Coating material thickness measurement method, coating material thickness measurement system, and coating material application method

Abstract

To provide a method for measuring the thickness of a covering material applied to the walls of a building, a system for measuring the thickness of a covering material, and a method for constructing a covering material.SOLUTION: A coating material thickness measurement method includes steps of: setting fiducial markers (step 1); acquiring a construction shape including the three-dimensional coordinates of the surface of a covering material and three or more reference three-dimensional coordinates (step 2); calculating a virtual plane within the construction shape (step 3); calculating the thickness of the coating material (step 4); and displaying a coating material image (step 5).SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a method and system for measuring the thickness of a coating material applied to a target surface such as a wall or floor of a building by a spraying method or the like, and a coating material application method. [Background technology]

[0002] As a method for providing insulation on the walls of buildings, etc., a method is known in which workers at the site use a foaming machine to directly spray a foaming concentrate, which is a mixture of a foaming material and a main ingredient, on the target surfaces of the walls, floors, roofs, ceilings, etc. of the building, and foam solidify the mixture. However, since the insulation effect of the insulation material is greatly affected by its thickness, it is required to make it uniform in thickness. In particular, in buildings and apartment buildings, uniform quality is required, and construction is required to have a thickness error of 0 to 20 mm, and in the strictest case, 0 to 5 mm. In other words, after spraying the foaming material on the target surface and foam solidifying it, the thickness is checked, and the excess is cut off in areas that are too thick, and additional finishing processing is required in areas that are too thin. In detail, at the construction site, while spraying work is being performed, a needle-shaped measuring gauge is inserted into each part of the foamed and solidified insulation material, the thickness is measured, and the work is performed while checking whether finishing processing is required in each part. For this reason, the construction work of insulation material is one of the most cumbersome tasks for workers. In addition, the speed of work varies greatly depending on the skill level of the worker, and there is also variation in the quality of the work. Furthermore, in order to guarantee the quality of the insulation, reports to clients and others have been made by inserting a measuring gauge into each part of the construction to check the construction thickness, marking the results (for example, the thickness measurement value) on the surface of the insulation (wall), and presenting a photograph of a part of that surface. Inserting the measuring gauge multiple times in this way may physically damage the insulation, and it is also impossible to obtain sufficient quality control because only discrete measurements can be obtained.

[0003] US Patent No. 5,399,633 discloses a method and a robot that includes a spray nozzle connected to a source of foam material and a sensing device configured to monitor the thickness of the coating. The method of US Patent No. 5,399,633 reduces finishing operations by controlling the amount of foam material sprayed while monitoring the spray thickness with a laser range finder. Patent Document 2 discloses a remotely operable robot arm equipped with a spray nozzle and a range finder at the tip. It is described that this robot arm can use the range finder to measure the material (target object) before and after application and calculate the thickness to be filled. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Special Publication No. 2016-526121 [Patent Document 2] Special Publication No. 2017-536976 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the method of Patent Document 1 is premised on the use of a robot, and the use of a robot is not necessarily advantageous in a messy work site. On the other hand, the method of Patent Document 1 can be performed by an operator, but since the thickness is controlled by spraying the foam material while constantly monitoring the thickness with a laser distance meter instead of a measuring gauge, the operator still has to alternate between spraying and checking the thickness (checking the monitor), making the work cumbersome. For example, human errors such as misreading the monitor are likely to occur. Patent Document 2 also does not measure the entire material to be applied (target surface), but only measures a part of the material to be applied (target surface) at any time, and 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. [Means for solving the problem]

[0006] 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 application shape including three-dimensional coordinates of the surface of the coating material, three-dimensional coordinates of three or more equidistant points that are at the same distance from the target surface, and reference three-dimensional coordinates of one or more reference points whose distance from the target surface is 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, the "thickness of the coating material" refers to the length in the direction perpendicular to the target surface. Furthermore, the "three-dimensional coordinates of 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, it can be a set of three-dimensional coordinates of multiple points on the surface of the coating material. Furthermore, the "distance from the target surface" refers to the length of the perpendicular line 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 of (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 of these.

[0007] The coating material thickness measurement method of the present invention acquires a construction 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 distance from the target surface is known.Therefore, it is possible to calculate the thickness of the specified point of the coating material by determining a virtual point that has the same plane coordinates (plane coordinates parallel to the target surface) as a specified point of the coating material and has the same distance from the target surface as the reference three-dimensional coordinates, and comparing the specified point of the coating material with the virtual point whose distance from the target surface is known.

