Coating operation evaluation system and coating operation evaluation method

Abstract

A coating operation evaluation system according to the present invention comprises a spray gun, a tracking sensor, and a computer that evaluates a coating operation using the spray gun. The computer has: a first calculation unit that uses spray gun position information acquired by the tracking sensor disposed on a coating target, so as to obtain coating target information; a second calculation unit that uses the coating target information and a spray gun position history which is based on the spray gun position information acquired over time by the tracking sensor positioned away from the coating target, so as to obtain coating operation evaluation information; and a third calculation unit that uses evaluation criterion information and the coating operation evaluation information, so as to obtain evaluation result information indicating the result of evaluation of the coating operation.

Description

Painting operation evaluation system and method for evaluating painting operation

[0001] The present disclosure relates to a painting operation evaluation system and a method for evaluating a painting operation.

[0002] An operator sprays paint onto an object by a painting operation using a spray gun. The quality of the paint film obtained by the painting operation depends on the proficiency regarding the painting technique of the operator. For example, Patent Document 1 discloses a painting simulation device intended to efficiently improve the painting technique.

[0003] Japanese Patent No. 7184614

[0004] A plurality of factors related to the painting operation using a spray gun affect the quality of the paint film. If the factors to be improved after the painting operation are clarified, it is possible to enhance the proficiency of the painting operation in a short period. However, in order to clarify the factors to be improved, it is desirable to quantitatively represent these factors regarding the painting operation. Furthermore, it is also necessary to clarify the factors to be improved and to show them to the operator in an easy-to-understand manner.

[0005] The present disclosure describes a painting operation evaluation system and a method for evaluating a painting operation that contribute to efficiently enhancing the proficiency of an operator.

[0006] A painting operation evaluation system, one embodiment of the present disclosure, comprises a work machine for spraying material onto an object to be painted, an information acquisition unit that acquires at least position information indicating the position of the work machine defined by a three-dimensional coordinate system, and an operation evaluation unit that evaluates painting operations using the work machine based on the position information. The operation evaluation unit includes a first calculation unit that uses a plurality of position pieces acquired by the information acquisition unit located on the object to be painted to obtain painting object information including information defining a painting area to be set on the object to be painted, defined by a three-dimensional coordinate system; a second calculation unit that uses history information based on a plurality of position pieces acquired by an information acquisition unit located away from the object to be painted and configured to follow the movement of the work machine accompanying the spraying operation of the material, and painting object information to obtain painting operation evaluation information for evaluating painting operations using the work machine; and a third calculation unit that uses evaluation criterion information corresponding to the painting operation evaluation information and the painting operation evaluation information to obtain evaluation result information indicating the result of evaluating the painting operation.

[0007] This system uses an information acquisition unit to acquire location information, at least indicating the location of the information acquisition unit. Then, a third calculation unit uses evaluation criteria information and painting operation evaluation information to display the results of the painting operation evaluation. As a result, the worker can objectively review the painting operation using the evaluation criteria information and painting operation evaluation information, making it possible to efficiently improve the worker's skill level.

[0008] The information acquisition unit of the painting operation evaluation system described above has an operation unit for acquiring position information or for adding supplementary information to position information. The first calculation unit may use multiple position pieces acquired in response to operations on the operation unit when the information acquisition unit is placed on the object to be painted to obtain painting object information, including information defining the painting area set on the object to be painted. With this configuration, information indicating the painting area is acquired using the information acquisition unit. In other words, there is no need to prepare special equipment such as a three-dimensional scanner to acquire information indicating the painting area. Therefore, the evaluation of painting operations can be easily performed.

[0009] The second calculation unit of the painting motion evaluation system described above may acquire multiple line segments defined within the painting area obtained from multiple acquired history information as multiple painting trajectories. This configuration makes it possible to evaluate the movement of work machines commonly used during painting.

[0010] The second calculation unit of the painting motion evaluation system described above may acquire painting motion evaluation information for each of the multiple painting trajectories, and the third calculation unit may obtain evaluation result information using the multiple painting motion evaluation information acquired for each of the multiple painting trajectories. With this configuration, information that contributes to efficiently improving the skill level of the worker can be obtained.

[0011] The second calculation unit of the painting operation evaluation system described above may acquire the position where the spray direction line, which indicates the direction of the material sprayed from the work machine onto the object to be painted, switches from a state where it does not overlap the painting area to a state where it overlaps the painting area as the painting start point, acquire the position where the spray direction line switches from a state where it overlaps the painting area to a state where it does not overlap the painting area as the painting end point, and acquire the line segment connecting the painting start point and the painting end point as a single painting trajectory. With this configuration, the painting trajectory can be obtained by calculation.

[0012] The second calculation unit of the above painting operation evaluation system may use historical information acquired over time to define the points where the spray direction line, which indicates the direction of the material sprayed from the work machine onto the object to be painted, intersects the painting area as painting points, acquire the speed at which the painting points move across the painting area, and acquire the painting trajectory based on the change in the direction of the speed. Even with this configuration, the painting trajectory can be obtained by calculation.

[0013] The painting operation evaluation system described above may further include a display unit that displays painting operation evaluation information and evaluation result information. With this configuration, the painting operation evaluation information and evaluation result information can be displayed in a manner that is easy for the operator to understand.

[0014] The third calculation unit of the painting operation evaluation system described above may include the object to be painted and the work machine placed in a virtual space, and may display a trajectory display screen on the display unit that shows the movement trajectory of the work machine and the painting trajectory on the object to be painted in a way that can be visually observed over time. With this configuration, the movement of the work machine can be displayed in a manner that is easy for the operator to understand.

[0015] The trajectory display screen of the painting operation evaluation system described above may allow the viewpoint in the virtual space to be changed. This configuration also allows the movement of the work machine to be displayed in a way that is easy for the operator to understand.

[0016] The display unit of the painting operation evaluation system described above may be configured to display evaluation information based on the difference between the painting operation evaluation information and the evaluation criteria information. This configuration makes it possible to obtain information that contributes to efficiently improving the skill level of the workers.

[0017] The painting operation evaluation unit of the painting operation evaluation system described above may further include an input unit that receives evaluation criteria information from external devices connected via wired or wireless connection, and the third calculation unit may evaluate the painting operation using the evaluation criteria information received from the input unit. With this configuration, information that contributes to efficiently improving the skill level of the workers can be obtained.

[0018] The information acquisition unit of the painting operation evaluation system described above is detachably attached to the work machine via a mounting unit, and the mounting unit may be mounted in a position that does not interfere with the operation of the adjustment mechanism provided by the work machine. With this configuration, the difference in operating feel between when the information acquisition unit is attached to the work machine and when it is not can be reduced.

[0019] The history information may include position history information showing the change in the position of the work machine over time, and posture history information showing the change in the posture of the work machine over time. This configuration allows for obtaining information that contributes to efficiently improving the skill level of the workers.

[0020] Another form of the present disclosure is a method for evaluating painting operations using a work machine that sprays a material onto an object to be painted. The method for evaluating painting operations includes the steps of: preparing an object to be painted; obtaining object information including information defining a painting area to be set on the object to be painted, defined by a three-dimensional coordinate system, using position information obtained by an information acquisition unit that acquires at least position information indicating the position of a work machine defined by a three-dimensional coordinate system placed on the object to be painted; obtaining history information based on a plurality of position information obtained by an information acquisition unit attached to a work machine located away from the object to be painted; obtaining painting operation evaluation information for evaluating painting operations using the work machine, using the history information and the object information; and obtaining evaluation result information showing the results of the painting operation evaluation, using evaluation criteria information and painting operation evaluation information corresponding to the painting operation evaluation information.

[0021] This method allows workers to objectively review their painting actions using evaluation criteria information and painting action evaluation information. Therefore, it becomes possible to efficiently improve the skill level of the workers.

