units of "cc / min". Air pressure 706 stores the value of the air pressure in units of "MPa". Model parameter set 707 stores the values of the parameter models a to f separated by commas. The appropriate value range set 708 stores the appropriate range (lower limit, upper limit) values for each of the following in the order of (1) to (6): (1) distance of the paint gun from the surface to be painted (mm), (2) inclination angle of the paint gun from the surface to be painted (°), (3) travel speed of the paint gun (mm / s), (4) horizontality of the paint trajectory (°), (5) spacing of the paint trajectory (mm), and (6) paint film thickness (μm), separated by commas, and a "-" is inserted between the lower limit and upper limit of each appropriate range.
[0056] The painting status / work instruction unit 134 of the painting work management unit outputs the paint gun operation and film thickness distribution status (within the appropriate range, outside the appropriate range), determined by the painting status analysis unit 133, to a wearable terminal such as smart glasses that can be worn by the worker, providing instruction during the painting work. The instruction method may be to display text on the terminal screen, but to make it easier for the worker to recognize during painting, it is also effective to emit an alert sound when outside the applicable range, or to display an indicator such as a lamp on the terminal screen and change the color of the display when it is within the applicable range or outside the applicable range (for example, green when within the applicable range, and red when outside the applicable range).
[0057] At the same time, the painting status / work instruction unit 134 of the painting work management unit sequentially converts the film thickness distribution result in the pattern width direction at the in-coordinate (x',y') of the painted surface in the direction of the paint gun tip vector, calculated by the film thickness calculation unit 132, into a two-dimensional or three-dimensional film thickness distribution image, and outputs it to a wearable terminal for display.
[0058] The film thickness distribution image (two-dimensional distribution image) will be explained below using Figure 8. In the film thickness distribution image, the horizontal direction corresponds to the X-axis (painting line direction) of the painting area 800 on the surface to be painted, and the vertical direction corresponds to the Y-axis (pattern width direction) of the painting area 800. The spatial resolution of the image (dimension per pixel) is obtained by dividing the painting area range of the surface to be painted (width: W (mm), height: H (mm)) by the number of pixels (n, m) on each axis of the film thickness distribution image (vertical direction: W / n (mm), horizontal direction: H / m (mm)).
[0059] Furthermore, the film thickness distribution image is displayed by converting the film thickness distribution 600 in the pattern width direction at the in-coordinate (x',y') of the painted surface in the direction of the paint gun tip direction vector, calculated by the film thickness calculation unit 132, into the grayscale value of each pixel, and assigning the grayscale value to either intensity (grayscale) or hue, centering on the pixel 801 corresponding to (x',y'), to display the image. If an overlap occurs in the painted pattern due to a subsequent painting line, the sum of the film thickness values of the overlapping areas in each painting line is calculated for the pixels in the overlapping area, and the pixel value is updated to reflect the calculation result.
[0060] Furthermore, after painting is complete, an image of the film thickness distribution across the entire painted area is displayed, along with information on areas requiring painting correction and the details of those corrections. Below, the method for identifying areas requiring painting correction, and the method for displaying those areas and their correction details, will be explained using Figures 9A and 9B.
[0061] In identifying areas requiring paint correction, a histogram is created for each pixel value in the film thickness distribution image. In the created histogram, the median value of the film thickness range with the highest frequency within the appropriate range is defined as the representative film thickness value 900. Film thickness ranges exceeding the allowable range 901 for film thickness relative to the representative film thickness value, or film thickness ranges outside the appropriate range maintained by the device, are identified as film thickness ranges 902 requiring correction. Furthermore, the positional information within the paint area coordinates 903 of the pixels corresponding to the film thickness ranges 902 requiring correction, along with the correction details, are displayed on a wearable terminal or monitor screen. For painted areas 904 where the film thickness is less than the representative film thickness value 900, an instruction is given to repaint (add paint film), and for painted areas 905 where the film thickness is greater than the representative film thickness value 900, an instruction is given to perform repairs such as polishing after the paint dries (reduction of paint film).
[0062] Next, the process flow when implementing the present invention will be explained using Figure 10.
[0063] First, as a preliminary step before painting, the painter inputs information such as the vehicle type to be painted, paint and paint gun conditions, and film thickness distribution image display conditions (painting area dimensions, number of pixels) into the input screen (not shown) output to the display device of the painting work management device 10 (process S100).
