JP7793837B2 - Method for measuring thickness of coating material and method for applying coating material - Google Patents

Description

The present invention relates to a method for measuring the thickness of a covering material applied to target surfaces such as walls and floors of buildings by spraying or other methods, a system for measuring the thickness of a covering material, and a method for applying a covering material.

One known method for installing insulation on building walls and other surfaces involves on-site workers using a foaming machine to directly spray a foaming concentrate (a mixture of a foaming agent and a main ingredient) onto the target surfaces, such as the walls, floors, roofs, and ceilings of a building, allowing the foam to solidify. However, because the insulating effect of insulation is significantly affected by its thickness, it is necessary to achieve a uniform thickness. In particular, for buildings and apartment complexes, consistent quality is required, with thickness tolerances of 0 to 20 mm, and even 0 to 5 mm at the most. After spraying the foam onto the target surface and allowing it to solidify, the thickness must be checked, and any excess material must be trimmed away in areas that are too thick, while any additional material must be added in areas that are too thin. Specifically, during the spraying process, workers at the construction site insert needle-shaped measuring gauges into the foamed and solidified insulation to measure its thickness and determine whether any finishing work is required. This makes the installation of insulation a highly tedious and labor-intensive task for workers. Furthermore, the speed of work varies greatly depending on the skill level of the worker, and the quality of the work also varies.
Furthermore, in order to guarantee the quality of the insulation, reports to clients and others have been made by inserting a measuring gauge into various places in the construction area to check the thickness of the construction, marking the results (for example, the thickness measurement value) on the surface of the insulation (wall), and presenting a photograph of a portion of that surface. Inserting the measuring gauge multiple times in this way risks physically damaging the insulation, and also results in only scattered measurements, making sufficient quality control impossible.

Patent Document 1 discloses a method and a robot that includes a spray nozzle connected to a foam supply source and a sensing device configured to monitor the thickness of the coating. The method of Patent Document 1 can reduce finishing work by controlling the amount of foam sprayed while monitoring the spray thickness with a laser rangefinder.
Patent Document 2 discloses a remotely controlled robot arm equipped with a spray nozzle and a range finder at the tip, and describes that the range finder can be used to measure the material (target object) before and after application, and calculate the thickness to be filled.

Special table 2016-526121 publication Special table 2017-536976 publication

However, the method of Patent Document 1 assumes the use of a robot, and using a robot is not necessarily advantageous in a messy work site. On the other hand, while it is possible to perform the method of Patent Document 1 manually, the thickness of the foam material sprayed is controlled by constantly monitoring the thickness with a laser rangefinder instead of a measurement gauge. This means that the worker still has to alternate between spraying and checking the thickness (checking the monitor), making the work cumbersome. For example, human error, such as misreading the monitor, is likely to occur. Furthermore, Patent Document 2 does not measure the entire material (target surface) to be applied, but only measures a portion of the material (target surface) to be applied at any time, which has the same problems as Patent Document 1.
An object of the present invention is to provide a method for measuring the thickness of a coating material applied to a target surface such as a wall of a building, a system for measuring the thickness of a coating material, and a method for applying a coating material.

The present invention is a method for measuring the thickness of a coating material applied to a target surface, comprising the steps of: acquiring an applied shape including three-dimensional coordinates of the surface of the coating material, three-dimensional coordinates of three or more equidistant points that are the same distance from the target surface, and reference three-dimensional coordinates of one or more reference points whose distances from the target surface are known; and calculating the thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material, the three-dimensional coordinates of the equidistant points, and the reference three-dimensional coordinates.
In the present invention, "thickness of the coating material" refers to the length in the direction perpendicular to the target surface. Furthermore, "three-dimensional coordinates on the surface of the coating material" refers to the three-dimensional coordinates on the surface of the coating material exposed on the side of the space opposite the target surface. For example, this could be a set of three-dimensional coordinates of multiple points on the surface of the coating material. Furthermore, "distance from the target surface" refers to the length of the perpendicular line drawn from that point to the target surface.
The method of expressing three-dimensional coordinates is not particularly limited as long as it can be processed on a computer. For example, it may be expressed as a set of coordinate values in a three-dimensional orthogonal coordinate system (X, Y, Z) (so-called point cloud data), or it may be expressed as a polygon mesh, a mathematical expression or parameter expression of a plane/curved surface, or a volume data expression (voxel, etc.), or a combination thereof.

The coating material thickness measurement method of the present invention acquires an applied shape that includes the three-dimensional coordinates of the surface of the coating material, the three-dimensional coordinates of three or more equidistant points that are the same distance from the target surface, and the reference three-dimensional coordinates of one or more reference points whose distance from the target surface is known. Therefore, by determining a virtual point that has the same plane coordinates (plane coordinates parallel to the target surface) as a given point on the coating material and whose distance from the target surface is the same as the reference three-dimensional coordinates, and comparing the given point on the coating material with the virtual point whose distance from the target surface is known, the thickness of the given point on the coating material can be calculated.

Preferably, the method for measuring the thickness of a coating material of the present invention further comprises a step of calculating a virtual plane based on the three-dimensional coordinates of the acquired equidistant points, and calculating the thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material and the virtual plane.
Alternatively, the method for measuring the thickness of a coating material of the present invention preferably has a step in which the distances of the equidistant points from the target surface are unknown and the reference points are points different from the equidistant points.More preferably, the method further comprises a step of calculating a virtual plane based on the acquired three-dimensional coordinates of the equidistant points and the reference three-dimensional coordinates, and further comprises a step of calculating the thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material and the virtual plane.
The "virtual plane" refers to a plane parallel to the target surface and whose distance to the target surface is known, and preferably includes reference three-dimensional coordinates, but does not necessarily have to include them.
When calculating the thickness of the coating material based on a virtual plane in this way, the thickness of the coating material can be calculated by calculating the distance between the virtual plane and the surface of the coating material. In particular, when the virtual plane includes at least a plane obtained by translating the target surface in a direction perpendicular to the target surface, the thickness of the entire coating material can be calculated with a single calculation. This is preferable because the thickness of the entire coating material can be calculated with a single measurement after the coating material is applied.

