JP7809969B2 - Floor construction method and flotation device - Google Patents

Description

The present invention relates to a floor construction method and a levitation device.

A floor construction method is known in which image data of the floor surface is acquired using an image sensor, and the need for floor surface correction is determined based on the results of a comparison between the acquired image data and data on the target floor surface (see, for example, Patent Documents 1 to 4).

JP 2016-151113 A Japanese Patent Application Laid-Open No. 2020-176484 Japanese Patent Application Laid-Open No. 2020-193484 Japanese Patent Application Laid-Open No. 2017-181374

When implementing the floor construction method described above, it is desirable to be able to easily install the image sensor.

The object of the present invention is to provide a floor construction method that makes it easy to install an image sensor, and a levitation machine that is suitable for implementing this construction method.

The floor construction method of the present invention includes an installation step of installing a flotation device on a structure located above the floor, the flotation device having a buoyancy-generating float, an image sensor, an adhesive body detachable from the structure, and a long body, by moving the flotation device in a floating state via operation using the long body and attaching the adhesive body to the structure; an acquisition step of acquiring image data of the floor surface using the image sensor; and a determination step of determining whether or not the floor surface needs to be modified based on the results of comparing the acquired image data with data of the target floor surface.

In the above-described configuration, the floor construction method of the present invention is preferably a method in which the structure constitutes a ceiling.

In the floor construction method of the present invention, in the above configuration, it is preferable that the attracting body is composed of an electromagnet and the structure is composed of a magnetic material.

In the floor construction method of the present invention, in the above configuration, it is preferable that the floating body is a balloon.

In the floor construction method of the present invention, in the above configuration, it is preferable that the floating body is a propeller, and the floating device has a buffer member below the propeller.

In the above-described configuration, the floor construction method of the present invention preferably includes a projection step in which the acquired image data is compared with data on the target floor surface, and an image showing the distribution of the height difference of the floor surface relative to the target is projected onto the floor surface by a projector provided in the levitation device, and the judgment step preferably includes an image confirmation step in which it is determined whether or not the floor surface needs to be corrected based on the image projected onto the floor surface.

The levitation device of the present invention has a levitation body that generates buoyancy, an image sensor, an adhesive body that can be attached and detached to a structure, and a long body that can be towed, wherein the levitation body is composed of a balloon and the levitation device moves in a floating state by operation via the long body .

The present invention provides a floor construction method that makes it easy to install image sensors, and a levitation machine suitable for implementing this construction method.

FIG. 1 is a side view showing a state at the start of an installation step in a floor construction method according to an embodiment of the present invention. FIG. 2 is a perspective view showing a state at the start of the installation step shown in FIG. 1; 3 is a perspective view showing the state when the levitation device is moved from the state shown in FIG. 2 and is attached to the ceiling. FIG. 4 is a perspective view showing the state when the telescopic rod is extended from the state shown in FIG. 3 and the installation of the levitation device is completed. FIG. FIG. 5 is a side view showing a projection step carried out from the state shown in FIG. 4 through an acquisition step. 6 is a top view showing an image projected onto the floor surface by the projection step shown in FIG. 5. FIG. 6 is a perspective view showing a modified example of the flotation device shown in FIGS. 1 to 5. FIG. 8 is a perspective view showing an installation step using the levitation machine shown in FIG. 7.

Embodiments of the present invention will be described below with reference to the drawings.

As shown in Figures 1 to 6, a floor construction method according to one embodiment of the present invention is carried out indoors in a building using a levitation machine 1 according to one embodiment of the present invention. The building has a floor 2 and a ceiling 4 as a structure 3 located above the floor 2. The floor 2 is made up of the surface of concrete 8. After the concrete 8 is poured, the surface of the concrete 8 that forms the floor 2 typically requires multiple leveling and correction operations to achieve the desired levelness or inclination as designed. According to this embodiment, the use of the levitation machine 1 makes it easy to determine whether or not leveling and correction operations are necessary and to carry out the leveling and correction operations as needed.

As shown in Figure 5, the ceiling 4 is composed of a framework 5 and a steel deck 6. In other words, the underside of the ceiling 4 is made of a magnetic material. The floor 7 is composed of concrete 8 poured on top of the framework 5 and steel deck 6.