[0064] Next, the painting work management device searches the condition management table 700 held by the device and selects a model parameter set that matches the paint and paint gun condition information entered in process S100, as well as appropriate range values for paint gun operation and paint film thickness distribution (process S101).
[0065] When painting work begins, the painting work management device uses the position detection sensor 121 of the measurement unit 120 to detect optical signals from each marker on the paint gun at each moment during painting (process S102).
[0066] Furthermore, the marker analysis unit 122 of the measurement unit 120 calculates the three-dimensional position coordinates (x, y, z) of the tip of the paint gun in the painting workspace and the direction vector (a, b, c) of the tip of the paint gun based on the optical signals from each detected marker (processing S103).
[0067] In addition, the painting work management device detects the paint supply flow rate (not shown) of the paint supply machine 101 (process S104).
[0068] Next, the painting work management device, using the paint gun operation calculation unit 131 of the painting work management unit 130, calculates the distance of the paint gun tip to the surface to be painted: l, the inclination angle of the paint gun tip to the surface to be painted (horizontal angle: φ, vertical angle: θ), the movement speed of the paint gun tip: v, as well as the horizontality of the paint gun trajectory and the interval of the paint gun trajectory, from the (x,y,z) and (a,b,c) calculated in process S103 and the normal vector (α,β,γ) of the coordinates of the surface to be painted in the direction of the paint gun tip direction vector (a,b,c) (process S105).
[0069] Next, the film thickness calculation unit 132 of the painting work management unit 130 calculates the film thickness distribution in the pattern width direction formed around the in-coordinate (x',y') on the painted surface in the direction of the paint gun tip vector by substituting the model parameter set selected in process S101 and the values of the distance of the paint gun to the painted surface, the movement speed of the paint gun, and the tilt angle of the paint gun relative to the painted surface, calculated in process S105, into equation (7) of the film thickness distribution pattern model held by the painting work management device. The painting status / work teaching unit 134 of the painting work management unit 130 then displays the film thickness distribution image based on the film thickness distribution image display conditions (painting area dimensions, number of pixels) entered in process S100 (process S106).
[0070] In parallel with the processing in S106, the painting condition analysis unit 133 of the painting work management unit 130 compares the painting gun operation, which is calculated in S105 and relates to the distance of the paint gun tip to the surface to be painted, the inclination angle of the paint gun tip to the surface to be painted, the movement speed of the paint gun tip, the horizontality of the paint gun trajectory, and the spacing of the paint gun trajectory, with the appropriate range value of the painting gun operation selected in S102, and determines whether the value of the painting gun operation calculated in S105 is within the appropriate range (processing S107).
[0071] In parallel with the processing in S107, the painting condition analysis unit 133 of the painting work management unit 130 compares the film thickness distribution value calculated in S106 with the appropriate range value of the film thickness distribution selected in S102, and determines whether the film thickness distribution value calculated in S106 is within the appropriate range (processing S108).
[0072] Based on the results of the paint gun operation state analysis performed in process S107 and the results of the film thickness distribution state analysis performed in process S108, the painting state / work instruction unit 134 of the painting work management unit 130 issues a warning to the worker by outputting and displaying on the wearable terminal screen or by sounding an alert if the paint gun operation or film thickness distribution state is outside the appropriate range selected in process S101 (process S109).
[0073] The series of processes S102 to S109 are repeated until the painting work is completed, and after the painting work is completed, the process moves on to S111 (process S110).
[0074] The painting condition analysis unit 133 of the painting work management unit 130 creates a histogram of each pixel value in the film thickness distribution image of the entire painting area range obtained by processing S106, and identifies the location of the painting correction area and the content of the painting correction by analyzing the histogram (processing S111).
[0075] Next, the painting status / work instruction unit 134 of the painting work management unit 130 displays the location information and details of the corrections identified in process S111 on the screen of a wearable terminal or monitor device (process S112).
[0076] Through the above series of processes, it is possible to improve painting quality by making the paint film thickness uniform in manual painting by workers, and to ensure protection and aesthetics by securing an appropriate film thickness value. Furthermore, it is possible to reduce the use of waste paint, which can contribute to reducing painting costs and the emission of volatile organic compounds that are harmful to the environment. In this embodiment, an example of applying the painting work management device according to the present invention to manual painting has been shown, but it goes without saying that the present invention is not limited to manual painting and can also be applied to robotic painting.