The method for measuring the thickness of a coating material of the present invention preferably includes a step of placing a reference marker on or near the coating material before the step of acquiring the applied shape, and the reference three-dimensional coordinates are three-dimensional coordinates on the reference marker. In this case, it is preferable to place three or more reference markers and set at least one reference three-dimensional coordinate for each reference marker, as this allows three or more reference three-dimensional coordinates that are the same distance from the target surface to be obtained. It is also preferable that the reference marker has a pin extending in one direction, and the step of placing the reference marker is a step of inserting the pin into the coating material so that the tip of the pin abuts the target surface.

In the coating material thickness measurement method of the present invention, the equidistant points are preferably points on the surface of the coating material and a structure adjacent to or near the target surface.
Here, a "structure" refers to a structure that includes a surface parallel to the target surface, and a "surface of a structure" refers to a surface that is parallel to the target surface and whose distance to the target surface is known. For example, this could be a wall surface that is flush with the target wall surface, or the surface of a pillar or beam that is erected parallel to the target wall surface.
In this case, too, the thickness of the covering material can be easily calculated. In particular, if the distance between a surface parallel to the target surface of a structure and the target surface can be accurately determined from the design drawings, equidistant points on the surface of the structure have a known distance from the target surface, and can be used as both equidistant points and reference points. This eliminates the need to install fiducial markers, reducing the risk of human error when installing fiducial markers. If the distance between a surface parallel to the target surface of a structure and the target surface is unknown, one or more fiducial markers can be installed on or near the covering material, and the thickness of the covering material can be calculated based on three or more equidistant points on the surface of the structure and the reference three-dimensional coordinates on the fiducial markers.

The method of measuring the thickness of a coating material of the present invention preferably includes a step of displaying an image of the coating material showing the distribution of the thickness of the coating material by color or shade.
This type of coating material image, which shows the thickness distribution using color or shading, allows you to check for imperfect application areas at a glance, speeding up the work. It is also easy to see and is preferable as coating material data for quality control.

The coating thickness measurement method of the present invention preferably includes a step of determining whether or not there is a defective application portion where the coating thickness is outside a predetermined range, and particularly preferably includes a step of displaying the defective application portion on the coating material image.
If the location of the defective application can be identified in this way, it is easy to identify the finishing treatment of the coating material. In particular, the image for determining the defective application also improves workability.

The coating thickness measurement method of the present invention preferably includes a step of storing the thickness of the coating material in association with the target surface. In particular, it is preferable to include a step of storing an image of the coating material in association with the target surface. Furthermore, it is preferable to include a step of measuring the moisture content of the target surface before applying the coating material, and a step of storing the moisture content in association with the thickness of the coating material. Alternatively, it is preferable to include a step of measuring the temperature distribution of the target surface before applying the coating material, and a step of storing the temperature distribution in association with the thickness of the coating material. Furthermore, it is preferable that the coating material is a spray-applied rigid polyurethane foam insulation, and the method includes a step of acquiring spraying conditions for the coating material, and a step of storing the spraying conditions in association with the thickness of the coating material.
By storing various data in association with the thickness of the coating material, it is easy to manage the data as coating material data. For example, this is easy to manage when there are many target surfaces, such as in buildings or apartment buildings. In particular, storing the thickness of the coating material in association with the moisture content, temperature distribution, and/or spraying conditions of the target surface is even more advantageous for quality control as coating material data.

The coating material thickness measurement system of the present invention is a system for measuring the thickness of a coating material applied to a target surface, and is equipped with a three-dimensional measurement device and a data processing unit, wherein the three-dimensional measurement device acquires an application shape including three-dimensional coordinates of the surface of the coating material, three-dimensional coordinates of three or more equidistant points that are the same distance from the target surface, and reference three-dimensional coordinates of one or more reference points whose distances from the target surface are known, and the data processing unit calculates the thickness of the coating material based on the application shape.
By using this measurement system, the thickness of the coating material can be accurately measured in one measurement.

In the coating thickness measurement system of the present invention, it is preferable that the distances of the equidistant points from the target surface are known, and that the equidistant points are also the reference points. Alternatively, it is preferable that the distances of the equidistant points from the target surface are unknown, and that the reference points are points different from the equidistant points.

It is preferable that the coating material thickness measurement system of the present invention further includes a reference marker installed on or near the coating material, and that the data processing unit recognizes the reference marker based on color or shape characteristics from the construction shape.
In this way, by automatically recognizing the reference marker from the construction shape and simultaneously recognizing the three-dimensional coordinates on the reference marker as the reference three-dimensional coordinates, the reference marker can be recognized accurately and quickly.

A second aspect of the coating material thickness measurement system of the present invention is a system for measuring the thickness of a coating material applied to a target surface, comprising a three-dimensional measurement device, a data processing unit, and a display unit worn by a user and placed in front of the user's eyes, wherein the data processing unit calculates the thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material acquired by the three-dimensional measurement device, the three-dimensional coordinates of three or more equidistant points that are the same distance from the target surface, and the reference three-dimensional coordinates of one or more reference points whose distances from the target surface are known, calculates a coating material image showing the distribution of the thickness of the coating material, and displays the coating material image on the display unit, overlapping it on the coating material in the user's field of vision.
In a second aspect of the coating thickness measurement system of the present invention, it is preferable that the distances of the equidistant points from the target surface are known and the equidistant points are also the reference points, or that the distances of the equidistant points from the target surface are unknown and the reference points are points different from the equidistant points.
In a second aspect of the coating thickness measurement system of the present invention, a user can check the thickness of the coating material on-site by wearing a device equipped with a display unit, thereby shortening the time required for finishing work.

In such a measurement system for the three-dimensional shape of a dressing, it is preferable that the system is provided with an image acquisition unit that captures an image in the field of view of the user's eye, and that the image of the dressing is overlapped on the surface of the dressing on the image captured by the image acquisition unit.
Furthermore, it is more preferable to integrate the three-dimensional measuring device, display unit, and data processing unit into a wearable computer system that can be worn by the user. For example, a head-mounted device such as a head-mounted display (HMD) or smart glasses may be used. This allows the finishing work after application to be checked in real time. This allows the coating material to be applied to a uniform thickness without failure or redoing, even if the worker's skill level is low. In addition, the thickness check that was previously required after each finishing work is no longer necessary.