[0022] In the method for evaluating the painting operation described above, the step of acquiring historical information may involve repeatedly performing the following actions as the painting operation: moving the work machine to which the information acquisition unit is attached in a first direction that intersects vertically, and moving the work machine to which the information acquisition unit is attached in a second direction that intersects vertically and is opposite to the first direction. This step makes it possible to evaluate the movement of work machines commonly used during painting.

[0023] In the method for evaluating the painting operation described above, the step of acquiring historical information may involve spraying material from the work machine onto the object to be painted as the painting operation. This step allows for evaluation of the operation when paint is actually being sprayed.

[0024] In the method for evaluating the painting operation described above, the step of acquiring historical information may involve operating the work machine without actually spraying material onto the object to be painted. This step allows for the evaluation of operations even when paint is not actually being sprayed.

[0025] The painting operation evaluation system and method for evaluating painting operations described herein contribute to efficiently improving the skill level of workers.

[0026] Figure 1 is an example of the group of devices constituting the painting operation evaluation system, which is an embodiment of the system. Figure 2 is a functional block diagram of the painting operation evaluation system shown in Figure 1. Figure 3(a) is a perspective view illustrating the left-right angle. Figure 3(b) is a perspective view illustrating the up-down angle. Figure 3(c) is a perspective view illustrating the left-right tilt angle. Figure 4 is a diagram showing the parameters used to evaluate painting operation. Figure 5 is a diagram showing other parameters used to evaluate painting operation. Figure 6 is a graph illustrating the speed history of a spray gun. Figure 7 is a perspective view illustrating the parameters used to evaluate painting operation. Figure 8 is a flowchart illustrating a method for evaluating painting operation. Figure 9 is a perspective view showing a calibration step. Figure 10 is a perspective view showing the previous pass painting operation. Figure 11 is a perspective view showing the next pass painting operation. Figure 12 is a diagram illustrating the information displayed on the display. Figure 13(a) is an example of the display when the Home tab is selected. Figure 13(b) is an example of the display when the Speed ​​tab is selected. Figure 14(a) is an example of the display when the Distance tab is selected. Figure 14(b) shows an example of the display when the posture tab is selected. Figure 15(a) shows an example of the display when the overpainting tab is selected. Figure 15(b) shows an example of the display when the history tab is selected. Figure 16 is a functional block diagram of a modified painting operation evaluation system.

[0027] The painting operation evaluation system and method for evaluating painting operation described herein will be explained in detail below with reference to the attached drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant explanations are omitted.

[0028] As shown in Figure 1, the painting operation evaluation system 1 quantitatively evaluates the worker's actions related to painting. The worker can refer to the score and comments, which are examples of evaluation results, displayed on the display 5. By taking these results into account when performing the next painting operation, the worker can improve their painting skills.

[0029] The painting operation evaluation system 1 does not indirectly evaluate the worker's painting actions by evaluating the paint film, which is the result of the painting operation. The painting operation evaluation system 1 directly evaluates the worker's actions related to the painting operation based on the information output from the tracking sensor 3 (information acquisition unit) attached to the spray gun 2 (working machine).

[0030] The painting operation evaluation system 1 consists of a spray gun 2, a tracking sensor 3, and a computer 4. The operator performs a painting operation using the spray gun 2 to which the tracking sensor 3 is attached. During this painting operation, the tracking sensor 3 acquires information about the state of the spray gun 2. The tracking sensor 3 then transmits the acquired information to the computer 4. The computer 4 processes the received information and displays the results of the painting operation evaluation on the display 5.

[0031] Here, the painting operation evaluation system 1 of this embodiment does not evaluate painting operations performed on intangible objects displayed in a virtual space, but rather evaluates painting operations performed on a physical object 9. Painting operations on a physical object 9 do not depend on whether or not paint 92 (material) is actually sprayed. In other words, painting operations on a physical object 9 naturally include the operation of spraying paint 92 onto the object 9, and also include the operation of moving the spray gun 2 relative to the object 9 without spraying paint 92 onto the object 9.

[0032] The painting operation evaluation system 1 will be described in detail below, with reference to the functional block diagram shown in Figure 2.

[0033] <Spray Gun> The spray gun 2 atomizes the liquid paint 92 using a high-speed airflow and sprays the atomized paint 92 onto the object to be painted 9. The spray gun 2 is equipped with a handle 21 for the operator to grasp and a trigger 22 for switching the start and stop of spraying the paint 92. It is also equipped with several adjustment mechanisms 23 and 24 for adjusting the amount of paint 92 discharged and the amount of high-pressure air. The spray gun 2 can have various variations depending on its application, but there are no special limitations as to what constitutes the painting operation evaluation system 1 of this embodiment.

[0034] <Tracking Sensor> The tracking sensor 3 acquires spray gun status information D1. The tracking sensor 3 transmits the spray gun status information D1 to the input port 41 (input unit) of the computer 4 via the transmission port 33. The connection between the transmission port 33 and the input port 41 may be wireless or wired. The tracking sensor 3 may also include a memory 34 and a processor 35.

[0035] The tracking sensor 3 is attached to the spray gun 2 via a sensor adapter 6 (mounting part). The sensor adapter 6 can be fixed to the spray gun 2 and can also be removed from the spray gun 2. For example, the sensor adapter 6 can be mounted by sliding it from behind the handle 21 between the protrusion of the spray gun and the adjustment mechanisms 23 and 24. With such a mounting position, the operation of several adjustment mechanisms 23 and 24 provided on the spray gun 2 is not obstructed. Furthermore, the tracking sensor 3 can be fixed to the sensor adapter 6 and the tracking sensor 3 can also be removed from it.

[0036] The sensor adapter 6 may be mounted on the handle 21 of the spray gun 2. The tracking sensor 3 may have a certain size and weight. Therefore, when the tracking sensor 3 is attached to the spray gun 2, the overall weight increases and the moment of inertia around the center of gravity of the spray gun 2 changes. Such changes may affect the feel of the spray gun 2 when the operator handles it. Therefore, by attaching it on the handle 21 of the spray gun 2, the effect on the moment of inertia around the center of gravity is reduced. As a result, the effect on the feel of the spray gun caused by attaching the tracking sensor 3 to the spray gun 2 can be suppressed. Thus, the difference in feel of the spray gun 2 when the tracking sensor 3 is not attached and when the tracking sensor 3 is attached can be reduced.

[0037] Here, the spray gun status information D1 and the spray gun history information D2 will be explained in detail. The spray gun status information D1 includes data indicating the status of the spray gun 2. The spray gun history information D2 is composed of multiple spray gun status information D1 acquired over time.

[0038] The state of the spray gun 2 includes the position of the spray gun 2 as defined by the reference coordinate system C1, and the orientation of the spray gun 2. Therefore, the spray gun state information D1 includes the spray gun position information D11 (working machine position information) and the spray gun orientation information D12.

[0039] The spray gun position information D11 indicates the position of the spray gun 2 at a given moment in the reference coordinate system C1. For example, the position of the spray gun 2 in the reference coordinate system C1 is defined by the spray gun representative point P2. Then, the spray gun coordinate system C2 is further defined with the spray gun representative point P2 (see Figure 7) as the origin. In this case, the spray gun position information D11 is composed of three numerical values: the X coordinate value, Y coordinate value, and Z coordinate value of the reference coordinate system C1 that indicate the position of the spray gun representative point P2.

[0040] The spray gun posture information D12 indicates the posture of the spray gun 2 at a certain moment existing in the reference coordinate system C1. The spray gun posture information D12 further includes the left - right orientation angle information D121, the up - down orientation angle information D122, and the left - right tilt angle information D123.

[0041] The left - right orientation angle information D121 is the rotation angle with the reference line ZP2 extending in the Z - axis direction passing through the spray gun representative point P2 as the rotation center (see Fig. 3(a)). The left - right orientation angle may be defined as the angle formed by the reference line XP2 extending in the normal direction of the painting area 91 and passing through the spray gun representative point P2 and the X - axis of the spray gun coordinate system C2.