[0077] The program of the present invention causes an information processing device to execute the painting work management method shown in Figure 10. That is, it is a program for causing a computer to execute a painting work management method for managing painting work, which involves spraying paint onto an object to be painted using a paint gun, and the program is for causing a computer to execute the following steps: 1) Determine the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the object to be painted with respect to the painted surface, and the movement speed of the paint gun, based on the position and orientation of the paint gun with respect to the painted surface of the object to be painted, measured by a measurement unit; and 2) Calculate the film thickness distribution formed on the painted surface of the object to be painted based on the information regarding the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the object to be painted with respect to the painted surface, and the movement speed of the paint gun, and information regarding a model equation representing a film thickness distribution pattern according to painting conditions. Furthermore, the program is for performing the following steps: determining whether the state of the paint gun operation is within an appropriate range based on at least one of the following: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the paint gun's trajectory, and the spacing of the paint gun's trajectory; and / or determining whether the state of the film thickness distribution is within an appropriate range based on the film thickness distribution formed on the painted surface of the object to be painted; and informing the worker performing the painting work of the result of the determination. The program is stored in the memory of the computer, and the painting work management method is executed by reading the program and executing it in a processing unit such as the CPU. The computer may be configured on the cloud.
[0078] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are included. For example, the embodiments described above are explained in detail to make the present invention easier to understand, and are not necessarily limited to those having all the configurations described. [Explanation of Symbols]
[0079] 10 Painting work management device 20 Railway Vehicles 100 Paint Gun 101 Paint supply machine 102 Marker 103 Painted surface 104 Paint Patterns 105 Paint gun tip 120 Measurement Units 121 Position detection sensor 122 Marker Analysis Department 130 Painting Work Management Unit 131 Paint gun operation calculation unit 132 Film Thickness Calculation Unit 133 Paint Condition Analysis Section 134 Painting Condition / Work Instruction Section 200 Three-dimensional position coordinate data sequence of the tip of the paint gun 300 Paint Patterns (Rectangular Patterns) 301 Painting Pattern (Oval Pattern) 302 Painting Pattern (Circular Pattern) 401 Trajectory of the paint gun tip 402 Data sequence of coordinates within the painted surface in the direction of the paint gun tip direction vector 403 Fitting straight line in the painting line 403′ Fitting straight line in the pre-painting line 404 Horizontalness of the paint gun trajectory (ψ) 405 Spacing between paint gun tracks (coating interval) 600 Pattern width direction film thickness distribution 601 Painted surface when the paint gun is not tilted 602 Painted surface when the paint gun is tilted at θ 700 Condition Management Table 800 Painting area range on the surface to be painted 801 Pixels corresponding to the paint gun tip position in the film thickness distribution image 900 Representative film thickness value in paint film thickness distribution 901 Tolerance range of film thickness relative to representative film thickness value 902 Film thickness range requiring correction 903 Painting area coordinates 904 Areas to be repainted (adding a new coat of paint) 905 Polishing area (removal of paint film)
Claims
1. A painting work management device that manages painting work, which involves spraying paint onto an object to be painted using a paint gun, A measuring unit for measuring the position and orientation of the paint gun relative to the painted surface of the object to be painted, The system includes a painting work management unit that calculates the film thickness distribution formed on the painted surface of the object to be painted, The aforementioned painting work management unit is: From the position and orientation of the paint gun relative to the painted surface of the object to be painted, the distance of the paint gun relative to the painted surface of the object to be painted, the angle of inclination of the paint gun relative to the painted surface of the object to be painted, and the movement speed of the paint gun are determined. Based on the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the object to be painted with respect to the painted surface, the movement speed of the paint gun, and information from a model equation representing the film thickness distribution pattern according to the painting conditions, the film thickness distribution formed on the painted surface of the object to be painted is calculated. The painting operation management unit maintains information regarding the appropriate range for at least one of the following, indicating the operating status of the paint gun: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the paint gun trajectory, the spacing of the paint gun trajectory, and / or information regarding the appropriate range of the film thickness distribution. Based on at least one of the following: the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the paint gun from the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the paint gun's trajectory, and the spacing of the paint gun's trajectory, it is determined whether the state of the paint gun operation is within the appropriate range, and / or, based on the film thickness distribution formed on the painted surface of the object to be painted, it is determined whether the state of the film thickness distribution is within the appropriate range, and the result of the determination is communicated to the worker during the painting work. A painting work management device that determines whether the horizontality of the trajectory of the paint gun is within the appropriate range by fitting a straight line to a sequence of in-surface coordinate data in the direction of the paint gun tip direction vector in each painting line, and using the angle that the straight line makes with the vertical direction of the pattern width as a basis for determination.