The coating material application method of the present invention is a method for applying a coating material to a target surface, and is characterized by comprising the steps of: applying the coating material to the target surface; acquiring three-dimensional coordinates of the surface of the coating material, three-dimensional coordinates of three or more equidistant points that are the same distance from the target surface, and reference three-dimensional coordinates of one or more reference points whose distances from the target surface are known; calculating the thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material, the three-dimensional coordinates of the equidistant points, and the reference three-dimensional coordinates; and determining whether there are any poorly applied areas where the thickness of the coating material is outside a predetermined range.
In the coating application method of the present invention, it is preferable that the distances of the equidistant points from the target surface are known and the equidistant points are also the reference points, or that the distances of the equidistant points from the target surface are unknown and the reference points are points different from the equidistant points.
The coating material application method of the present invention uses the thickness measurement method of the present invention, so that poor application locations can be identified at a glance, and coating materials of uniform quality can be provided regardless of the worker's level of skill.

This invention allows on-site workers to determine the thickness of the applied coating material with a single measurement. This makes it easy to perform finishing treatments on areas with poor application. Furthermore, it also allows the measurement to be kept as objective data on the quality of the coating material.

1 is a flowchart illustrating a first embodiment of a coating thickness measurement method of the present invention. FIG. 2a is a front view showing the construction shape, FIG. 2b is a cross-sectional view taken along line XX, and FIG. 2c is a perspective view showing the construction shape calculated from a virtual plane. 4 is a flowchart illustrating a second embodiment of the coating thickness measurement method of the present invention. FIG. 10 is a perspective view showing a construction shape obtained by calculating a virtual plane used in a second embodiment of the coating material thickness measurement method of the present invention. 1 is a block diagram showing the configuration of a first embodiment of a coating material thickness measurement system of the present invention. FIG. 10 is a block diagram showing the configuration of a fourth embodiment of a coating material thickness measurement system of the present invention. 1 is an image showing the construction shape including the three-dimensional shape of the surface of the thermal insulating material. 8a and 8b are cladding images showing the distribution of insulation thickness, respectively. 10 is a flowchart illustrating a third embodiment of the coating thickness measurement method of the present invention. FIG. 10 is a perspective view showing a construction shape obtained by calculating a virtual plane used in a third embodiment of the coating material thickness measurement method of the present invention.

Next, a first embodiment of a method for measuring the thickness of a coating material applied to a target surface (hereinafter referred to as a thickness measurement method) will be described with reference to the flowchart of FIG.
In this embodiment, the thickness of the coating material is calculated based on the three-dimensional coordinates of three or more points that are equidistant from the target surface and at the same known distance. These three or more points are both equidistant points that are equidistant from the target surface and reference points that are at known distances from the target surface.

First, the coating material measured by the thickness measurement method of the embodiment is applied to a target surface by a worker or the like at a site.
Target surfaces (construction surfaces) include the walls, floors, roofs, ceilings, and rooftops of buildings, and this method is particularly useful for areas where thickness measurement is difficult, such as roofs and ceilings.

Examples of covering materials include insulation, fireproofing materials, waterproofing materials, and general building materials (FRP, FRC, FRG). Examples of insulation materials include flexible or rigid urethane foam, rock wool, and cellulose fiber. In particular, in-situ foamed rigid urethane foam (such as rigid urethane foam specified in JIS A9526) applied by spraying is preferred. Sprayed urethane foams using potassium octoate or lead octoate have a fast reaction rate. When sprayed onto the target surface, the foaming concentrate expands irregularly to a foaming ratio of approximately 20 to 120 times. This makes it difficult even for experienced workers to apply the foam to a uniform thickness (approximately 10 to 200 mm). Furthermore, the applied thickness directly affects the insulation performance. Examples of waterproofing materials include urethane-based materials, FRP-based materials, acrylic rubber-based materials, and acrylic resins.

Application methods include spraying and coating. Coating materials applied by spraying are particularly suitable for the thickness measurement method of the present invention, as it is more difficult to achieve a uniform thickness after application than coating materials applied by coating.

The steps will now be explained. As shown in the flowchart of Figure 1, the thickness measurement method includes the steps of placing a reference marker (step 1), acquiring an application shape including the three-dimensional coordinates of the surface of the coating material and the reference three-dimensional coordinates of three or more reference points (step 2), calculating a virtual plane (step 3), calculating the thickness of the coating material (step 4), displaying an image of the coating material (step 5), determining whether finishing is necessary based on the image of the coating material (step 6), performing finishing if it is determined that finishing is necessary (step 7), and storing three-dimensional data of the coating material in association with the target surface if it is determined that finishing is not necessary (step 8).

The first step is to place a reference marker on the covering material. More specifically, the reference marker is placed on the covering material at a position a predetermined distance away from the target surface. For example, in Figures 2a and 2b, reference numeral 11 is the wall (target surface), reference numeral 12 is the covering material, and reference numeral 13 is a disk-shaped reference marker. This reference marker provides a reference point and its reference three-dimensional coordinates that serve as the basis for calculating the virtual plane in step 3. Note that, below, the distance between the target surface and the reference point may be referred to as the "reference distance."

The reference marker 13 is attached to the head of a pin 13a, as shown in Figure 2b, for example. The pin 13a is then inserted into the cladding material 12 so that it is perpendicular to the target surface (so that the plane of the pin's head is parallel to the target surface) and the tip of the pin 13a is brought into contact with the target surface, thereby attaching the reference marker 13 to the cladding material 12. The distance from the reference marker 13 to the wall 11 at this time is defined as L (the length of the pin + the thickness of the reference marker 13). In other words, the length of the perpendicular line drawn from the reference marker 13 to the target surface is distance L, and any point on the reference marker can be used as the reference three-dimensional coordinate. The length of the pin 13a is set to be substantially the same as or slightly longer than the planned thickness of the cladding material 12. This prevents the reference marker 13 from being buried in the cladding material 12, which has been applied to the planned thickness.

In Figure 2, four fiducial markers 13 are provided, and at least one reference three-dimensional coordinate is set for each fiducial marker. It is preferable to provide three or more fiducial markers to estimate the virtual plane. However, it is also possible to use one or two fiducial markers by setting multiple reference three-dimensional coordinates to one fiducial marker. This can be determined appropriately depending on the required accuracy. When multiple fiducial markers are provided, they are all installed so that they are all the same distance from the target surface.
Although the fiducial marker 13 is exemplified by a disk-shaped one, other shapes include a sphere, a cube, and a polygonal flat plate such as a triangle or square. The shape of the fiducial marker 13 is not particularly limited, but a fiducial marker having the geometric characteristics listed above is preferable because it is easy to automatically recognize by image processing. It is also preferable to use a fiducial marker of a predetermined color. For example, if the head of the fiducial marker is a predetermined color such as red, blue, or green that is easily distinguishable against the background of the covering material, automatic recognition of the fiducial marker can be facilitated using the color characteristics as a clue. When using a flat plate, it is important to ensure that the flat plate is parallel to the target surface when installed.
The pins 13a supporting the reference marker 13 are not particularly limited. For example, the reference marker may be supported by three or more pins. In this case, by inserting the three pins into the covering material 12 so that the tips of the three pins abut against the target surface (wall 11), the three pins 13a can be made perpendicular to the target surface, allowing the worker to easily install the reference marker at a predetermined distance from the target surface.