As shown in Figures 1 and 2, the levitation device 1 has a float 9, an image sensor 10, a projector 11, a suction device 12, a control device 13, a body 14, a long body 15, an antenna 16, and an operating device 17. The float 9, the image sensor 10, the projector 11, the suction device 12, the control device 13, one end of the long body 15, and the antenna 16 are held by the body 14. The other end of the long body 15 is connected to the operating device 17. The operating device 17 has a built-in power source such as a battery. In this embodiment, the long body 15 is a flexible electric wire that is responsible for power supply and communication.

In this embodiment, the float 9 is a balloon. The gas put into the balloon is not particularly limited as long as it is lighter than air, and can be helium, for example. The gas inside the float 9 generates buoyancy that constantly raises the levitation device 1. Using a balloon as the float 9 reduces the risk of a sudden fall, allowing for safe operation.

The image sensor 10 is a camera that captures an image of the floor surface 2 and acquires image data of the floor surface 2. Note that the image sensor 10 is not limited to a camera and may be configured, for example, as a 3D scanner.

Projector 11 can project and display images instructed by control device 13 onto floor surface 2. There are no particular limitations on the type of projector 11, and it may be, for example, an LCD projector, a CRT projector, a DLP projector, etc.

The suction device 12 is composed of telescopic rods 12a extending upward from the body 14 at four points surrounding the levitation body 9, and electromagnets serving as suction bodies 12b connected to the tip (upper end) of each telescopic rod 12a. The telescopic rods 12a can be extended and retracted by the control device 13 via a drive mechanism (not shown). The power to the electromagnets is turned on and off by the control device 13.

The body 14 has sufficient rigidity to hold the levitation body 9, image sensor 10, projector 11, suction device 12, control device 13, one end of the elongated body 15, and antenna 16. There are no particular limitations on the shape and material of the body 14.

The control device 13 is composed of a computer and is connected to the image sensor 10, projector 11, and suction device 12 via wire or wirelessly. The control device 13 is also connected to the operation device 17 via the elongated body 15 (electrical wire), and controls the image sensor 10, projector 11, and suction device 12 in response to inputs made by the operator to the operation device 17.

The operating device 17 has an operating unit (not shown) that receives input operations. The type of operating unit is not particularly limited, and may be a button type, a dial type, a joystick type, or any combination of these.

In this embodiment, the operator can easily change the height and direction of the levitation device 1 or move it horizontally by holding and pulling the electric wire serving as the long member. Therefore, the operation for moving the levitation body 9 can be left to the pulling operation described above, and other input operations for the image sensor 10, projector 11, and suction device 12 can be performed using the operation unit of the operation device 17. This simplifies the configuration of the operation unit and eliminates the need for skilled operation.

The control device 13 is connected to an antenna 16, and is capable of wirelessly communicating with a base station 18 via the antenna 16. The base station 18 is installed in a framework 5 that makes up the ceiling 4. The installation location of the base station 18 is not limited to this, and it may also be installed in another structure 3. It is also possible to use a base station 18 installed outside the building. The base station 18 is connected to an information processing system that links with a BIM (Building Information Modeling) model, which adds data such as management information to 3D model data of a building. The information processing system can perform image processing, etc.

The shape of the antenna 16 is not particularly limited, and it may be configured, for example, to be built into the control device 13.

In the floor construction method according to this embodiment, after the concrete 8 that forms the floor 2 is poured, an installation step, an acquisition step, a projection step, and a judgment step are performed in this order. Note that the installation step may also be performed before the concrete 8 that forms the floor 2 is poured.

The installation step is a step in which the levitation device 1 is moved in a floating state to the ceiling 4, which is a structure 3 located above the floor surface 2, by operating the elongated body 15, and the suction body 12b is attached to the ceiling 4, thereby installing the levitation device 1.

In the installation step, first, a worker moves while holding the operating device 17 and the elongated body 15, and operates the elongated body 15 to move the levitation device 1 to an appropriate position near the ceiling 4. After that, the worker turns on the power to the electromagnet via the operating device 17, and as shown in Figure 3, the electromagnet is attracted to the underside of the ceiling 4 due to its adhesive force.

Furthermore, when the electromagnet is operated, the control device 13 detects the position and orientation of the levitation device 1. There are no particular limitations on the means of detection, and for example, a GPS receiver may be provided in the levitation device 1, and the position and orientation of the levitation device 1 may be detected by the GPS receiver via the base station 18. Alternatively, the image sensor 10 may acquire images of the floor surface 2 and surrounding structures 3, and send them to an information processing system to calculate the position and orientation of the levitation device 1.