[0042] The up - down orientation angle information D122 is the rotation angle with the reference line YP2 extending in the Y - axis direction passing through the spray gun representative point P2 as the rotation center (see Fig. 3(b)). The up - down orientation angle may be defined as the angle formed by the aforementioned reference line XP2 and the X - axis of the spray gun coordinate system C2.

[0043] The left - right tilt angle information D123 is the rotation angle with the reference line XP2 extending in the X - axis direction passing through the spray gun representative point P2 as the rotation center (see Fig. 3(c)). The left - right tilt angle may be defined as the angle formed by the reference line YP2 orthogonal to the reference line XP2 and the Y - axis of the spray gun coordinate system C2. [[ID=​11]]

[0044] The tracking sensor 3 has a sensor module 31 for acquiring the spray gun position information D11. The sensor module 31 can use any sensor as long as it can acquire the position information and posture information constituting the spray gun position information D11. For example, the tracking sensor 3 may be equipped with two cameras as the sensor module 31 and obtain the spray gun position information D11 based on two images captured at the same time. For example, the tracking sensor 3 may be equipped with a three - axis acceleration sensor and a three - axis angular velocity sensor as the sensor module 31 and obtain the spray gun position information D11 by integrating the output values of these. [[ID=1​4]]

[0045] The tracking sensor 3 records the coordinate values ​​and angle values ​​mentioned above, along with the time these values ​​were acquired, in the memory 34 as spray gun status information D1. The tracking sensor 3 then transmits the spray gun status information D1 to the computer 4 at a predetermined timing. The tracking sensor 3 may also transmit the spray gun status information D1 to the computer 4 each time the sensor module 31 acquires the spray gun status information D1. The tracking sensor 3 may also transmit the spray gun status information D1 to the computer 4 all at once after the painting operation is completed. In other words, the tracking sensor 3 may transmit spray gun history information D2 to the computer 4 after the painting operation is completed.

[0046] Furthermore, the tracking sensor 3 has a function to add supplementary information to the combination of time, coordinate values, and angle. This function can be activated by pressing the switch 32 (operating unit) provided on the tracking sensor 3. This function of adding supplementary information makes it possible to identify the spray gun state information D1 when the spray gun 2 is placed in a predetermined position by the operator. This function is used in the calibration step described later.

[0047] <Computer> Computer 4 has, as physical components, an input port 41, memory 42, a processor 43, and an output port 44. Furthermore, computer 4 has input devices such as a display 5 and a keyboard.

[0048] <Input Port> The input port 41 receives the spray gun state information D1 and the spray gun history information D2 transmitted from the tracking sensor 3. That is, the input port 41 constitutes a communication unit. The input port 41 stores the received spray gun state information D1 and spray gun history information D2 in the memory 42. Also, the input port 41 receives the evaluation criterion information D5 from the external device 8. The input port 41 stores the received evaluation criterion information D5 in the memory 42. Here, the external device 8 may be, for example, a computer 4 that constitutes another painting operation evaluation system 1. Also, the external device 8 may be a storage medium such as a USB memory in which the evaluation criterion information D5 is recorded.

[0049] <Memory> Next, referring to FIGS. 4 and 5, some information stored in the memory 42 will be described. In the memory 42, spray gun state information D1, spray gun history information D2, painting object information D3, painting operation evaluation information D4, evaluation criterion information D5, and evaluation result information D6 are stored.

[0050] The spray gun state information D1 is as described in the section on the tracking sensor 3, so the description here will not be repeated.

[0051] The aforementioned spray gun state information D1 indicates the state of the spray gun 2 at a certain moment during the painting operation. On the other hand, the spray gun history information D2 indicates the state of the spray gun 2 over time during the painting operation. The spray gun history information D2 includes a spray gun position history D211 (working machine position history information) and a spray gun attitude history D22 (working machine attitude history information). The spray gun attitude history D22 includes a left - right orientation angle history D221, an up - down orientation angle history D222, and a left - right tilt angle history D223.

[0052] The painting target information D3 includes one representative position coordinate D301 of the painting target and at least three painting area definition point coordinates D302. The painting target 9 is essentially stationary. Therefore, the painting target information D3 does not include a time element and includes only coordinate values ​​that define position or range. The representative position coordinate D301 of the painting target indicates the representative position of the painting target 9 based on the reference coordinate system C1. The painting area definition point coordinates D302 indicate the painting area 91 based on the reference coordinate system C1 or the painting target coordinate system C9. If the painting area definition point coordinates D302 are based on the reference coordinate system C1, the representative position coordinate D301 of the painting target may be omitted.

[0053] The painting operation evaluation information D4 includes several pieces of information for evaluating the painting operation. The information for evaluating the painting operation can be obtained using the spray gun history information D2 and the object to be painted information D3. The painting operation evaluation information D4 includes painting point coordinate data D45 and painting path data D46. In this specification, "painting path" is synonymous with "painting trajectory" as described in the claims. In the following description, "painting path" and "painting path data D46" will be used. Furthermore, the painting operation evaluation information D4 includes speed evaluation information D41, spray distance evaluation information D42, attitude evaluation information D43, and overcoat evaluation information D44.

[0054] Speed ​​evaluation information D41, spray distance evaluation information D42, attitude evaluation information D43, and overcoat evaluation information D44 include several additional data.

[0055] The speed evaluation information D41 includes the spray gun speed history D411, the speed history D412 for the nth pass, the average speed D413 for the nth pass, and the overall average speed D414. Figure 6 is an example showing this data. The horizontal axis represents time, and the vertical axis represents spray gun speed. Each of the multiple plots Q represents the spray gun speed at a certain time. Graph G6, which connects the multiple spray gun speed plots Q, represents the spray gun speed history D411.

[0056] The spray gun speed history D411 (graph G6) includes the speed histories D412 (graph elements G61, G62, G63) for the first to nth passes. As shown in Figure 6, in period T1, the speed is positive, which is assumed to be the speed moving from left to right on the page in Figure 6. In period T3, the speed is negative, which is assumed to be the speed moving from right to left on the page in Figure 6. Thus, the spray gun speed history allows us to distinguish between the movement history of the painted point P92 (see Figure 7) moving from left to right on the page in Figure 6 and the movement history of the painted point P92 moving from right to left on the page in Figure 6. The movement history of the painted point moving from left to right on the page in Figure 6 will be called the previous pass PA, and the movement history of the painted point P92 moving from right to left on the page will be called the subsequent pass PB. A spray pattern A92 can also be set around the painted point P92. Therefore, a portion of the spray gun speed history included in period T1 is the speed history D412 of the first pass. The average of several spray gun speed plots Q included in the speed history D412 of the first pass is the average speed D413 of the first pass. A portion of the spray gun speed history included in period T3 is the speed history D412 of the second pass. The average of several spray gun speed plots Q included in the speed history D412 of the second pass is the average speed D413 of the second pass. The average value from the average speed of the first pass to the average speed of the Nth pass is the overall average speed.

[0057] Note that the dashed lines L61, L62, L63, and L64 shown in Figure 6 represent the edges of the painted area 91. In other words, the area E61 between dashed lines L61 and L62, and the area E63 between dashed lines L63 and L64, are part of the painted area 91. The area E62 between dashed lines L62 and L63, and the area E64 between dashed lines L64 and L65, are outside the painted area 91. The previous pass PA and the subsequent pass PB may be defined as lines connecting the ends of the painted area 91, but as mentioned above, they may also be defined based on the spray gun speed history. According to the definition based on the spray gun speed history, the previous pass PA and the subsequent pass PB can be distinguished even when the direction of movement of the painted point P92 changes within the painted area 91.