The second step is to obtain an installation shape including three-dimensional coordinates of the surface of the coating material and reference three-dimensional coordinates of three or more reference points that are at known and substantially the same distance from the target surface. More specifically, an installation shape including three-dimensional coordinates of the surface of the coating material 12 and three-dimensional coordinates of the surfaces of the fiducial markers 13 is obtained. For example, the installation shape 10 in Figures 2a and 2b includes three-dimensional coordinates of the coating material 12 and three-dimensional coordinates (reference three-dimensional coordinates) of the surfaces of the four fiducial markers 13.
"Acquisition of a construction shape" refers to, for example, acquiring the three-dimensional shape of a target surface as a set of three-dimensional coordinates. For example, point cloud data obtained by scanning a target surface with a three-dimensional measuring device or the like can be used.

Three-dimensional measurement devices, such as three-dimensional scanners and stereo cameras, are used to acquire data. Three-dimensional scanners include those that irradiate a target surface with laser light and calculate the three-dimensional shape of the target surface using the reflected light (the so-called LIDAR method), and those that measure distance based on the time it takes for the irradiated light to reflect and return (the time-of-flight method). Stereo cameras, on the other hand, calculate the three-dimensional shape of a target surface using the principle of triangulation from images of the target surface captured by two cameras. To improve the matching accuracy of the two camera images, there are methods that project a measurement pattern using a separate projector, or replace one of the two cameras with a projector that projects patterned light (the so-called active stereo method). While an appropriate device can be selected taking into consideration measurement accuracy, measurement speed, and cost, since the indoor layout of the target surface varies depending on the building, a LIDAR-based three-dimensional scanner, which has relatively stable accuracy, is preferred. On the other hand, considering the complexity of installing a scanner on-site, a handheld active stereo scanner that can capture a large target surface at once is preferred.
It is also preferable that the construction shape includes color information of the target. For example, if a color camera is used for 3D measurement, color images can be acquired simultaneously with 3D coordinates, and point cloud data with added color information can be generated. Reference markers and covering material areas can be recognized based on the color information of the construction shape.

The third step is to calculate a virtual plane. Specifically, a virtual plane S is calculated within the construction shape by translating the target surface a predetermined distance in the direction perpendicular to the target surface based on the reference marker 13 (reference three-dimensional coordinates). Note that the target surface may also be calculated based on the reference three-dimensional coordinates.

2c shows a construction shape 10a obtained by calculating the virtual plane S. The method for calculating the virtual plane S uses four reference markers 13 spaced a predetermined distance from the target surface (wall 11).
Specifically, four fiducial markers are first recognized from the construction shape based on their color and shape characteristics. For example, if a red fiducial marker is used, the red area from the construction shape can be recognized as the fiducial marker. This recognition can be done by the worker manually indicating the position of the fiducial marker on the screen, or it can be done automatically by a computer processing unit.
Next, three or more reference three-dimensional coordinates are extracted from the four recognized fiducial markers. For example, the centroid coordinates of each fiducial marker may be used as the reference three-dimensional coordinates. It is not necessary to use all four fiducial markers; multiple reference three-dimensional coordinates may be extracted from one fiducial marker. Next, a plane S1 is estimated based on the extracted three or more reference three-dimensional coordinates. At this time, due to influences such as measurement errors of the three-dimensional measurement device and the inclination of the fiducial markers relative to the target surface, it is expected that the reference three-dimensional coordinates will not strictly lie on the same plane. Therefore, a plane can be fitted to the multiple reference three-dimensional coordinates. Known techniques can be used for this. For example, a least-squares plane can be found for the multiple reference three-dimensional coordinates using the least-squares method. This plane S1 is parallel to the wall 11 and is separated by a predetermined distance L. A virtual plane S is calculated by expanding this plane S1 to a position and size obtained by translating the target surface a predetermined distance in a direction perpendicular to the target surface. The virtual plane S may be calculated at a position separated by a predetermined reference thickness from the target surface. At this time, if the coating material is applied according to the standard thickness, the surface of the coating material will coincide with the virtual plane S.

The fourth step is to calculate the thickness of the coating material based on the virtual plane calculated based on the three-dimensional coordinates of the surface of the coating material and the reference three-dimensional coordinates in the application shape for which the virtual plane was calculated.
Specifically, the distance between a point on the surface of the coating material intersecting a line perpendicular to the target surface and a point on a virtual plane is calculated, and the thickness of the point on the surface of the coating material is calculated taking into account the distance L of the virtual plane relative to the target surface. That is, as shown in Figure 2c, if the distance between point C1 on the surface of the coating material intersecting a line perpendicular to the target surface V1 and the corresponding point T1 on the virtual plane is Z1, and point C1 is covered by the virtual plane S, the thickness of point C1 on the coating material is L - Z1. On the other hand, if the distance between point C2 on the surface of the coating material intersecting a line perpendicular to the target surface and the corresponding point T2 on the virtual plane is Z2, and point C2 protrudes from the virtual plane S, the thickness of point C2 on the coating material is L + Z2 (not shown). This method can be used to calculate the thickness of the entire area of the coating material. This calculation can be performed by subtracting the point cloud coordinates of the surface of the coating material from the point cloud coordinates of the virtual surface, or by converting the point cloud into a mesh and calculating the difference between the surfaces.

The fifth step is to display a coating material image, specifically, an image showing the surface of the coating material, in which the thickness distribution of the coating material is indicated by color or shading, and the image is calculated and displayed.
Examples of images showing the surface of the covering material include a perspective image that is expressed in three dimensions, and a two-dimensional image in which the construction shape is projected onto a specified plane (for example, a plane parallel to the target surface).