[0008] In the method for measuring the thickness of a coating material according to 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. It is further preferable that the method further comprises a step of calculating a virtual plane based on the acquired three-dimensional coordinates of the equidistant points, and calculates the thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material and the virtual plane. Alternatively, in the method for measuring the thickness of a coating material of the present invention, it is preferable that the distances of the equidistant points from the target surface are unknown and the reference points are points different from the equidistant points. It is further preferable that the method further comprises a step of calculating a virtual plane based on the three-dimensional coordinates of the acquired equidistant points and the reference three-dimensional coordinates, and calculates the thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material and the virtual plane. The term "virtual plane" refers to a plane that is parallel to the target surface and has a known distance from the target surface, and preferably includes reference three-dimensional coordinates, but does not have to include them. When calculating the thickness of the coating material based on the 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.

[0009] The coating thickness measurement method of the present invention preferably includes a step of installing a reference marker on or near the coating prior to the step of acquiring the applied shape, and the reference three-dimensional coordinates are three-dimensional coordinates on the reference marker. In this case, installing three or more reference markers and setting at least one reference three-dimensional coordinate for each reference marker is preferable because it allows obtaining three or more reference three-dimensional coordinates that are equal distances from the target surface. It is also preferable that the reference marker has a pin extending in one direction, and the step of installing the reference marker is a step of inserting the pin into the coating so that the tip of the pin abuts against the target surface.

[0010] In the coating material thickness measurement method of the present invention, it is preferable that the equidistant points are 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 includes a surface parallel to the target surface and whose distance to the target surface is known. For example, this includes a wall surface that is flush with the target wall surface, and the surfaces of columns and beams that are erected parallel to the target wall surface. In this case, too, the thickness of the covering material can be calculated easily. In particular, if the distance between the target surface and a surface parallel to the target surface of the structure can be accurately grasped from the design drawing, the 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. Therefore, there is no need to install reference markers, and human error when installing reference markers can be reduced. If the distance between the target surface and a surface parallel to the target surface of the structure is unknown, one or more reference 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 reference markers.

[0011] The coating thickness measuring method of the present invention preferably includes a step of displaying an image of the coating material showing the distribution of the coating material thickness by color or shading. Such a coating material image showing the thickness distribution by color or shading makes it possible to check at a glance any areas of poor application, which makes it possible to speed up the work. It is also easy to see and is preferable as coating material data for quality control.

[0012] The coating thickness measuring 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 image. If the defective construction parts are identified in this way, it is easy to specify the finishing treatment of the coating material. In particular, the defective construction judgment image also improves workability.

[0013] 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. It is preferable to include a step of measuring the moisture content of the target surface and a step of storing the moisture content in association with the thickness of the coating material before applying the coating material. Alternatively, it is preferable to include a step of measuring the temperature distribution of the target surface and a step of storing the temperature distribution in association with the thickness of the coating material before applying the coating material. Furthermore, it is preferable that the coating material is a sprayed rigid urethane foam insulation material, and the step of acquiring the spraying conditions of the coating material and storing the spraying conditions in association with the thickness of the coating material. By storing the thickness of the coating material in association with various data in this way, it is easy to manage the data as coating material. For example, it is easy to manage when there are many target surfaces, such as in a building or apartment building. 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 preferable for quality control as data on the coating material.

[0014] 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 at the same distance from the target surface, and reference three-dimensional coordinates of one or more reference points whose distance from the target surface is known, and the data processing unit calculates the thickness of the coating material based on the application shape. Using this measurement system, the thickness of the coating material can be accurately measured in one measurement.

[0015] In the coating thickness measurement system of the present invention, it is preferable that the distance of the equidistant point from the target surface is known and the equidistant point is also the reference point, or, in the coating thickness measurement system of the present invention, the distance of the equidistant point from the target surface is unknown and the reference point is a point different from the equidistant point.

[0016] 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 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 at the same time recognizing the three-dimensional coordinates on the reference marker as the reference three-dimensional coordinates, the reference marker can be recognized accurately and quickly.

[0017] 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 measuring 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 measuring 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 distance from the target surface is 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 distance of the equidistant point from the target surface is known and the equidistant point is also the reference point. Alternatively, in a second aspect of the coating thickness measurement system of the present invention, it is preferable that the distance of the equidistant point from the target surface is unknown and the reference point is a point different from the equidistant point. In the 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 finishing work time.