[0058] The spray distance evaluation information D42 includes the spray distance history D421, the spray distance history D422 for the nth pass, the average spray distance D423 for the nth pass, and the overall average spray distance D424. The spray distance is the distance from a point defined on the spray gun 2 to the painted area 91. For example, a line is defined that is parallel to the X-axis of the spray gun coordinate system C2 and intersects the painted area 91. This line can be said to be the spray direction line L92 (see Figure 7) of the paint 92 discharged from the spray gun 2. The spray distance may be defined as the distance D420 from the point where the spray direction line L92 intersects the painted area 91 to the representative point P2 of the spray gun. The point set on the spray gun 2 for defining the spray distance may be set arbitrarily. The spray distance history, average spray distance, and overall average spray distance can be understood by replacing the word "speed" with "spray distance" in the explanation of the speed evaluation information D41. Therefore, these definitions will not be repeated in detail.

[0059] Posture evaluation information D43 includes the history, average value for each pass, and overall average value for each of the lateral orientation angle, up-down orientation angle, and lateral tilt angle. Specifically, posture evaluation information D43 includes the lateral orientation angle history D431 for the nth pass, the average lateral orientation angle D432 for the nth pass, and the overall lateral orientation angle D433. Furthermore, posture evaluation information D43 includes the up-down orientation angle history D434 for the nth pass, the average up-down orientation angle D435 for the nth pass, and the overall up-down orientation angle D436. In addition, posture evaluation information D43 includes the lateral tilt angle history D437 for the nth pass, the average lateral tilt angle D438 for the nth pass, and the overall lateral tilt angle D439. Detailed explanations of these definitions will not be repeated.

[0060] The overpainting evaluation information D44 includes the data of the nth previous pass D441, the data of the nth next pass D442, the history of the nth overpainting distance D443, the average overpainting distance D444 for the nth, and the overall average overpainting distance D445. As shown in Figure 7, the overpainting distance may be defined as the interval D440 between adjacent paths. The interval between the nth pass and the (n+1)th pass is defined as the overpainting distance for the nth. The interval between the nth pass and the (n+1)th pass may be defined as, for example, the difference between the average Z coordinates of the nth painting trajectory and the average Z coordinates of the (n+1)th painting trajectory.

[0061] The evaluation criteria information D5 indicates the process of determining the quality of the painting operation based on the painting operation evaluation information D4. The evaluation criteria information D5 includes speed evaluation criteria information D501, spray distance evaluation criteria information D502, attitude evaluation criteria information D503, and overcoat evaluation criteria information D504.

[0062] Speed ​​evaluation criteria information D501 includes specific processing details for converting speed evaluation information D41 into speed evaluation score D601. For example, the specific processing details are as follows. Note that the specific processing details for converting speed evaluation information D41 into speed evaluation score D601 are not limited to those listed below. ・First process: Calculate the difference between the spray gun speed (plot Q in Figure 6) included in the speed history D412 of the first pass and the average speed D413 of the first pass for each plot Q. ・Second process: Assign a subscore to each plot Q according to the difference. A high subscore is assigned when the difference is small, and a low subscore is assigned when the difference is large. ・Third process: Calculate the score for the first pass using the subscores assigned to each plot Q. ・Fourth process: By performing the first, second, and third processes for each of the first to Nth passes, obtain the score assigned to the Nth pass from the score assigned to the first pass. - Fifth process: Using the scores assigned to the Nth pass from the score assigned to the first pass, a speed evaluation score D601 is obtained.

[0063] The spray distance evaluation criteria information D502 includes specific processing details for converting the spray distance evaluation information D42 into a spray distance evaluation score D602. The processing details may be the same as the first to fifth processes exemplified in the speed evaluation criteria information D501. In other words, in the explanation of the first to fifth processes exemplified in the speed evaluation criteria information D501, this can be understood by replacing "...speed history" with "...spray distance history", "...average speed" with "...average spray distance", and "spray gun evaluation score" with "spray distance evaluation score". Note that the specific processing details are not limited to those described above, as is the case with the speed evaluation criteria information D501.

[0064] The posture evaluation criteria information D503 includes specific processing details for converting posture evaluation information D43 into posture evaluation score D603. The processing details may be the same as the first to fifth processes exemplified in the speed evaluation criteria information D501. In other words, in the explanation of the first to fifth processes exemplified in the speed evaluation criteria information D501, it can be understood by replacing "...speed history" with "...left-right angle history", etc., "...average speed" with "...average left-right angle", etc., and "spray gun evaluation score" with "posture evaluation score". Note that the specific processing details are not limited to those described above, as with the speed evaluation criteria information D501.

[0065] The overcoat evaluation criteria information D504 includes specific processing details for converting the overcoat evaluation information D44 into an overcoat evaluation score D604. The processing details may be the same as the first to fifth processes exemplified in the speed evaluation criteria information D501. In other words, in the explanation of the first to fifth processes exemplified in the speed evaluation criteria information D501, it can be understood by replacing "...speed history" with "...overcoat distance history", etc., "...average speed" with "...average overcoat distance", etc., and "spray gun evaluation score" with "overcoat evaluation score". Note that the specific processing details are not limited to those described above, as is the case with the speed evaluation criteria information D501.

[0066] Furthermore, the evaluation criteria information D5 may include comparative information for determining the quality of the painting operation. The comparative information may be spray gun history information D2 obtained as a result of painting operations performed by a skilled worker. For example, the evaluation criteria information D5 may include speed comparison information D505, spray distance comparison information D506, posture comparison information D507, and overcoat comparison information D508. By evaluating the painting operation performed by the worker being evaluated using the difference between the spray gun history information D2 relating to the worker being evaluated and the spray gun history information D2 relating to a skilled worker, the difference from the painting operation performed by a skilled worker can be understood objectively and quantitatively. Presenting such evaluation results also makes it possible to efficiently improve the skill level of the workers. In this case, the evaluation criteria information D5 is provided from the tracking sensor 3, not from the external device 8.

[0067] <Evaluation Result Information> Evaluation Result Information D6 shows the results of evaluating the painting operation evaluation information D4 based on the evaluation criteria information D5. An example of Evaluation Result Information D6 is an evaluation score shown by a numerical value from 0 to 100. For example, Evaluation Result Information D6 includes a speed evaluation score D601, a spray distance evaluation score D602, a posture evaluation score D603, and a recoating evaluation score D604.

[0068] Furthermore, evaluation result information D6 may include comparison scores separate from the evaluation score. The comparison score is the evaluation result based on the various comparison information described above. For example, evaluation result information D6 may include a speed comparison score D605, a spray distance comparison score D606, a posture comparison score D607, and a coat comparison score D608. The speed comparison score D605 is the result of evaluation using speed evaluation information D41 and speed comparison information D505. Similarly, the spray distance comparison score D606 is the result of evaluation using spray distance evaluation information D42 and spray distance comparison information D506. The posture comparison score D607 is the result of evaluation using spray gun posture information D12 and posture comparison information D507. The coat comparison score D608 is the result of evaluation using coat evaluation information D44 and coat comparison information D508.

[0069] <Processor> The processor 43 executes the program stored in memory 42. As a result, several virtual machine components are realized in the processor 43. On the processor 43, a first arithmetic unit 431, a second arithmetic unit 432, and a third arithmetic unit 433 are realized. In other words, the computer 4 constitutes the operation evaluation unit 40.

[0070] <First Calculation Unit> The first calculation unit 431 reads the spray gun status information D1 from the memory 42. Using the spray gun status information D1, which has additional information indicating that it was acquired while in contact with the object to be painted 9, the first calculation unit 431 obtains the object to be painted information D3, including the coordinates D302 of the painting area definition point. The first calculation unit 431 stores the object to be painted information D3 in the memory 42.

[0071] <Second Calculation Unit> The second calculation unit 432 reads out the object to be painted information D3 and the spray gun history information D2. The second calculation unit 432 uses the painting area definition point coordinates D302 and the spray gun history information D2 contained in the object to be painted information D3 to obtain painting operation evaluation information D4. The specific process for obtaining the painting operation evaluation information D4 has been specifically explained in the section on speed evaluation information D41, so it will not be repeated here. The second calculation unit 432 stores the painting operation evaluation information D4 in the memory 42.