The sixth step determines whether finishing is necessary based on the coating material image. Specifically, the coating material image is checked for imperfect application areas where the coating material thickness is outside a predetermined range. If imperfect application areas are found, finishing is deemed necessary. If no imperfect application areas are found, finishing is deemed unnecessary. The thickness of each portion of the coating material is calculated based on a predetermined reference thickness, and the thickness is determined based on whether it is within the predetermined range. For example, when the coating material is used as insulation, the application standard is a range of -0 mm to +20 mm relative to a reference thickness of 30 mm (thinner areas are considered imperfect, and thicker areas are acceptable up to 20 mm). A stricter range of -0 mm to +5 mm can also be set. For example, in the coating material image of the fifth step, imperfect application areas may be displayed in color or shade (application defect determination image). Furthermore, for example, the areas may be identified by lines in the coating material image, and a numerical value indicating the deviation of the area from a predetermined value may be displayed. Identifying imperfect application areas and clarifying the degree of imperfection in this way facilitates the finishing process of the seventh step.
If it is determined that finishing processing is necessary, the process proceeds to the seventh step, and if it is determined that finishing processing is unnecessary, the process proceeds to the eighth step.

In the seventh step, if it is determined that finishing is necessary, finishing is performed. In other words, if it is determined that finishing is necessary in the sixth step, finishing is performed on the areas that require finishing so that the thickness of the coating material falls within a predetermined range. Specifically, for areas that are thicker than the predetermined range, the excess is cut off, and for areas that are thinner than the predetermined range, additional coating is sprayed or applied. After finishing is performed, the process returns to the second step, and the application shape is acquired.
Thereafter, in the sixth step, steps two through seven are repeated until finishing is no longer necessary.

In step 8, if it is determined that finishing is not required, the three-dimensional shape of the cladding surface and the cladding thickness, particularly the cladding material image, are associated with the target surface and stored as a database. In other words, if it is determined in step 6 that finishing is not required, the cladding application is completed and the data is saved. For example, by storing the location information and identification information of the target surface, such as the east wall of Room 102, in association with the cladding material image, it is possible to create database data managed for each target surface (wall). Furthermore, if 3D CAD data for the building exists, it is preferable to store the data in association with the 3D CAD data. In particular, storing the data in association with BIM (Building Information Modeling), which has been proposed recently, enables more efficient process and quality management. This is particularly easy to manage when there are multiple target surfaces, such as in buildings or apartment complexes. The unfinished three-dimensional shape may also be saved. This allows the work process to be tracked.
It is preferable to store these data as uneditable electronic files with security set using a password, for example. In particular, it is preferable to store these data as uneditable electronic files with time stamps to verify that they have not been tampered with and to verify the time stamp. By storing these data as uneditable electronic files, the objectivity of the data can be maintained.

As described above, the coating thickness measurement method of this embodiment calculates a virtual plane within the construction shape by translating the target surface a predetermined distance in a direction perpendicular to the target surface based on the reference three-dimensional coordinates, and calculates the thickness of the coating material from the surface of the coating material and the virtual plane. Therefore, the thickness of the entire coating material can be determined with a single measurement after construction of the coating material, without having to measure the thickness of the coating material by inserting pins or the like. Furthermore, finishing processing of the coating material is also simple. In particular, using an image of the coating material makes it easy to identify the location of finishing processing.
The coating application method using this thickness measurement method can provide coating materials of uniform quality regardless of the skill level of the worker.

The method for measuring the thickness of a coating material using a fiducial marker according to the first embodiment is not limited to the above.
For example, in the step of installing the fiducial markers (first step), the fiducial markers are installed on the covering material, but the fiducial markers may also be installed near the covering material. For example, the fiducial markers may be installed on pillars around the covering material. The location of the fiducial markers can be determined appropriately depending on the target surface.
In the step of creating a coating material image (step 5), a coating material image is shown in which thickness is indicated by color or shading, but a projection image or a three-dimensional image (perspective image) of the coating material without color or shading according to thickness may also be used. Furthermore, in step 5, instead of displaying only an image, a table relating position data on the target surface with thickness data of the coating material may also be displayed.

Alternatively, the moisture content of the target surface may be measured before the coating material is applied, and the moisture content may be stored in association with the thickness of the coating material, particularly an image of the coating material. Because rigid urethane foam contains water as its blowing agent, if the target surface (wall surface) contains a large amount of moisture, the reaction balance may be disrupted, resulting in a deterioration in the quality of the insulating material. Therefore, by storing the moisture content of the wall surface before application along with the insulating material data, a more detailed database can be constructed. An existing high-frequency moisture meter, such as the HI-520-2 manufactured by Kett Electric Laboratory, can be used to measure the moisture content.
Furthermore, before applying the coating material, the temperature distribution of the target surface can be measured using a thermal camera or the like, and the temperature distribution can be stored in association with the three-dimensional shape of the surface of the coating material and the thickness of the coating material, particularly an image of the coating material. Because the temperature of the sprayed surface can affect the quality of rigid polyurethane foam, it is preferable to store the relationship between temperature distribution and thickness from a quality control perspective. In this case, the two-dimensional temperature image acquired by the thermal camera can be mapped onto the three-dimensional shape of the surface of the coating material based on a reference marker or structure.
Furthermore, when applying the coating material, the spraying conditions (in the case of two-component rigid urethane foam, the mixing pressure and mixing temperature of the two components) can be continuously acquired, and the spraying conditions can be stored in association with the three-dimensional shape of the surface of the coating material and the thickness of the coating material, particularly an image of the coating material. Because the quality of rigid urethane foam varies greatly depending on the spray conditions, storing the spray conditions before application along with the three-dimensional data of the insulation material is preferable for quality control and allows the construction of a detailed database.
In addition, indoor environmental information (temperature, humidity, etc.) during construction may be acquired, and this environmental information may be stored in association with the three-dimensional shape of the surface of the coating material and the thickness of the coating material, particularly an image of the coating material.

Next, a second embodiment of the thickness measurement method will be described with reference to the flowchart of Fig. 3. This embodiment is performed without installing a fiducial marker.
As shown in the flowchart of Figure 3, this method includes a step of acquiring the construction shape (step 1A), a step of calculating a virtual plane (step 2A), a step of calculating the thickness of the coating material (step 3A), a step of displaying an image of the coating material (step 4A), a step of determining whether finishing processing is necessary based on the image of the coating material (step 5A), a step of performing finishing processing if it is determined that finishing processing is necessary (step 6A), and a step of storing three-dimensional data of the coating material in association with the target surface if it is determined that finishing processing is not necessary (step 7A).
Steps 3A to 7A are substantially the same as steps 4 to 8 of the embodiment shown in FIG.