2. A painting work management device for managing painting work, which involves spraying paint onto an object to be painted using a paint gun, A measuring unit for measuring the position and orientation of the paint gun relative to the painted surface of the object to be painted, The system includes a painting work management unit that calculates the film thickness distribution formed on the painted surface of the object to be painted, The aforementioned painting work management unit is: From the position and orientation of the paint gun relative to the painted surface of the object to be painted, the distance of the paint gun relative to the painted surface of the object to be painted, the angle of inclination of the paint gun relative to the painted surface of the object to be painted, and the movement speed of the paint gun are determined. Based on the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the object to be painted with respect to the painted surface, the movement speed of the paint gun, and information from a model equation representing the film thickness distribution pattern according to the painting conditions, the film thickness distribution formed on the painted surface of the object to be painted is calculated. The painting operation management unit maintains information regarding the appropriate range for at least one of the following, indicating the operating status of the paint gun: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the paint gun trajectory, the spacing of the paint gun trajectory, and / or information regarding the appropriate range of the film thickness distribution. Based on at least one of the following: the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the paint gun from the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the paint gun's trajectory, and the spacing of the paint gun's trajectory, it is determined whether the state of the paint gun operation is within the appropriate range, and / or, based on the film thickness distribution formed on the painted surface of the object to be painted, it is determined whether the state of the film thickness distribution is within the appropriate range, and the result of the determination is communicated to the worker during the painting work. A painting work management device that determines whether the spacing of the trajectories of the paint gun is within the appropriate range by fitting a straight line to the data sequence of in-plane coordinates in the direction of the paint gun tip direction vector in the painting line immediately preceding the painting line, and determining based on the difference between the Y coordinate obtained by substituting the in-plane X coordinate in the direction of the paint gun tip direction vector in the painting line and the in-plane Y coordinate in the direction of the paint gun tip direction vector of the painting line.
3. In the painting work management device according to either Claim 1 or Claim 2, The painting conditions are a combination of at least one of the following: the distance of the paint gun from the surface of the object to be painted, the inclination angle of the paint gun from the surface of the object to be painted, and the travel speed of the paint gun. The aforementioned model equation is a painting work management device having parameters that express the change in the film thickness distribution pattern due to a change in the painting conditions, with respect to a reference film thickness distribution pattern under recommended standard conditions.
4. In the painting work management device according to either Claim 1 or Claim 2, The aforementioned parameters are values corresponding to at least one combination of the type of paint, the model of the paint gun, the width of the paint pattern, the paint supply flow rate, and the air pressure or air flow rate applied by the paint gun to the paint, in a painting work management device.
5. In the painting work management device according to either Claim 1 or Claim 2, The painting operation management unit maintains information regarding the appropriate range for at least one of the following, indicating the operating status of the paint gun: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the paint gun trajectory, the spacing of the paint gun trajectory, and / or information regarding the appropriate range of the film thickness distribution. A painting work management device that determines whether the state of operation of the paint gun is within the appropriate range based on at least one of the following: the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the paint gun from the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the trajectory of the paint gun, and the spacing of the trajectory of the paint gun, and / or whether the state of the film thickness distribution formed on the painted surface of the object to be painted is within the appropriate range, and informs the worker performing the painting work of the result of the determination.