[0072] <Third Calculation Unit> The third calculation unit 433 reads out the painting operation evaluation information D4. The third calculation unit 433 uses the evaluation criteria information D5 and the painting operation evaluation information D4 to obtain evaluation result information D6. The specific process for obtaining the evaluation result information D6 has been specifically explained in the section on evaluation criteria information D5, so it will not be repeated here. The third calculation unit 433 stores the evaluation result information D6 in the memory 42.

[0073] <Output Port> Output port 44 reads out painting operation evaluation information D4 and evaluation result information D6. Output port 44 displays painting operation evaluation information D4 and evaluation result information D6 on display 5. Note that the medium used to show painting operation evaluation information D4 and evaluation result information D6 to the operator is not limited to display 5. For example, painting operation evaluation information D4 and evaluation result information D6 may be printed on paper and presented to the operator. In this case, the display unit is a printer.

[0074] The painting operation evaluation system 1 comprises a spray gun 2 for spraying paint 92 onto an object 9 to be painted, a tracking sensor 3 attached to the spray gun 2 that acquires at least spray gun position information D11 indicating the position of the spray gun 2 defined by a three-dimensional coordinate system, and a computer 4 that evaluates the painting operation using the spray gun 2 based on the spray gun position information D11. The computer 4 includes: a first calculation unit 431 that uses spray gun position information D11 acquired by a tracking sensor 3 attached to a spray gun 2 positioned on the object to be painted 9 to obtain object to be painted information D3, which includes information defining a painting area 91 to be set on the object to be painted 9, defined by a three-dimensional coordinate system; a second calculation unit 432 that uses spray gun position history D211 based on spray gun position information D11 acquired over time by a tracking sensor 3 attached to a spray gun 2 located away from the object to be painted 9, and object to be painted information D3 to obtain painting operation evaluation information D4 for evaluating painting operations using the spray gun 2; and a third calculation unit 433 that uses evaluation criterion information D5 corresponding to the painting operation evaluation information D4 and the painting operation evaluation information D4 to obtain evaluation result information D6 showing the result of evaluating the painting operation.

[0075] This system acquires spray gun position information D11, which indicates at least the position of the spray gun 2, using a tracking sensor 3 attached to the spray gun 2. Then, the third calculation unit 433 can display the results of the painting operation evaluation using evaluation criterion information D5 and painting operation evaluation information D4, which correspond to the painting operation evaluation information D4. As a result, the operator can objectively review the painting operation using the evaluation criterion information D5 and painting operation evaluation information D4, making it possible to efficiently improve the operator's skill level.

[0076] The tracking sensor 3 has a switch 32 for acquiring spray gun position information D11 or for adding supplementary information to the spray gun position information D11. The first calculation unit 431 uses the multiple spray gun position information D11 acquired in response to the operation of the switch 32 when the spray gun 2 is placed on the object to be painted 9 to obtain object information D3, which includes information defining the painting area 91 set on the object to be painted 9. With this configuration, information indicating the painting area 91 is acquired using the spray gun 2 to which the tracking sensor 3 is attached. In other words, there is no need to prepare special equipment such as a three-dimensional scanner to acquire information indicating the painting area 91. Therefore, the painting operation can be easily evaluated.

[0077] The second calculation unit 432 acquires multiple line segments included in the painted area 91 obtained from the spray gun position history D211 acquired over time as multiple painting paths (painting trajectories). Here, as shown in Figure 7, the spray gun position history D211 shows the path that the painting point P92 traversed from the start of spraying until the stop of spraying. This path is defined by multiple painting point coordinate data D45. The painting point coordinate data D45 defines the position of the intersection point of the reference line XP2 passing through the representative point P2 of the spray gun and the painted area 91 at a certain time. As shown in Figure 7, the path that the painting point P92 traversed from the start of spraying until the stop of spraying includes line segments included in the painted area 91 and line segments not included in the painted area 91. Of these, the line segments included in the painted area 91 are defined as painting paths. Multiple painting paths can be defined along the vertical direction (Z-axis direction) of the paper in Figure 7. For example, if the uppermost paint pass in the Z-axis direction is defined as the first paint pass, then the one located below the first paint pass is defined as the second paint pass. The paint pass data D46 included in the paint operation evaluation information D4 corresponds to each of the paint passes from the first to the nth paint pass. With this configuration, the movement of the spray gun 2, which is commonly used during painting, can be evaluated.

[0078] The second calculation unit 432 acquires painting operation evaluation information D4 for each of the multiple painting passes, and the third calculation unit 433 uses the multiple painting operation evaluation information D4 acquired for each of the multiple painting passes to obtain evaluation result information D6. With this configuration, information that contributes to efficiently improving the skill level of the worker can be obtained.

[0079] The second calculation unit 432 acquires the position where the spray direction line, which indicates the direction of the paint 92 sprayed from the spray gun 2 onto the object to be painted 9, switches from a state where it does not overlap the painting area 91 to a state where it overlaps the painting area 91, as the painting start point. The second calculation unit 432 acquires the position where the spray direction line switches from a state where it overlaps the painting area 91 to a state where it does not overlap the painting area 91, as the painting end point. The second calculation unit 432 acquires the line segment connecting the painting start point and the painting end point as a single painting trajectory. With this configuration, a painting path can be obtained by calculation.

[0080] The second calculation unit 432 uses the spray gun position history D211 acquired over time to define the point where the spray direction line, which indicates the direction of the paint 92 sprayed from the spray gun 2 onto the object to be painted 9, intersects the painting area 91 as the painting point P92. The second calculation unit 432 acquires the speed at which the painting point moves across the painting area 91 and acquires the painting path based on the change in the direction of the speed. Even with this configuration, the painting trajectory can be obtained through calculation.

[0081] The painting operation evaluation system 1 includes a display 5 that displays painting operation evaluation information D4 and evaluation result information D6. With this configuration, the painting operation evaluation information D4 and evaluation result information D6 can be displayed in a manner that is easy for the operator to understand.

[0082] The third calculation unit 433 includes the object to be painted 9 and the spray gun 2 arranged in a virtual space, and displays a trajectory display screen on the display 5 that shows the operation trajectory of the spray gun 2 and the painting trajectory on the object to be painted 9 in a way that can be visually observed over time. With this configuration, the movement of the spray gun 2 can be displayed in a manner that is easy for the operator to understand.

[0083] The trajectory display screen allows the user to change their viewpoint in the virtual space. This configuration also allows the movement of the spray gun 2 to be displayed in a way that is easy for the operator to understand.

[0084] Display 5 may also be capable of displaying a comparison score based on the difference between the painting operation evaluation information D4 and the evaluation criteria information D5. This configuration allows for obtaining information that contributes to efficiently improving the skill level of the workers.

[0085] The third processing unit 433 evaluates the painting operation using the evaluation criteria information D5 stored in the memory 42. This configuration makes it possible to obtain information that contributes to efficiently improving the skill level of the workers.

[0086] The tracking sensor 3 is detachably attached to the spray gun 2 via a sensor adapter 6. The sensor adapter 6 is mounted in a position that does not interfere with the operation of the adjustment mechanism of the spray gun 2. With this configuration, the difference in operating feel between when the tracking sensor 3 is attached to the spray gun 2 and when it is attached can be reduced.

[0087] The spray gun history information D2 includes a spray gun position history D211 showing the change in the position of the spray gun 2 over time, and a spray gun posture history D22 (work machine posture history information) showing the change in the posture of the spray gun 2 over time. This configuration makes it possible to obtain information that contributes to efficiently improving the skill level of the operator.

[0088] <Method for Evaluating Painting Operations> Next, we will explain in detail how to evaluate painting operations using the painting operation evaluation system 1. Figure 8 is a flowchart showing the main steps of the method for evaluating painting operations.