[0018] 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, the display unit, and the 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 construction to be confirmed in real time. This allows the coating material to be applied to a uniform thickness without failure or redoing the work, even if the worker has low skill. In addition, the thickness check work after construction, which was previously required repeatedly after each finishing work, is no longer necessary.

[0019] The coating material application method of the present invention is a method of 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 a 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 or not there are any poorly applied areas where the thickness of the coating material is outside a predetermined range. In the coating method of the present invention, it is preferable that the distance of the equidistant point from the target surface is known and the equidistant point is also the reference point, or in the coating method of the present invention, it is preferable that the distance of the equidistant point from the target surface is unknown and the reference point is a point different from the equidistant point. The coating material application method of the present invention uses the thickness measurement method of the present invention, so that any poor application locations can be identified at a glance, and coating materials of uniform quality can be provided regardless of the skill level of the worker. Effect of the Invention

[0020] According to the present invention, the on-site worker can grasp the thickness of the applied coating material with a single measurement. Therefore, finishing treatment for the poorly applied part can be easily performed. Furthermore, the measurement can be left as objective data on the quality of the coating material. [Brief description of the drawings]

[0021] [Figure 1] 1 is a flowchart showing a first embodiment of a coating thickness measurement method of the present invention. [Diagram 2] 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 on a virtual plane. [Diagram 3] 5 is a flowchart showing a second embodiment of the coating thickness measurement method of the present invention. [Figure 4] FIG. 11 is a perspective view showing a construction shape obtained by calculating a virtual plane used in a second embodiment of the method for measuring the thickness of a coating material of the present invention. [Diagram 5] FIG. 1 is a block diagram showing a configuration of a first embodiment of a coating material thickness measurement system of the present invention. [Figure 6] FIG. 13 is a block diagram showing the configuration of a fourth embodiment of a coating material thickness measurement system of the present invention. [Figure 7] 1 is an image showing an installation shape including a three-dimensional shape of a surface of a thermal insulation material. [Figure 8] Figures 8a and 8b are images of the coating showing the distribution of insulation thickness, respectively. [Figure 9] 5 is a flowchart showing a third embodiment of a coating thickness measurement method of the present invention. [Figure 10] FIG. 11 is a perspective view showing a construction shape obtained by calculating a virtual plane used in a third embodiment of the method for measuring the thickness of a coating material of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] 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 have known and equal distances from the target surface. These three or more points are both equidistant points that are equidistant from the target surface and reference points that are known in distance from the target surface.

[0023] 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 work site to cover the target surface. Target surfaces (construction surfaces) include building walls, floors, roofs, ceilings, and rooftops, and this is particularly useful for areas such as roofs and ceilings where thickness measurement is difficult.

[0024] Examples of the covering material include heat insulating materials, fireproof materials, waterproof materials, general building materials (FRP, FRC, FRG), etc. Examples of the heat insulating material include soft or hard urethane foam, rock wool, cellulose fiber, etc. In particular, a hard urethane foam of on-site foaming type (for example, hard urethane foam specified in JISA9526) applied by a spraying method is preferable. A sprayed urethane foam with a high reaction rate using potassium octylate or lead octylate expands irregularly at a foaming ratio of about 20 to 120 times when sprayed on the target surface, so that even an experienced person finds it difficult to apply it to a uniform thickness (about 10 to 200 mm), and the applied thickness directly affects the heat insulating performance. On the other hand, examples of the waterproof material include urethane-based, FRP-based, acrylic rubber-based, acrylic resin, etc.

[0025] The application method may be spraying or coating. In particular, coating materials applied by spraying are suitable for the thickness measurement method of the present invention because it is more difficult to achieve a uniform thickness after application than coating materials.

[0026] Next, the steps will be described. As shown in the flow chart of Fig. 1, the thickness measurement method includes a step of installing a reference marker (step 1), a step of acquiring a construction 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), a step of calculating a virtual plane (step 3), a step of calculating the thickness of the coating material (step 4), a step of displaying an image of the coating material (step 5), a step of determining whether or not a finishing process is necessary based on the image of the coating material (step 6), a step of performing the finishing process if it is determined that the finishing process is necessary (step 7), and a step of storing the three-dimensional data of the coating material in association with the target surface if it is determined that the finishing process is not necessary (step 8).