6. In the painting work management device according to Claim 5, As a means of providing instructions to workers during painting work, the system includes a wearable terminal worn by the workers performing the painting work. The painting work management unit outputs to the wearable terminal information regarding whether the operation status of the paint gun is within the appropriate range, or whether the film thickness distribution is within the appropriate range, or information regarding the state of the film thickness distribution formed on the painted surface of the object to be painted after the painting work is completed. The wearable terminal is a painting work management device that displays at least one of the following: information on whether the input state of the paint gun operation is within the appropriate range; information on whether the state of the film thickness distribution is within the appropriate range; location information of the paint correction location on the painted surface of the object to be painted after the painting work is completed; and information on the correction content at the correction location.
7. A painting work management method for managing painting work, which involves spraying paint onto an object to be painted using a paint gun, The measurement unit measures the position and orientation of the paint gun relative to the painted surface of the object to be painted, The painting work management unit determines, from the position and orientation of the paint gun relative to the painting surface of the object to be painted, the distance of the paint gun from the painting surface of the object to be painted, the inclination angle of the object to be painted relative to the painting surface, and the movement speed of the paint gun, The painting work management unit calculates the film thickness distribution formed on the painted surface of the object to be painted based on information regarding the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the object to be painted with respect to the painted surface, and the movement speed of the paint gun, as well as information regarding a model equation representing a film thickness distribution pattern according to the painting conditions. It has, The aforementioned painting work management unit, The system maintains information regarding the appropriate range for at least one of the following, indicating the operating state of the paint gun: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the paint gun's trajectory, the spacing of the paint gun's trajectory, and / or information regarding the appropriate range of the film thickness distribution. A step of determining whether the state of operation of the paint gun is within the appropriate range based on at least one of the following: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the trajectory of the paint gun, and the spacing of the trajectory of the paint gun, and / or whether the state of the film thickness distribution formed on the painted surface of the object to be painted is within the appropriate range. The process includes a step of informing the worker performing the painting work of the result of the aforementioned determination. A painting work management method for determining whether the horizontality of the trajectory of the paint gun is within the appropriate range involves fitting a straight line to a sequence of in-surface coordinate data in the direction of the paint gun tip direction vector in each painting line, and using the angle that the straight line makes with the vertical direction of the pattern width as the determination criterion.
8. A painting work management method for managing painting work, which involves spraying paint onto an object to be painted using a paint gun, The measurement unit measures the position and orientation of the paint gun relative to the painted surface of the object to be painted, The painting work management unit determines, from the position and orientation of the paint gun relative to the painting surface of the object to be painted, the distance of the paint gun from the painting surface of the object to be painted, the inclination angle of the object to be painted relative to the painting surface, and the movement speed of the paint gun, The painting work management unit calculates the film thickness distribution formed on the painted surface of the object to be painted based on information regarding the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the object to be painted with respect to the painted surface, and the movement speed of the paint gun, as well as information regarding a model equation representing a film thickness distribution pattern according to the painting conditions. It has, The aforementioned painting work management unit, The system maintains information regarding the appropriate range for at least one of the following, indicating the operating state of the paint gun: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the paint gun's trajectory, the spacing of the paint gun's trajectory, and / or information regarding the appropriate range of the film thickness distribution. A step of determining whether the state of operation of the paint gun is within the appropriate range based on at least one of the following: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the trajectory of the paint gun, and the spacing of the trajectory of the paint gun, and / or whether the state of the film thickness distribution formed on the painted surface of the object to be painted is within the appropriate range. The process includes a step of informing the worker performing the painting work of the result of the aforementioned determination. A painting work management method for determining whether the spacing of the paint gun's trajectory is within the appropriate range involves fitting a straight line to the data sequence of in-plane coordinates in the direction of the paint gun tip direction vector in the painting line immediately preceding the painting line, substituting the in-plane X coordinate in the direction of the paint gun tip direction vector in the painting line into the equation of the straight line, and using the difference between the Y coordinate obtained and the in-plane Y coordinate in the direction of the paint gun tip direction vector in the painting line as the determination criterion.
9. In the painting work management method according to either Claim 7 or Claim 8, The painting conditions are a combination of at least one of the following: the distance of the object to be painted from the painting surface, the inclination angle of the paint gun with respect to the painting surface of the object to be painted, and the travel speed of the paint gun. The aforementioned model formula is a painting work management method having parameters that express the change in the film thickness distribution pattern due to a change in the painting conditions, with respect to a reference film thickness distribution pattern under recommended standard conditions.