[0089] First, a calibration step is performed (S1). The painting operation evaluation system 1 of this embodiment evaluates painting operations on a physical object 9 to be painted. Therefore, the operator prepares the object 9 to be painted (S11). Next, the operator places the spray gun 2 on the object 9 to be painted (S12). Placing the spray gun 2 on the object 9 to be painted may mean that a part of the spray gun 2 is in direct contact with the object 9 to be painted. Also, placing the spray gun 2 on the object 9 to be painted includes cases where the spray gun 2 is not in direct contact with the object 9 to be painted, but is separated by a predetermined distance. In other words, the positional relationship between the spray gun 2 and the object 9 to be painted does not require any particularly strict conditions as long as the object information D3 to be painted can be obtained. In the following explanation, the case of contact will be used as an example. As shown in Figure 9, the contact points are the first to fifth painting area definition points K911 to K915 for defining the painting area 91 set on the object 9 to be painted. In the example in Figure 9, the painting area 91 is set over the entire surface of the object 9 to be painted. This painted area 91 is defined by five painted area definition points K911 to K915. In Figure 9, the painted area 91 is shown as a plane, but the painted area 91 is not limited to a plane. The painted area 91 may be a curved, three-dimensional shape.

[0090] The operator brings the gun nozzle 25 into contact with the first painting area definition point K911 (S12). Next, the operator presses the switch 32 of the tracking sensor 3 while the nozzle is in contact (S13). This operation acquires the spray gun status information D1 located at the first painting area definition point K911. The operator brings the gun nozzle 25 into contact (S12) and acquires the spray gun status information D1 (S13) for each of the second to fifth painting area definition points K912 to K915. During the operation to acquire the first to fifth painting area definition points K911 to K915, the tracking sensor 3 continues to acquire the spray gun status information D1, and additional information indicating that the spray gun status information D1 acquired when the switch 32 is pressed was acquired at each of the first to fifth painting area definition points K911 to K915 may be added. Furthermore, in the operation of acquiring the first to fifth painting area definition points K911 to K915, the tracking sensor 3 does not acquire the spray gun status information D1, and may acquire the spray gun status information D1 when the switch 32 is pressed.

[0091] The tracking sensor 3 then transmits the acquired spray gun status information D1 to the computer 4. The computer 4 uses the received spray gun status information D1 to obtain the representative position coordinates D301 of the object to be painted and the painting area definition point coordinates D302 (S14).

[0092] Thus, the method for evaluating the painting process involves acquiring information indicating the painting area 91 using a spray gun 2 equipped with a tracking sensor 3. In other words, there is no need to prepare special equipment such as a three-dimensional scanner to acquire information indicating the painting area 91. Therefore, the evaluation of the painting process can be easily carried out.

[0093] Next, the painting operation step is performed (S2). This painting operation step (S2) is basically a normal painting operation on the painting area 91. First, the operator operates the tracking sensor 3 to start acquiring spray gun status information D1 (S21). After this operation, the tracking sensor 3 continues to acquire spray gun status information D1 until an operation to stop acquiring spray gun status information D1 is performed (S24).

[0094] The operator performs a pre-pass painting operation (S22: see Figure 10). In this embodiment, the operation of moving the spray gun 2 while spraying paint 92 from left to right on the page is called the pre-pass painting operation. Next, the operator performs a post-pass painting operation (S23: see Figure 11). In this embodiment, the operation of moving the spray gun 2 while spraying paint 92 from right to left on the page is called the post-pass painting operation. The operator repeats the pre-pass painting operation (S22) and the post-pass painting operation (S23) until the entire surface of the painting area 91 has been sprayed with paint 92.

[0095] Then, once the spraying of paint 92 over the entire surface of the painting area 91 is complete, the operator performs an operation (S24) to instruct the operator to stop acquiring the spray gun status information D1. For example, this operation (S24) to instruct the operator to stop acquiring the spray gun status information D1 may trigger the transmission of the acquired spray gun status information D1 to the computer 4 in a single batch.

[0096] Next, the evaluation step is performed (S3). The evaluation step is performed by the computer 4. First, the second arithmetic unit 432 of the computer 4 obtains painting operation evaluation information D4 (S31). Next, the computer 4 obtains evaluation result information D6 (S32).

[0097] Next, the presentation step is performed (S4). The presentation step is also performed by the computer 4. The computer 4 displays the painting operation evaluation information D4 and the evaluation result information D6 on the display 5 (S41). At this time, the computer 4 may switch the information displayed on the display 5 according to the operator's operation.

[0098] Figures 12 to 15 show some examples of information to be displayed on the display 5. As shown in Figure 12, the display 5 includes a tab 51 for selecting the information to display, an evaluation item display unit 52, a score display unit 53, a comment display unit 54, and an information display unit 55. The layout of each display unit shown in Figure 12 is illustrative. The size and arrangement of each can be adjusted as appropriate. Also, the numerical values ​​and graphs shown in the following explanation are for explanatory purposes only and should not be interpreted as being limited to the content of these numerical graphs.

[0099] Figure 13(a) shows an example of the display when the Home tab 511 is selected. The evaluation item display unit 52 displays "Overall". The score display unit 53 displays "70 points" as the overall score. The comment display unit 54 displays things that need improvement. The information display unit 55A has two display areas 551A and 552A.

[0100] The first display area 551A (trajectory display screen) displays the object to be painted 9 and the spray gun 2, which are placed in a virtual space. Furthermore, the first display area 551A also displays the operation path PS2 of the spray gun 2 and the painting path PS9 on the object to be painted 9. The viewpoint of this first display area 551A can be changed by operating a mouse or the like. In other words, the object to be painted 9 and the spray gun 2 are displayed in 3D in the first display area 551A. Furthermore, the movement of the spray gun 2 is displayed over time in the first display area 551A. In other words, the operation path PS2 of the spray gun 2 and the painting path PS9 on the object to be painted 9 are displayed as a video in the first display area 551A. Therefore, the operator can objectively view the painting operation performed, especially the movement of the spray gun 2, from any viewpoint. In addition, the second display area 552A displays numerical values ​​that show the status of the spray gun 2 displayed in the first display area 551A in real time. Furthermore, the second display area 552A displays buttons for performing operations such as playing and stopping the video.

[0101] Figure 13(b) shows an example of the display when the speed tab 512 is selected. The evaluation item display unit 52 displays "Speed". The score display unit 53 displays "80 points" as the speed score. The comment display unit 54 displays things that need improvement. The information display unit 55B is configured with three display areas 551B, 552B, and 553B.

[0102] In the first display area 551B, multiple passes based on the painting pass data D46 are displayed as images. In the second display area 552B, a graph showing the average speed of the spray gun 2 for each pass is displayed. This display is based on the average speed D413 of the nth pass included in the painting operation evaluation information D4. In the graph displayed in the second display area 552B, the horizontal axis represents the pass and the vertical axis represents the speed. In the example in Figure 13(b), the average speed of the spray gun 2 in the first, second, third, and fourth passes is shown. In the third display area 553B, a graph showing the history for each pass is displayed. In the graph displayed in the third display area 553B, the horizontal axis represents the distance traveled and the vertical axis represents the speed. This display is based on the speed history D412 of the nth pass included in the painting operation evaluation information D4. In the example in Figure 13(b), the speed history of the spray gun 2 in the first, second, third, and fourth passes is shown for each pass. According to the graph displayed in the third display area 553B, the speed stability of the spray gun 2 can be visually confirmed.

[0103] Figure 14(a) shows an example of the display when the distance tab 513 is selected. The evaluation item display unit 52 displays "Distance". The score display unit 53 displays "90 points" as the spray distance score. The comment display unit 54 displays things that need improvement. The information display unit 55C has three display areas 551C, 552C, and 553C.

