Shot treatment apparatus and shot treatment method

A shot treatment apparatus that ejects shot material from a nozzle towards a workpiece to subject the workpiece to a shot treatment, the shot treatment apparatus comprising:

• the nozzle;
• a nozzle moving mechanism to which the nozzle is fixed and which is capable of modifying a position and a pose of the nozzle with respect to the workpiece;
• and
• a three-dimensional information obtaining sensor that three-dimensionally captures an image of the workpiece provided within a treatment compartment to obtain position and pose information of the workpiece;
• the shot treatment apparatus further comprising:
• a pattern storage portion in which is stored a reference operation pattern of the nozzle when the workpiece is installed at a reference position and a reference pose within the treatment compartment;
• a model data storage portion in which is stored three-dimensional model data of the workpiece;
• a position/pose displacement calculating portion that compares the position and pose information obtained by means of the three-dimensional information obtaining sensor and reference position and pose data when the three-dimensional model data is provided at the reference position in the reference pose to calculate a displacement in a position and pose of the workpiece from the reference position and pose data;
• and
• a nozzle movement control portion that corrects the reference operation pattern of the nozzle based on the displacement in the position and pose and controls the nozzle moving mechanism to move the nozzle based on the corrected reference operation pattern.