10. In the painting work management method described in claim 9, The aforementioned parameters are values corresponding to at least one combination of the type of paint, the model of the paint gun, the width of the paint pattern, the supply flow rate of the paint, and the air pressure or air flow rate applied by the paint gun to the paint, in a painting work management method.
11. In the painting work management method according to claim 10, The painting work management unit reads at least one piece of information, including the type of paint, the model of the paint gun, the width of the paint pattern, the paint supply flow rate, and the air pressure or air flow rate applied by the paint gun to the paint. The steps include selecting the parameter values corresponding to these combinations, A painting work management method having
12. In the painting work management method according to either Claim 7 or Claim 8, A painting work management method comprising the steps of displaying a film thickness distribution image showing the state of the film thickness distribution formed on the painted surface of the object to be painted after the completion of the painting work, and in the histogram of each pixel value of the film thickness distribution image, the median value of the film thickness range with the highest frequency while the film thickness range is within the appropriate range is set as the representative film thickness value, and painting locations that exceed a certain range from the representative film thickness value, or painting locations where the film thickness value is outside the appropriate range, are identified as painting correction locations.
13. A program for causing a computer to execute a painting work management method for managing painting work, which involves spraying paint onto an object to be painted using a paint gun, The measurement unit measures the position and orientation of the paint gun relative to the painted surface of the object to be painted, and determines the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the painted surface of the object to be painted, and the movement speed of the paint gun. A step of calculating the film thickness distribution formed on the painted surface of the object to be painted, based on information regarding the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the object to be painted with respect to the painted surface, the movement speed of the paint gun, and information regarding a model equation representing the film thickness distribution pattern according to the painting conditions. A step of storing information on the appropriate range for at least one of the following, indicating the operating state of the paint gun: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the paint gun's trajectory, the spacing of the paint gun's trajectory, and / or information on the appropriate range of the film thickness distribution. A step of determining whether the state of operation of the paint gun is within the appropriate range based on at least one of the following: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the trajectory of the paint gun, and the spacing of the trajectory of the paint gun, and / or whether the state of the film thickness distribution formed on the painted surface of the object to be painted is within the appropriate range. The process includes a step of informing the worker performing the painting work of the result of the aforementioned determination. A program that, in order to determine whether the horizontality of the trajectory of the paint gun is within the appropriate range, fits a straight line to the in-surface coordinate data sequence of the direction of the paint gun tip direction vector in each painting line, and executes a step that uses the angle that the straight line makes with the vertical direction of the pattern width as the determination criterion.
14. A program for causing a computer to execute a painting work management method that manages painting work, which involves spraying paint onto an object to be painted using a paint gun, The measurement unit measures the position and orientation of the paint gun relative to the painted surface of the object to be painted, and determines the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the painted surface of the object to be painted, and the movement speed of the paint gun. A step of calculating the film thickness distribution formed on the painted surface of the object to be painted, based on information regarding the distance of the paint gun from the painted surface of the object to be painted, the inclination angle of the object to be painted with respect to the painted surface, the movement speed of the paint gun, and information regarding a model equation representing the film thickness distribution pattern according to the painting conditions. The system maintains information regarding the appropriate range for at least one of the following, indicating the operating state of the paint gun: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the paint gun's trajectory, the spacing of the paint gun's trajectory, and / or information regarding the appropriate range of the film thickness distribution. A step of determining whether the state of operation of the paint gun is within the appropriate range based on at least one of the following: the distance of the paint gun to the painted surface of the object to be painted, the inclination angle of the paint gun to the painted surface of the object to be painted, the movement speed of the paint gun, the horizontality of the trajectory of the paint gun, and the spacing of the trajectory of the paint gun, and / or whether the state of the film thickness distribution formed on the painted surface of the object to be painted is within the appropriate range. The process includes a step of informing the worker performing the painting work of the result of the aforementioned determination. A program that performs the following steps to determine whether the spacing of the paint gun's trajectory is within the appropriate range: it fits a straight line to the data sequence of in-plane coordinates in the direction of the paint gun tip direction vector in the painting line immediately preceding the painting line, and uses the difference between the Y coordinate obtained by substituting the in-plane X coordinate in the direction of the paint gun tip direction vector in the painting line into the equation of the straight line and the in-plane Y coordinate in the direction of the paint gun tip direction vector of the painting line as the determination criterion.