[0027] In the first step, a reference marker is placed 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 Figs. 2a and 2b, reference numeral 11 is a 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 a reference for calculating a virtual plane in the third step. In the following, the distance between the target surface and the reference point may be referred to as the "reference distance."

[0028] The reference marker 13 is provided on the head of a pin 13a, for example, as shown in FIG. 2b. The pin 13a is inserted into the covering material 12 so that the pin 13a is perpendicular to the target surface (so that the plane of the head of the pin 13a is parallel to the target surface), and the tip of the pin 13a is brought into contact with the target surface, so that the reference marker 13 can be provided on the covering material 12. The distance from the reference marker 13 to the wall 11 at this time is 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 the 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 substantially the same as or slightly larger than the planned thickness of the covering material 12. This prevents the reference marker 13 from being buried in the covering material 12 that is applied to the planned thickness.

[0029] In Fig. 2, four reference markers 13 are provided, and at least one reference three-dimensional coordinate is set for each reference marker. It is preferable to provide three or more reference markers in order to estimate the virtual plane. However, one or two reference markers may be used by setting multiple reference three-dimensional coordinates for one reference marker. This can be appropriately determined according to the required accuracy. When multiple reference markers are provided, they are installed so that all of them are the same distance from the target surface. Although the fiducial marker 13 is exemplified by a disk-shaped one, other examples include a sphere, a cube, and a polygonal flat plate such as a triangle or a square. The shape of the fiducial marker 13 is not particularly limited, but it is preferable that the fiducial marker has the geometric characteristics listed above, since 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 easy to distinguish against the background of the covering material, it becomes easy to automatically recognize the fiducial marker by using the color characteristics as a clue. When a flat plate is used, it is important 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, and the worker can easily install the reference marker at a predetermined distance from the target surface.

[0030] The second step is to obtain a construction 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. In detail, a construction shape including three-dimensional coordinates of the surface of the coating material 12 and three-dimensional coordinates of the surfaces of the reference markers 13 is obtained. For example, the construction 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 reference markers 13. The term "acquisition of a construction shape" refers to, for example, acquiring the three-dimensional shape of a target surface by 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.

[0031] Three-dimensional measurement devices such as three-dimensional scanners and stereo cameras are used to obtain the data. There are three-dimensional scanners that shine laser light on the target surface and calculate the three-dimensional shape of the target surface by the reflected light (so-called LIDAR method), and three-dimensional scanners that measure the distance by the time it takes for the irradiated light to reflect and return (TOF method). On the other hand, stereo cameras calculate the three-dimensional shape of the target surface from the images captured by two cameras using the principle of triangulation, and there are also methods in which a measurement pattern is projected by a separate projector to improve the matching accuracy of the two camera images, or one of the two cameras is replaced with a projector that projects a pattern light (so-called active stereo method). An appropriate device can be selected taking into consideration the measurement accuracy, measurement speed, and cost, but since the layout of the interior where the target surface is located varies depending on the building, a three-dimensional scanner using the LIDAR method, which has relatively stable accuracy, is preferable. On the other hand, considering the complexity of installing a scanner on site, a handheld scanner using the active stereo method, which can capture a wide target surface at once, is preferable. In addition, it is preferable that the construction shape includes color information of the object. For example, when 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. Based on the color information of the construction shape, the reference markers and the covering material area can be recognized.

[0032] The third step is to calculate a virtual plane. More specifically, a virtual plane S is calculated within the construction shape by translating the target surface by a predetermined distance in a direction perpendicular to the target surface based on the reference marker 13 (reference three-dimensional coordinates). The target surface may be calculated based on the reference three-dimensional coordinates.

[0033] 2c shows a construction shape 10a obtained by calculating a virtual plane S. The method of calculating the virtual plane S uses four reference markers 13 spaced a predetermined distance from the target surface (wall 11). Specifically, first, four reference markers are recognized from the construction shape based on the characteristics of their color and shape. For example, if a red reference marker is used, the red area from the construction shape can be recognized as the reference marker. This recognition can be performed by the worker manually indicating the position of the reference marker on the screen, or the recognition can be performed automatically by the computer processing unit. Next, three or more reference three-dimensional coordinates are extracted from the four recognized reference markers. For example, the barycentric coordinates of each reference marker may be the reference three-dimensional coordinates. It is not necessary to use all four reference markers, and multiple reference three-dimensional coordinates may be extracted from one reference marker. Next, a plane S1 is estimated based on the extracted three or more reference three-dimensional coordinates. At this time, due to the influence of measurement errors of the three-dimensional measuring device and the inclination of the reference marker with respect to the target surface, it is expected that each reference three-dimensional coordinate will not be strictly on the same plane. Therefore, a plane may be fitted to multiple reference three-dimensional coordinates. A known method may be used for this. For example, a least squares plane may be obtained for multiple reference three-dimensional coordinates by 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 by 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.