[0104] The first display area 551C displays multiple passes based on the painting pass data D46 as images. The second display area 552C displays a graph showing the average spray distance of the spray gun 2 for each pass. This display is based on the average spray distance D423 of the nth pass included in the painting operation evaluation information D4. In the graph displayed in the second display area 552C, the horizontal axis represents the pass and the vertical axis represents the spray distance. In the example in Figure 14(a), the average spray distance for the first, second, third, and fourth passes is shown. The third display area 553C displays a graph showing the history of spray distance for each pass. In the graph displayed in the third display area 553C, the horizontal axis represents the distance traveled and the vertical axis represents the spray distance. This display is based on the spray distance history D422 of the nth pass included in the painting operation evaluation information D4. In the example in Figure 14(a), the spray distance history D422 for the first, second, third, and fourth passes is shown for each pass. The graph displayed in the third display area 553C allows for visual confirmation of the stability of the spraying distance.

[0105] Figure 14(b) shows an example of the display when the posture tab 514 is selected. The evaluation item display unit 52 displays "Posture". The score display unit 53 displays "45 points" as the posture score. The comment display unit 54 displays things that need improvement. The information display unit 55D is set to five display areas 551D, 552D, 553D, 554D, and 555D.

[0106] The first display area 551D displays multiple paths based on the painting path data D46 as images. The second display area 552D shows three attitude indicators indicating left / right tilt angle, up / down angle, and left / right tilt angle. These allow for visual confirmation of each angle. Furthermore, each of the attitude indicators can be displayed as a video, showing the history of each angle over time. The third display area 553D displays an input form 553a for selecting angle information to be displayed in the fourth display area 554D and the fifth display area 555D. Furthermore, the third display area 553D displays a two-dimensional image of the spray gun 2 corresponding to the selected angle to make the selected angle easier to understand visually. In the example in Figure 14(b), "up / down angle" is selected, and a two-dimensional image of the spray gun 2 indicating the up / down angle is displayed.

[0107] The fourth display area 554D displays a graph showing the angle history of the spray gun 2 for each pass. The fourth display area 554D displays the angle information selected in the third display area 553D. This display is based on one of the following: the average left-right angle D432 of the nth pass, the average up-down angle D435 of the nth pass, or the average left-right tilt angle D438 of the nth pass, which are included in the painting operation evaluation information D4. In the graph displayed in the fourth display area 554D, the horizontal axis represents the pass and the vertical axis represents the angle. In the example in Figure 14(b), the average of the left-right angle, up-down angle, and left-right tilt angle in the first, second, third, and fourth passes is shown.

[0108] The fifth display area 555D displays a graph showing the history of either the left-right angle, the up-down angle, or the left-right tilt angle. Similar to the fourth display area 554D, the fifth display area 555D displays the angle information selected in the third display area 553D. In the graph displayed in the fifth display area 555D, the horizontal axis is the distance traveled and the vertical axis is the angle. This display is based on one of the average left-right angle D432, the average up-down angle D435, or the average left-right tilt angle D438 of the nth pass included in the painting operation evaluation information D4. In the example in Figure 14(b), one of the left-right angle history D431, the up-down angle history D434, or the left-right tilt angle history D437 of the nth pass is shown for each pass in the first, second, third, and fourth passes. The graph displayed in the fifth display area 555D allows for visual confirmation of the stability of the angle indicating the posture of the spray gun 2.

[0109] Figure 15(a) shows an example of the display when the overlay tab 515 is selected. The evaluation item display unit 52 displays "Overlay". The score display unit 53 displays "65 points" as the overlay score. The comment display unit 54 displays the content that needs improvement, etc. The information display unit 55E is set to three display areas 551E, 552E, and 553E.

[0110] In the first display area 551E, multiple paths based on the painting path data D46 are displayed as images. In the second display area 552E, a graph showing the overpainting distance for each pair of paths is displayed. This display is based on the average overpainting distance D444 of the nth path included in the painting operation evaluation information D4. In the graph displayed in the second display area 552E, the horizontal axis represents the path and the vertical axis represents the overpainting distance. In the example in Figure 15(a), the average overpainting distance for the first, second, third, and fourth paths is shown. In the third display area 553E, a graph showing the overpainting history for each pair of paths is displayed. In the graph displayed in the third display area 553E, the horizontal axis represents the distance traveled and the vertical axis represents the overpainting history. This display is based on the overpainting distance history D443 of the nth path included in the painting operation evaluation information D4. In the example in Figure 15(a), the overpainting distance history D443 for the first, second, third, and fourth paths is shown for each path. According to the graph displayed in the third display area 553E, the stability of the overlapping distance can be visually confirmed.

[0111] Figure 15(b) shows an example of the display when the History tab 516 is selected. In the example in Figure 15(b), a list is shown that includes the items "Date," "Time," "Overall Rating," "Gun Speed," "Spray Distance," "Position," "Coating Layers," "Number of Passes," and "Operator." The items displayed in the list are not limited to those shown in Figure 15(b).

[0112] <Effects of the Method for Evaluating Painting Operation> The method for evaluating painting operation includes: step S11 of preparing an object to be painted 9; step S14 of obtaining painting object information D3, which includes information defining a painting area 91 to be set on the painting object 9, defined by a three-dimensional coordinate system, using spray gun position information D11 acquired by a tracking sensor 3 attached to a spray gun 2 positioned on the painting object 9 and which acquires at least spray gun position information D11 indicating the position of the spray gun 2 defined by a three-dimensional coordinate system; step S2 of obtaining spray gun position history D211 based on spray gun position information D11 acquired over time by a tracking sensor 3 attached to a spray gun 2 located away from the painting object 9; step S31 of obtaining painting operation evaluation information D4 for evaluating painting operation using the spray gun position history D211 and painting object information D3; and step S32 of obtaining evaluation result information D6 showing the result of evaluating the painting operation using evaluation criterion information D5 corresponding to the painting operation evaluation information D4 and the painting operation evaluation information D4.

[0113] This method allows workers to objectively review their painting actions using evaluation criteria information D5 and painting action evaluation information D4. Therefore, it becomes possible to efficiently improve the skill level of the workers.

[0114] Step S2, which acquires the spray gun position history D211, involves repeatedly performing the following actions as part of the painting operation: moving the spray gun 2 to which the tracking sensor 3 is attached in a first direction that intersects the vertical direction (S22), and moving the spray gun 2 to which the tracking sensor 3 is attached in a second direction that intersects the vertical direction and is opposite to the first direction (S23). By following these steps S22 and S23, it is possible to evaluate the movement of the spray gun 2 that is commonly used during painting.

[0115] Step S2, which acquires the spray gun position history D211, involves spraying paint 92 from the spray gun 2 onto the object to be painted 9 as a painting operation. This step S2 allows for evaluation of the operation when actually spraying paint 92.

[0116] Step S2, which acquires the spray gun position history D211, may involve operating the spray gun 2 without actually spraying paint 92 onto the object to be painted 9 as part of the painting operation. This step S2 allows for evaluation of operations when paint 92 is not actually being sprayed.

[0117] <Modifications> The painting operation evaluation system and method for evaluating painting operations described herein have been explained above. However, the painting operation evaluation system and method for evaluating painting operations described herein are not necessarily limited to the embodiments described above, and various modifications can be made without departing from the gist of the invention.

[0118] For example, as shown in Figure 16, the functional components that were implemented on the processor 43 of the computer 4 may be implemented in the tracking sensor 3A. In the modified painting operation evaluation system 1A, the processor 35 of the tracking sensor 3A implements a first arithmetic unit 431, a second arithmetic unit 432, and a third arithmetic unit 433. Furthermore, the tracking sensor 3A is equipped with an input port 36 and an output port 37, through which it receives evaluation criterion information D5 and outputs painting operation evaluation information D4 and evaluation result information D6.

[0119] Furthermore, the configuration shown in Figure 16 is merely one example of the painting operation evaluation system 1. The physical components for realizing the first calculation unit 431, the second calculation unit 432, and the third calculation unit 433 may be a single element (computer 4) as in the embodiment, or they may be two elements (computer 4 and tracking sensor 3). In addition, the operation evaluation unit 40 of the painting operation evaluation system 1 may be composed of a first microchip that performs the function of the first calculation unit 431, a second microchip that performs the function of the second calculation unit 432, and a third microchip that performs the function of the third calculation unit 433.