Step 1A acquires a construction shape. In this embodiment, the construction shape includes three-dimensional coordinates of the surface of the coating material and a structure located adjacent to or near the target surface. Here, the structure refers to a structure that includes a surface parallel to the target surface. The surface of the structure refers to a surface that includes a surface parallel to the target surface.
Examples of structures include pillars, sashes, thresholds, moldings, baseboards, beams, and other structures located in the same room as the wall surface of the target surface, as well as structures with characteristic shapes such as the boundaries between floors, ceilings, and walls, piping, doors, windows, openings such as ventilation openings, and distribution boxes. In addition, in the case of waterproofing the floor of a parking lot, the rising parts of parapets, etc., and structures such as pillars can be used as reference points.
For example, the construction shape 10 of FIG. 4 includes a cladding material 12 and a column P having a surface S2 parallel to the target surface.

Step 2A calculates a virtual plane. Specifically, the three-dimensional coordinates of any three points on a plane parallel to the target surface of the structure are obtained and used as reference three-dimensional coordinates. Here, three points (not shown) are selected from plane S2 of column P and used as reference three-dimensional coordinates. The distance L of plane S2 from the target surface is assumed to be known based on the known dimensions of column P. Based on the reference three-dimensional coordinates on S2, a virtual plane S is calculated within the construction shape by translating the target surface a predetermined distance in the direction perpendicular to the target surface. The dotted line in Figure 4 represents the virtual plane S. In other words, in the structure (column P), the plane S2 parallel to the target surface is enlarged to the same size as the target surface and translated in the planar direction to calculate the virtual plane S within the construction shape. Note that if the construction shape is represented by a polygon mesh rather than point cloud data, it is possible to select a plane parallel to the target surface instead of obtaining three reference three-dimensional coordinates. However, this is essentially the same as selecting three reference three-dimensional coordinates that define the selected surface.

As with the first embodiment, the thickness measurement method of this second embodiment can calculate a virtual plane within the construction shape by translating the target surface a predetermined distance in a direction perpendicular to the target surface. This makes it possible to confirm the thickness of the entire coating material with a single measurement after construction. As with the first embodiment, the coating material construction method using this thickness measurement method can provide coating material of consistent quality, regardless of the skill level of the worker.

Next, a third embodiment of the coating thickness measurement method will be described.
In the thickness measurement methods of the first and second embodiments, a virtual plane is calculated based on the three-dimensional reference coordinates of three or more points that are equidistant from the target surface and have the same known distance from the target surface. These points are both equidistant points that are the same distance from the target surface and reference points that have a known distance from the target surface.
In this embodiment, a virtual plane is calculated based on the three-dimensional coordinates of three or more equidistant points that are at equal but unknown distances from the target surface, and the reference three-dimensional coordinates of one or more reference points whose distances from the target surface are known.
A flowchart of this embodiment is shown in Fig. 9. Steps 4B to 8B are substantially the same as steps 4 to 8 in Fig. 1.

In step 1B, a reference marker is placed on the covering material. The same reference marker as in the first embodiment can be used. However, only one reference marker needs to be placed, and one reference three-dimensional coordinate needs to be set on that reference marker.

In step 2B, the construction shape is acquired. In this embodiment, the construction shape includes the three-dimensional coordinates of the surface of the coating material and the structure located adjacent to or near the target surface, and the reference three-dimensional coordinates set in the reference marker. As in the second embodiment, the structure here refers to a structure including a surface parallel to the target surface, and the surface of the structure refers to that surface parallel to the target surface. Examples of the structure are also the same as in the second embodiment.
For example, the construction shape 10b in FIG. 10 includes a covering material 12, one reference marker 13, and a column P having a surface S2 parallel to the target surface.

In step 3B, a virtual plane is calculated. Specifically, any three points on a plane parallel to the target surface of the structure are set as equidistant points, and their three-dimensional coordinates are obtained. In Figure 10, three points (not shown) are selected as equidistant points on plane S2 of column P. A plane parallel to the target surface is calculated based on the three-dimensional coordinates of the equidistant points on S2, and this plane is translated until the reference point on reference marker 13 is placed on this plane, thereby calculating virtual plane S within the construction shape. The virtual plane S is shown by a dotted line in Figure 10.

As with the first embodiment, the thickness measurement method of this third embodiment can calculate a virtual plane within the construction shape by translating the target surface a predetermined distance in the vertical direction, making it possible to confirm the thickness of the entire coating material with a single measurement after construction. As with the first embodiment, the coating material construction method using this thickness measurement method can provide coating materials of consistent quality, regardless of the skill level of the worker.

Next, a first embodiment of a system for measuring the thickness of a coating material (hereinafter referred to as a thickness measurement system) of the present invention will be described. The measurement system 20 in Figure 5 comprises a three-dimensional measurement device 21, a control unit 22, a reference marker 23, and a display unit 24. The three-dimensional measurement device 21 measures the applied shape, including the three-dimensional shape of the surface of the coating material 12 applied to the target surface. This thickness measurement system 20 can be used in the thickness measurement method of Figure 1. The reference marker 23 is substantially the same as the reference marker 13 used in the thickness measurement method of Figure 1.

The three-dimensional measuring device 21 is a three-dimensional scanner equipped with a light-emitting unit 21a that emits laser light, a light-receiving unit 21b that receives the laser light reflected by the coating material, and a calculation unit (not shown). The three-dimensional measuring device 21 is essentially the same as the three-dimensional measuring device used in the measurement method of Figure 1, and is not particularly limited as long as it is a device that can measure the three-dimensional shape of the surface of the coating material.