When the control device 13 detects the position and orientation of the levitation device 1, it adjusts the length of the telescopic rod 12a so that the image sensor 10 and projector 11 are at the appropriate height, as shown in Figure 4.

The acquisition step is a step in which image data of the floor surface 2 is acquired by the image sensor 10. The image sensor 10 captures an image of the floor surface 2 as it is actually formed and acquires the image data.

The projection step is a step in which the acquired image data is compared with the data of the target floor surface 2, and an image showing the distribution of the height difference of the floor surface 2 relative to the target is projected onto the floor surface 2 by the projector 11, as shown in Figures 5 and 6. For example, areas where the height difference relative to the target is within the acceptable range are shown in green, areas that are too high are shown in red (with the color intensity appropriately varied depending on the height), and areas that are too low are shown in blue (with the color intensity appropriately varied depending on the height). In Figure 6, green areas are shown with dotted shading, red areas are shown with diagonal lines, and blue areas are shown with cross-hatching. In this way, the distribution of the height difference of the floor surface 2 relative to the target can be shown by color coding. Note that methods other than color coding may also be used. The information processing system compares the acquired image data with the data of the target floor surface 2, generates image data, and sends it to the control device 13.

The judgment step is a step in which the worker determines whether or not corrections to the floor surface 2 are necessary based on the results of comparing the acquired image data with the data of the target floor surface 2. In this embodiment, the judgment step is an image confirmation step.

The image confirmation step is a step in which the worker determines whether or not corrections to the floor surface 2 are necessary based on the image projected onto the floor surface 2. At a glance at the color-coded floor surface 2, the worker can determine whether or not corrections to the floor surface 2 are necessary and how they should be made. The worker then carries out the appropriate correction work on the floor surface 2 based on that determination.

As described above, in this embodiment, by using a flotation device 1 having a towable elongated body 15, floor construction 2 can be carried out by ordinary workers without skilled operating skills. Furthermore, by using it indoors with a ceiling 4, there is no need to consider the impact of wind on the flotation device 1, and therefore it can be carried out with a flotation device 1 of simple configuration. Furthermore, by carrying out the work indoors, notifications and flight plans can be simplified.

In this embodiment, the suction device 12 has an electromagnet, but the suction body 12b is not limited to an electromagnet and may be, for example, a permanent magnet. When a permanent magnet is used as the suction body 12b, the suction device 12 may be configured, for example, to have a cylindrical member extending in the vertical direction and a permanent magnet that can be protruded upward from within the cylindrical member or retracted into the cylindrical member by a driving device. Furthermore, the suction body 12b is not limited to a magnet and may be configured using a vacuum device. Furthermore, the suction device 12 is not limited to a configuration having an extendable rod 12a.

In this embodiment, the float 9 is a balloon, but as in the modified example shown in Figures 7 and 8, the float 9 may be a propeller, and the float device 1 may have a buffer member 19 below the propeller. When the propeller is powered on by input to the operating device 17, it constantly generates buoyancy that lifts the float device 1. The interference member is, for example, a doughnut-shaped elastic hollow body, and also functions as the body 14. The buffer member 19 can increase safety in the unlikely event that the float device 1 falls due to a malfunction of the propeller, etc. Note that an interference member may not be provided.

Furthermore, the flotation device 1 of this modified example has a rod-shaped body with an electric wire inside as the long body 15. Therefore, an operator can hold the operating device 17 and the long body 15 and pull or push the long body 15, thereby instantly moving the flotation device 1 via the long body 15. Note that in this modified example, a flexible electric wire may also be used as the long body 15. Furthermore, instead of the electric wire used in the above embodiment, a rod-shaped body with an electric wire inside may be used as the long body 15.

The present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the invention.

Therefore, the floor construction method of the above-described embodiment can be modified as long as it is a method that includes an installation step of installing a flotation device 1, which has a buoyancy-generating float 9, an image sensor 10, an adhesive body 12b that can be attached to and detached from the structure 3, and a long body 15, on a structure 3 located above the floor surface 2, where the flotation device 1 is moved in a floating state by operating the long body 15 and the adhesive body 12b is attached to the structure 3, thereby installing the flotation device 1; an acquisition step of acquiring image data of the floor surface 2 using the image sensor 10; and a determination step of determining whether or not corrections to the floor surface 2 are necessary based on the results of comparing the acquired image data with the data of the target floor surface 2.