[0120] In the description of the embodiment, the tracking sensor 3 was described as always being attached to the spray gun 2. That is, when calibration step S1 is performed, the tracking sensor 3 is attached to the spray gun 2. Furthermore, when painting operation step S2 is performed, the tracking sensor 3 is also attached to the spray gun 2. However, the tracking sensor 3 does not need to always be attached to the spray gun 2.

[0121] For example, when performing calibration step S1, the tracking sensor 3 may be removed from the spray gun 2, and the operator may obtain the coordinates of the painting area definition points by holding only the tracking sensor 3. Then, the operator may attach the tracking sensor 3 to the spray gun 2 and perform painting operation step S2.

[0122] In the above embodiment, the first arithmetic unit 431, the second arithmetic unit 432, and the third arithmetic unit 433 are provided within the same processor 43, but this is not limited to that. At least a portion of the first arithmetic unit 431, the second arithmetic unit 432, and the third arithmetic unit 433 may be provided within another processor. In addition, the first arithmetic unit 431, the second arithmetic unit 432, and the third arithmetic unit 433 may be provided in an external device 8. In this case, the external device 8 may perform information processing using the information in the memory 42 and display the processed information on the display 5.

[0123] Furthermore, when performing the painting operation step S2, the tracking sensor 3 may not be attached to the spray gun 2, but may be attached to the operator's body. In other words, "configured to follow the movement of the work machine accompanying the spraying operation of the material" includes both the tracking sensor 3 being directly attached to the spray gun 2 and the tracking sensor 3 being attached to the operator's body. For example, the tracking sensor 3 may be attached to the operator's hand or wrist while they are holding the spray gun 2 using gloves or a wristband.

[0124] 1...Painting motion evaluation system, 2...Spray gun (working equipment), 23, 24...Adjustment mechanism, 3...Tracking sensor (information acquisition unit), 32...Switch (operation unit), 40...Motion evaluation unit, 41...Input port (input unit), 431...First calculation unit, 432...Second calculation unit, 433...Third calculation unit, 6...Sensor adapter (mounting unit), 9...Object to be painted, 91...Painting area, 551A...Display area (trajectory display screen), 92...Paint (material), D11...Spray gun position information (working equipment position information), D211...Spray gun position history (working equipment position history information), D22...Spray gun posture history (working equipment posture history information), D3...Object to be painted information, D4...Painting motion evaluation information, D5...Evaluation criteria information, D6...Evaluation result information.

Claims

1. A painting operation evaluation system comprising: a work machine for spraying a material onto an object to be painted; an information acquisition unit that acquires at least position information indicating the position of the work machine defined by a three-dimensional coordinate system; and an operation evaluation unit that evaluates painting operations using the work machine based on the position information, wherein the operation evaluation unit includes: a first calculation unit that uses a plurality of position pieces acquired by the information acquisition unit located on the object to be painted to obtain painting object information including information defining a painting area to be set on the object to be painted, defined by a three-dimensional coordinate system; a second calculation unit that uses history information based on a plurality of position pieces acquired by the information acquisition unit located at a position away from the object to be painted and configured to follow the movement of the work machine accompanying the spraying operation of the material, and the painting object information to obtain painting operation evaluation information for evaluating painting operations using the work machine; and a third calculation unit that uses evaluation criterion information corresponding to the painting operation evaluation information and the painting operation evaluation information to obtain evaluation result information indicating the result of evaluating the painting operation.

2. The painting operation evaluation system according to claim 1, wherein the information acquisition unit has an operation unit for acquiring the position information or for adding supplementary information to the position information, and the first calculation unit obtains painting target information including information defining a painting area set on the painting target, using a plurality of the position information acquired in response to an operation on the operation unit when the information acquisition unit is placed on the painting target.

3. The painting operation evaluation system according to claim 2, wherein the second calculation unit acquires a plurality of line segments defined within the painting area obtained from the plurality of acquired history information as a plurality of painting trajectories.

4. The painting operation evaluation system according to claim 3, wherein the second calculation unit acquires the painting operation evaluation information for each of the plurality of painting trajectories, and the third calculation unit obtains the evaluation result information using the plurality of painting operation evaluation information acquired for each of the plurality of painting trajectories.

5. The painting operation evaluation system according to claim 3, wherein the second calculation unit acquires the position at which the spray direction line indicating the direction of the material sprayed from the work machine onto the object to be painted switches from a state in which the spray direction line does not overlap the painting area to a state in which the spray direction line overlaps the painting area as the painting start point, acquires the position at which the spray direction line switches from a state in which the spray direction line overlaps the painting area to a state in which the spray direction line does not overlap the painting area as the painting end point, and acquires the line segment connecting the painting start point and the painting end point as one painting trajectory.

6. The painting operation evaluation system according to claim 3, wherein the second calculation unit uses the history information acquired over time to define a point where a spray direction line indicating the direction of the material sprayed from the work machine onto the object to be painted intersects the painting area as a painting point, acquires the speed at which the painting point moves across the painting area, and acquires the painting trajectory based on the change in the direction of the speed.

7. The painting operation evaluation system according to claim 1, further comprising a display unit for displaying the painting operation evaluation information and the evaluation result information.

8. The painting operation evaluation system according to claim 7, wherein the third calculation unit includes the object to be painted and the work machine arranged in a virtual space, and causes the display unit to display a trajectory display screen that shows the operation trajectory of the work machine and the painting trajectory on the object to be painted in a manner that can be visually observed over time.

9. The painting operation evaluation system according to claim 8, wherein the trajectory display screen is capable of changing the viewpoint in the virtual space.

10. The painting operation evaluation system according to claim 7, wherein the display unit is configured to display evaluation information based on the difference between the painting operation evaluation information and the evaluation criteria information.

11. The painting operation evaluation system according to claim 1, wherein the operation evaluation unit further comprises an input unit that receives the evaluation criteria information from an external device connected by wire or wireless connection, and the third calculation unit evaluates the painting operation using the evaluation criteria information received from the input unit.

12. The painting operation evaluation system according to claim 1, wherein the information acquisition unit is detachably attached to the work machine via a mounting unit, and the mounting unit is mounted in a position that does not interfere with the operation of the adjustment mechanism provided by the work machine.

13. The painting operation evaluation system according to claim 1, wherein the history information includes position history information indicating a change in the position of the work machine over time, and posture history information indicating a change in the posture of the work machine over time.

14. A method for evaluating a painting operation using a work machine that sprays a material onto an object to be painted, comprising: a step of preparing the object to be painted; a step of obtaining information about an object to be painted, including information defining a painting area to be set on the object to be painted, as defined by the three-dimensional coordinate system, using position information obtained by an information acquisition unit that acquires at least position information indicating the position of the work machine, as defined by the three-dimensional coordinate system, placed on the object to be painted; a step of obtaining history information based on a plurality of the position information obtained by the information acquisition unit attached to the work machine at a position away from the object to be painted; a step of obtaining painting operation evaluation information for evaluating the painting operation using the work machine, using the history information and the object to be painted information; and a step of obtaining evaluation result information indicating the result of evaluating the painting operation, using evaluation criterion information corresponding to the painting operation evaluation information and the painting operation evaluation information.

15. A method for evaluating a painting operation according to claim 14, wherein the step of acquiring the history information comprises repeatedly moving the work machine to which the information acquisition unit is attached in a first direction that intersects the vertical direction, and moving the work machine to which the information acquisition unit is attached in a second direction that intersects the vertical direction and is opposite to the first direction.

16. A method for evaluating a painting operation according to claim 14, wherein the step of acquiring the history information is to perform an operation of operating the work machine while spraying the material from the work machine onto an object to be painted as the painting operation.

17. A method for evaluating a painting operation according to claim 14, wherein the step of acquiring the history information is to perform an operation of the work machine without spraying the material from the work machine onto the object to be painted, as the painting operation.

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