[0034] The fourth step is to calculate the thickness of the coating material. More specifically, in the construction shape in which the virtual plane is calculated, the thickness of the coating material is calculated 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. Specifically, the distance between the point on the surface of the coating material intersecting with the perpendicular line to the target surface and the point on the 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 to the target surface. That is, as shown in FIG. 2c, when the distance between the point C1 on the surface of the coating material intersecting with the perpendicular line V1 to the target surface and the corresponding point T1 on the virtual plane is Z1, and the point C1 is covered by the virtual plane S, the thickness of the point C1 of the coating material is L-Z1. On the other hand, when the distance between the point C2 on the surface of the coating material intersecting with the perpendicular line to the target surface and the corresponding point T2 on the virtual plane is Z2, and the point C2 protrudes from the virtual plane S, the thickness of the point C2 of the coating material is L+Z2 (not shown). In this manner, the thickness of the entire region of the coating material can be calculated. Such calculations may 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 the difference may be calculated by converting the point cloud into a mesh and calculating the difference between the surfaces.

[0035] The fifth step is to display a coating image, specifically, an image showing the surface of the coating material, in which the distribution of the thickness of the coating material is shown by color or shade, and the coating image is calculated and displayed. Examples of images showing the surface of a coating material include a three-dimensional perspective image and a two-dimensional image in which the application shape is projected onto a specified plane (for example, a plane parallel to the target surface).

[0036] In the sixth step, it is judged whether or not finishing is necessary based on the image of the coating material. More specifically, based on the image of the coating material, the presence or absence of defective construction parts where the thickness of the coating material is out of a predetermined range is confirmed, and if there are defective construction parts, it is judged that finishing is necessary, and if there are no defective construction parts, it is judged that finishing is unnecessary. In addition, how thick or thin the part of the coating material is from a predetermined standard thickness is calculated, and it is judged whether the thickness is within the predetermined range. When the coating material is a heat insulating material, an example of the construction standard is a range of -0mm to +20mm with respect to a standard thickness of 30mm (a part thinner than the standard is defective, and a part thicker than the standard is allowed up to 20mm). It is also possible to set a stricter range of -0mm to +5mm. For example, in the image of the coating material in the fifth step, the defective construction parts may be displayed in color or shade (defective construction judgment image). Also, for example, in the image of the coating material, the part may be identified by a leader line, and a numerical value indicating how much the part deviates from a predetermined value may be displayed. By identifying the defective construction parts in this way and clarifying the degree of defect, it is easy to perform the finishing process in 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.

[0037] 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 specified range. In more detail, for areas that are thicker than the specified range, the excess is cut off, and for areas that are thinner than the specified range, additional coating is sprayed or applied. After finishing is performed, the process returns to the second step, and the construction shape is obtained. Then, in a sixth step, steps two through seven are repeated until no further finishing is required.

[0038] In the eighth step, if it is determined that finishing is not necessary, the three-dimensional shape of the surface of the covering material and the thickness of the covering material, particularly the covering material image, are associated with the target surface and stored as a database. In other words, if it is determined that finishing is not necessary in the sixth step, the construction of the covering material is completed and the data is saved. For example, by storing the position information and identification information of the target surface, such as the east wall of Room 102, in association with the covering material image, it is possible to make it data in a database managed for each target surface (wall). In addition, if 3D CAD data of the building exists, it is preferable to store it in association with the 3D CAD data. In particular, more efficient process management and quality management are possible by storing it in association with BIM (Building Information Modeling), which has been proposed in recent years. In particular, it is easy to manage when there are many target surfaces such as buildings and apartment buildings. The three-dimensional shape before finishing may also be saved together. This makes it possible to track the process of the work. 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 the data as uneditable electronic files with a time stamp to prove non-tampering and time-certified. By storing the data as uneditable electronic files, the objectivity of the data can be maintained.