For example, the floor construction method of the above-described embodiment may include, instead of the projection step, a display step in which an image showing the distribution of the elevation difference of the floor surface 2 relative to the target is displayed on a mobile device such as a tablet, laptop, or smartphone, or a wearable device such as goggles. In this case, the determination step may include a terminal image confirmation step in which it is determined whether or not corrections to the floor surface 2 are necessary based on the image displayed on the device. Furthermore, the levitation device 1 is not limited to a configuration including a projector 11. The number of adhesive bodies 12b provided on the levitation device 1 is not limited to four and can be set as appropriate. The adhesive bodies 12b are not limited to the ceiling 4, but may be configured to be detachable from, for example, the side walls of the structure 3. The ceiling 4 is not limited to a structure composed of a framework 5 and a steel deck 6. The floor construction method of the above-described embodiment is not limited to a method for constructing the indoor floor surface 2 of a building. The steps performed by a worker in the above-described embodiment may be performed by a robot.

Furthermore, the comparison result between the acquired image data used in the judgment step and the data of the target floor surface 2 is not limited to the distribution state of the height difference of the floor surface 2 relative to the target, but may also be the comparison result, for example, between the data of the display formed on the floor surface 2 by marking work included in the acquired image data and the data of the display on the target floor surface 2. In other words, the need for correction of the floor surface 2 judged in the judgment step is not limited to the need for correction of the height of the floor surface 2, but may also be the need for correction of the display on the floor surface 2.

In addition, the floor construction method in the above-mentioned embodiment is preferably a method in which the structure 3 constitutes the ceiling 4 in the above configuration.

In the floor construction method of the above-described embodiment, it is preferable that, in the above configuration, the attracting body 12b is composed of an electromagnet and the structure 3 is composed of a magnetic material.

In the floor construction method of the above-mentioned embodiment, it is preferable that the floatation body 9 is constructed from a balloon in the above configuration.

In the floor construction method of the above-described embodiment, it is preferable that, in the above configuration, the float 9 is composed of a propeller and the floatation device 1 has a buffer member 19 below the propeller.

The floor construction method of the above-described embodiment preferably includes a projection step in which the projector 11 of the levitation device 1 projects onto the floor 2 an image showing the distribution of the height difference of the floor 2 relative to the target by comparing the acquired image data with data on the target floor 2, and the judgment step preferably includes an image confirmation step in which the need for correction of the floor 2 is judged based on the image projected onto the floor 2.

The flotation device 1 used in the above-described embodiment is preferably a flotation device having a flotation body 9 that generates buoyancy, an image sensor 10, an adhesive body 12b that can be attached and detached to the structure 3, and a long body that can be towed.

REFERENCE SIGNS LIST 1 levitation device 2 floor surface 3 structure 4 ceiling 5 framework 6 steel deck 7 floor 8 concrete 9 levitation body 10 image sensor 11 projector 12 suction device 12a telescopic rod 12b suction body 13 control device 14 body 15 elongated body 16 antenna 17 operating device 18 base station 19 buffer member

Claims (7)

an installation step of installing a levitation device on a structure located above a floor surface, the levitation device having a buoyant body that generates buoyancy, an image sensor, an adhesive body that can be attached to and detached from the structure, and a long body, by moving the levitation device in a floating state by operating the long body and adsorbing the adhesive body to the structure;
an acquisition step of acquiring image data of the floor surface by the image sensor;
and a judgment step of judging whether or not the floor surface needs to be corrected based on a comparison result between the acquired image data and target floor surface data. The method of claim 1, wherein the structure comprises a ceiling. The method of claim 1 or 2, wherein the attracting body is an electromagnet and the structure is made of a magnetic material. The method of any one of claims 1 to 3, wherein the buoyant body comprises a balloon. The method of any one of claims 1 to 3, wherein the float is a propeller and the float has a buffer member below the propeller. a projection step of projecting an image showing a distribution state of a height difference of the floor surface relative to the target by a projector included in the levitation device onto the floor surface by comparing the acquired image data with data of the target floor surface;
The method according to any one of claims 1 to 5, wherein the determining step includes an image checking step of determining whether or not the floor surface needs to be corrected based on the image projected onto the floor surface. A levitation device having a floating body that generates buoyancy, an image sensor, an adhesive body that can be attached and detached to a structure, and a long body that can be towed, wherein the floating body is composed of a balloon, and the device moves while floating by operation via the long body .