The control unit 22 includes a storage unit 26 and a data processing unit 27 that calculates the thickness of the coating material.
The storage unit 26 stores application shape data including the three-dimensional shape of the surface of the coating material measured by the three-dimensional measuring device 21. It also stores virtual plane data and coating material thickness data calculated by the data processing unit 27, as described below. The storage unit 26 stores the three-dimensional data of the surface of the coating material and the coating material thickness data, particularly the coating material image and the target surface, in association with each other.
In addition, environmental information such as temperature and humidity during application, spray conditions (mixing pressure and temperature of two-component rigid urethane foam), and measured data on the moisture content of the target surface may be stored in association with the coating material image.
It is preferable to store these data as uneditable electronic files with security set by, for example, a password. In particular, it is preferable to store these data as electronic files with a time stamp to verify that they have not been tampered with and to verify the time stamp. Furthermore, the storage unit 26 itself may be locked with a password or the like to prevent rewriting by anyone other than those with special authorization.
The data stored in the storage unit 26 may be stored in a disk-shaped storage medium such as a CD or DVD, or a storage medium such as a USB or memory card, by a person with special authority set by a password or the like. In particular, as the storage medium, a disk-shaped storage medium such as a CD-R or DVD-R to which data can be written only once, or a storage medium such as a USB or memory card with a tamper-proof function is preferable.

The data processing unit 27 automatically extracts reference markers 23 from the construction shape data based on color or shape characteristics, or extracts reference markers 23 specified by the worker, calculates virtual plane data by translating the target surface a predetermined distance in the direction perpendicular to the target surface based on the reference markers 23, and calculates the thickness of the coating material based on the three-dimensional shape data of the surface of the coating material and the virtual plane data. The calculation of the virtual plane data is performed in the same manner as in the third step of the thickness measurement method of Figure 1. The thickness of the coating material is also calculated in the same manner as in the fourth step of the thickness measurement method of Figure 1.
The data processing unit 27 then converts the applied shape data into a coating material image, which is an image showing the surface of the coating material and indicates the thickness distribution of the coating material using colors or shading. The coating material image is essentially the same as that used in the thickness measurement method of Figure 1.
Furthermore, the data processing unit 27 identifies areas of the coating material where the thickness of the coating material is outside a predetermined range based on the thickness of the coating material. That is, areas where the coating material is too thick or too thin are automatically indicated as poorly applied areas. For example, such poorly applied areas may be displayed in a special color in the coating material image, or the defective areas may be extracted and displayed, or may be made to blink. It is also preferable to indicate how far the poorly applied areas deviate from the predetermined range.

The display unit 24 is a two-dimensional LCD monitor that displays the dressing image created by the data processing unit 27.

This measurement system 20 allows the installation of a coating material by placing a fiducial marker 23 on the coating material and acquiring the installed shape, including the three-dimensional shapes of the coating material and the fiducial marker 23. This allows the total thickness of the coating material to be calculated, making it easy to identify areas with poor installation. Furthermore, since the confirmation work can be performed in one go, the worker's workload can be significantly reduced. Furthermore, since the display unit can display an image of the coating material, workers can easily and accurately identify the location of installation defects on-site.
Furthermore, the target surface can be associated with the three-dimensional shape of the surface of the coating material and the thickness of the coating material, and these can be stored in association with each other. This means that data on the coating material can be stored together, linked to the target surface, making it easy to control the quality of the coating material.
In this measurement system 20, data such as the thickness of the coating material is stored in the memory unit 26 of the control unit 22, but it may also be stored directly on a storage medium such as a CD, DVD, USB, or memory card. In particular, the objectivity of the data can be maintained by directly storing the data on a disk-shaped storage medium such as a CD-R or DVD-R that can be written to only once, or on a storage medium such as a USB or memory card with a tamper-proof function. Of course, instead of storing the data directly, it is also possible to copy the data stored in the memory unit 26 to a storage medium in an unalterable state and then delete the data from the memory unit 26.

In the thickness measurement system 20, the reference marker 23 is recognized, and the virtual plane data is calculated based on the reference marker 23. However, the virtual plane data may be calculated based on a surface of a structure that is located adjacent to or near the target surface and that is parallel to the target surface of the structure, without using the reference marker 23.
In the second embodiment of the thickness measurement system, the data processing unit 27 automatically extracts a surface of the structure parallel to the target surface from the construction shape data, or extracts one specified by the worker, and calculates virtual plane data by translating the target surface by a predetermined distance in the direction perpendicular to the target surface based on that surface. The method for calculating the virtual plane is the same as step 2A of the thickness measurement method in Figure 3.
Other processes are substantially the same as those in the thickness measurement system 20 .

As a third embodiment of the thickness measurement system, a projector may be used as the display unit 24 of the measurement system 20. In this case, it is preferable that the data processing unit 27 aligns the reference markers on the coating material with the reference markers on the projected image (or the plane of the structure), and performs projection mapping so that the thickness of the coating material is displayed.
This configuration allows the worker to identify the location of any imperfections in the coating material application from the image projected onto the target surface, simplifying the finishing process.

As shown in FIG. 6, the fourth embodiment of the thickness measurement system 20a includes a three-dimensional measurement device 21, a control unit 22, a reference marker 23, and an eyeglass-type display 30. The eyeglass-type display 30 displays the surface shape of the dressing material so that it overlaps with the target surface in the user's field of vision. The three-dimensional measurement device 21 and the control unit 22, which includes a memory unit 26 and a data processing unit 27, are substantially the same as those in the thickness measurement system 20 of FIG. 5.

The eyeglass-type display 30 includes a lens-shaped display unit 31 , an image acquisition unit 32 , and a display control unit 33 .
The lens-shaped display unit 31 is transparent and fixed to the frame of the eyeglass-type display 30 so as to be positioned in front of the user's eyes when the eyeglass-type display 30 is attached to the user's head.
The image acquisition unit 32 acquires, as image data, information on the field of view of the user's eyes via the lens-shaped display unit 31. For example, a camera or the like fixed to the frame of the eyeglass-type display 30 near the display unit 31 can be used.

The display control unit 33 includes a display storage unit 33a and a display data processing unit 33b, both of which are not shown.
The display storage unit 33a stores the image data acquired by the image acquisition unit 32 and the dressing image created by the data processing unit 27. It also stores the geometric relationship between the display unit 31 and the image data. For example, it stores the positional relationship, size ratio, and other relationships between the display unit 31 that projects the image and the image data acquired by the image acquisition unit 32.
The display data processing unit 33b compares the image data acquired by the image acquisition unit 32 with the dressing image, and performs image deformation processing and alignment processing so that the reference markers in the image data and the dressing image overlap. Then, based on the relationship between the display unit 31 and the image data, the dressing image is projected onto the display unit 31 so that the dressing image overlaps with the dressing in the user's field of view. Data communication between the display data processing unit 33b and the data processing unit 27 may be wired or wireless. Furthermore, the calculations of the data processing unit 27 may be performed by the display data processing unit 33b, or conversely, the calculations of the display data processing unit 33b may be performed by the data processing unit 27.