[0039] In this way, the coating thickness measurement method of this embodiment calculates a virtual plane within the application 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, so that the thickness of the coating material can be determined with a single measurement after application of the coating material without measuring the thickness of the coating material while inserting a pin or the like. In addition, the finishing process of the coating material is also simple. In particular, by using an image of the coating material, it is easy to identify the location of the finishing process. A coating application method using this thickness measurement method can provide coating materials of uniform quality, regardless of the skill level of the worker.

[0040] 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 be installed near the covering material. For example, the fiducial markers may be installed on pillars around the covering material. Where to install the fiducial markers can be appropriately determined depending on the target surface. In the step of creating a coating material image (step 5), a coating material image showing thickness by color or shading is given, but a projection image or a three-dimensional image (perspective image) of the coating material without color or shading according to thickness may be used. Also, in step 5, instead of displaying only an image, a table relating position data on the target surface to thickness data of the coating material may be displayed.

[0041] 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. Rigid polyurethane foam contains water in its blowing agent, so if the target surface (wall surface) contains a large amount of moisture, the balance of the reaction may be lost and the quality of the insulating material may decrease. Therefore, a more detailed database can be constructed by storing the moisture content of the wall surface before application together with the data on the insulating material. An existing high-frequency moisture meter such as "Kett Electric Laboratory Co., Ltd. HI-520-2" can be used to measure the moisture content. In addition, before applying the coating material, the temperature distribution of the target surface may be measured using a thermo camera or the like, and the temperature distribution 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. Since the temperature of the sprayed surface may affect the quality of rigid polyurethane foam, it is preferable to store the relationship between temperature distribution and thickness from the viewpoint of quality control. In this case, the two-dimensional temperature image acquired by the thermo camera may 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 a two-liquid rigid urethane foam, the mixing pressure of the two liquids and the mixing temperature) may be continuously acquired, and the spraying conditions 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 the coating material image. Since the quality of rigid urethane foam varies greatly depending on the spraying conditions, storing the spraying conditions before application together with the three-dimensional data of the insulation material is preferable for quality control, and a detailed database can be constructed. Additionally, indoor environmental information (temperature, humidity, etc.) during application may be obtained and 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.

[0042] 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 setting 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 coating material image (step 5A), a step of performing the 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). It should be noted that steps 3A to 7A are substantially the same as steps 4 to 8 in the embodiment of FIG.

[0043] In step 1A, a construction shape is acquired. In this embodiment, the construction shape includes three-dimensional coordinates of the surface of the structure adjacent to or located near the coating material and the target surface. Here, the structure is a structure including a surface parallel to the target surface. The surface of the structure includes a surface parallel to the target surface. Examples of structures include structures such as pillars, sashes, thresholds, moldings, baseboards, beams, etc. located in the same room as the wall surface of the target surface, or structures having characteristic shapes such as the boundaries of floors, ceilings, and walls, piping, doors, windows, openings such as vents, and distribution boxes. In addition, in the case of waterproofing the floor surface 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.

[0044] In the 2A step, a virtual plane is calculated. In detail, the three-dimensional coordinates of any three points on a plane parallel to the target surface of the structure are obtained and used as the reference three-dimensional coordinates. Here, three points (not shown) are selected from the plane S2 of the column P and used as the reference three-dimensional coordinates. The plane S2 is assumed to have a known distance L from the target surface based on the known dimensions of the 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 a direction perpendicular to the target surface. The dotted line in FIG. 4 is the virtual plane S. That is, in the structure (column P), the plane S2 parallel to the target surface is expanded to the same size as the target surface, and the virtual plane S is calculated within the construction shape by translating the target surface in the planar direction. Note that, if the construction shape is expressed by a polygon mesh rather than point cloud data, one plane parallel to the target surface may be selected instead of obtaining the reference three-dimensional coordinates of three points, but this is ultimately the same as selecting the reference three-dimensional coordinates of three points that define the selected surface.

[0045] In the thickness measurement method of the second embodiment, as in the first embodiment, a virtual plane obtained by translating the target surface a predetermined distance in the direction perpendicular to the target surface can be calculated within the applied shape, so that the thickness of the entire coating material can be confirmed with a single measurement after the coating material is applied. As in the first embodiment, the coating material application method using this thickness measurement method can provide coating materials of uniform quality regardless of the skill level of the worker.