This configuration allows workers to simply wear the eyeglass-type display 30 and check the locations of any imperfections in the coating material through the lenses, making the finishing process even easier.

In the thickness measurement system 20a of the fourth embodiment, instead of using a reference marker as in the thickness measurement system of the second embodiment, the data processing unit 27 may automatically extract a plane parallel to the target surface of the structure from the construction shape, or the worker may specify and extract it, and based on that plane, calculate virtual plane data by translating the target surface a predetermined distance in the direction perpendicular to the target surface.
Furthermore, in the thickness measurement system 20a according to the fourth embodiment, the display unit 31 may be opaque. In this case, the display unit displays the image captured by the image acquisition unit and the image of the dressing material. In this case, the same effect can be obtained.

Furthermore, as another embodiment of the measurement system of the present invention, for example, a wearable display such as a head-mounted display (HMD) may be used instead of the glasses-type display. In this case, the three-dimensional measurement device 21 and the control unit 22 are also built into the HMD.
An example of such an HMD is HoloLens (registered trademark), a holographic computer manufactured by Microsoft. HoloLens (registered trademark) is a so-called mixed reality wearable device that can project computer graphics superimposed on real-world scenery. In other words, this three-dimensional measurement system has various sensors such as a 2D camera (image acquisition unit), a 3D sensor (three-dimensional measurement device), and an acceleration sensor (IMU), as well as a CPU (data processing unit and display data processing unit), a storage device (storage unit and display storage unit), and the like built into the HMD.
This operating method involves placing a reference marker on the coating material, attaching a HoloLens (registered trademark), obtaining the applied shape including the three-dimensional shape of the surface of the coating material after application using a three-dimensional measuring device, calculating an image of the applied coating material in real time, and projecting the reference marker on the coating material image into the worker's field of vision so that it overlaps with the reference marker on the actual coating material.
In this way, workers can check the application results for the entire application area in real time while applying the coating material, and can immediately take action on any application defects where the coating material is insufficient in thickness.

The image in Figure 7 is an image of the installed shape taken using a three-dimensional measuring device (MantisVision's handheld 3D scanner "F6 SMART"). On this wall surface, the shaded areas represent the installed insulation. In Figure 7, reference marker M1 in Figure 8a is placed in the area of "reference installation surface 1," and reference marker M2 in Figure 8b is placed in the area of "reference installation surface 2." The insulation is sprayed rigid urethane foam as shown in Table 1.

8a is a contour diagram showing how far the three-dimensional shape of the surface of the insulating material is separated from a virtual plane based on a reference marker M1 provided on the insulating material. Fig. 8b is a contour diagram showing how far the three-dimensional shape of the surface of the insulating material is separated from a virtual plane based on a reference marker M2 provided on a pillar P adjacent to the target surface.
In this way, the thickness and unevenness of the insulation material relative to each virtual plane can be seen at a glance. Then, workers can use this image as a starting point for finishing work.
In addition, since the condition of the insulation can be stored as objective data in this way, it is also ideal as data for quality assurance of the installed insulation.

10, 10a, 10b Construction shape; 11 Wall; 12 Cladding material; 13 Reference marker; 13a Pin; 20, 20a Measurement system; 21 Three-dimensional measurement device; 21a Light-emitting unit; 21b Light-receiving unit; 22 Control unit; 23 Reference marker; 24 Display unit; 26 Memory unit; 27 Data processing unit; 30 Glasses-type display; 31 Display unit; 32 Image acquisition unit; 33 Display control unit; 33a Display memory unit; 33b Display data processing unit; M1 Reference marker; M2 Reference marker; P Pillar; S Virtual plane; S1 Surface; S2 Surface; V1 Vertical line

Claims (9)

A method for measuring the thickness of a covering material applied to a target surface selected from a wall, floor, roof, ceiling, and rooftop of a building, comprising :
a step of acquiring a construction shape including three-dimensional coordinates of the surface of the coating material, three or more three-dimensional coordinates of equidistant points that are at equal distances from the target surface, and reference three-dimensional coordinates of one or more reference points whose distances from the target surface are known;
calculating a virtual plane obtained by translating the target surface by a predetermined distance in the vertical direction based on the acquired three-dimensional coordinates of the equidistant points and the reference three-dimensional coordinates;
calculating a thickness of the coating material based on three-dimensional coordinates of the surface of the coating material and the virtual plane ;
How to measure the thickness of coating materials. the distance of the equidistant point from the target surface is known, and the equidistant point is also the reference point;
The method for measuring the thickness of a coating material according to claim 1. a distance of the equidistant point from the target surface is unknown, and the reference point is a point different from the equidistant point;
The method for measuring the thickness of a coating material according to claim 1. a step of placing a reference marker on or near the coating material before the step of acquiring the construction shape;
The reference three-dimensional coordinates are three-dimensional coordinates on the reference marker.
The method for measuring the thickness of a coating material according to any one of claims 1 to 3 . the equidistant points are points on the surface of the structure adjacent to or near the coating material and the target surface;
The method for measuring the thickness of a coating material according to any one of claims 1 to 3 . The construction shape is acquired by a LIDAR three-dimensional scanner.
The method for measuring the thickness of a coating material according to any one of claims 1 to 5. a projection mapping step of projecting a coating material image, which indicates the thickness distribution of the coating material in color, onto the surface of the coating material;
The method for measuring the thickness of a coating material according to any one of claims 1 to 6 . The covering material is a sprayed polyurethane foam insulation material.
The method for measuring the thickness of a coating material according to any one of claims 1 to 7 . 1. A method for applying a covering material to a target surface selected from a wall, floor, roof, ceiling, and rooftop of a building, comprising :
applying the coating material to the target surface;
a step of acquiring a construction shape including three-dimensional coordinates of the surface of the coating material, three or more three-dimensional coordinates of equidistant points that are at equal distances from the target surface, and reference three-dimensional coordinates of one or more reference points whose distances from the target surface are known;
calculating a virtual plane obtained by translating the target surface by a predetermined distance in the vertical direction based on the acquired three-dimensional coordinates of the equidistant points and the reference three-dimensional coordinates;
calculating a thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material and the virtual plane ;
and determining whether there is a defective application portion where the thickness of the coating material is outside a predetermined range.
How to apply the covering material.