[0046] Next, a third embodiment of the coating material thickness measurement method will be described. In the thickness measurement method according to 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 equidistant points that are the same distance from the target surface, and are also reference points whose distance from the target surface is known. 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 flow chart of this embodiment is shown in Fig. 9. Steps 4B to 8B are substantially the same as steps 4 to 8 in Fig. 1.

[0047] 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, it is sufficient to place one reference marker, and one reference three-dimensional coordinate is set on the reference marker.

[0048] In step 2B, the construction shape is acquired. In this embodiment, the construction shape includes the three-dimensional coordinates of the surface of the covering 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 is a structure including a surface parallel to the target surface, and the surface of the structure is the 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 cladding material 12, one reference marker 13, and a column P having a surface S2 parallel to the target surface.

[0049] 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 FIG. 10, three points (not shown) are selected as equidistant points from plane S2 of pillar P. A plane parallel to the target surface is calculated based on the three-dimensional coordinates of the equidistant points on S2, and the plane is translated to a position where the reference point on the reference marker 13 is placed on the plane, and the virtual plane S is calculated within the construction shape. The virtual plane S is shown by a dotted line in FIG. 10.

[0050] In the thickness measurement method of the third embodiment, as in the first embodiment, a virtual plane obtained by translating the target surface in the vertical direction by a predetermined distance can be calculated within the applied shape, so that the thickness of the entire coating material can be confirmed with a single measurement after application of the coating material. As in the first embodiment, the coating material application method using this thickness measurement method can provide coating materials of uniform quality regardless of the skill level of the worker.

[0051] 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 Fig. 5 includes 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 Fig. 1. The reference marker 23 is substantially the same as the reference marker 13 used in the thickness measurement method of Fig. 1.

[0052] The three-dimensional measuring device 21 is a three-dimensional scanner including a light emitting unit 21a that emits a laser beam, a light receiving unit 21b that receives the laser beam reflected by the coating material, and a calculation unit (not shown). The three-dimensional measuring device 21 is substantially the same as the three-dimensional measuring device used in the measurement method of Fig. 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.

[0053] 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 coating material surface 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. It then stores the three-dimensional data of the coating material surface and the coating material thickness data, in particular, the coating material image and the target surface in association with each other. Additionally, environmental information such as temperature and humidity during application, spray conditions (mixing pressure and temperature of two-component rigid polyurethane 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 the data as electronic files with a time stamp to prove non-tampering and time-certified. The storage unit 26 itself may be locked by a password or the like so that it cannot be rewritten by anyone other than those with special authority. 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 having 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.

[0054] The data processing unit 27 automatically extracts the reference markers 23 from the construction shape data based on the color or shape characteristics, or extracts them by the worker's designation, calculates virtual plane data by translating the target surface a predetermined distance in a 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 the third step of the thickness measurement method in Fig. 1. The thickness of the coating material is also calculated in the same manner as the fourth step of the thickness measurement method in Fig. 1. The data processor 27 converts the applied shape data into a coating material image, which is an image showing the surface of the coating material and shows the distribution of the coating material thickness in color or shade. The coating material image is substantially the same as that in the thickness measurement method of FIG. 1. Furthermore, the data processor 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. In other words, areas of poor application, where the coating material is too thick or too thin, are automatically indicated. For example, such areas of poor application may be displayed in a special color in the coating material image, or only the defective areas may be extracted and displayed, or may be made to blink. It is also preferable to indicate how far the areas of poor application are out of the predetermined range.

[0055] The display unit 24 is a two-dimensional liquid crystal monitor that displays the dressing image created by the data processing unit 27 .

[0056] This measurement system 20, after the coating material is applied, places a reference marker 23 on the coating material and obtains the applied shape including the three-dimensional shapes of the coating material and the reference marker 23, thereby being able to calculate the overall thickness of the coating material, and therefore easily locate areas with poor application. In addition, since the confirmation work can be done in one go, the worker's workload can be significantly reduced. Furthermore, since the coating material image can be displayed on the display unit, the worker can easily and accurately confirm the location of the poor application at the site. In addition, the target surface can be associated with the three-dimensional shape of the coating material surface and the thickness of the coating material, and the data on the coating material can be stored together in a linked manner with 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 the data may be stored directly in 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 in a disk-shaped storage medium such as a CD-R or DVD-R that can be written to only once, or in a storage medium such as a USB or memory card with a tamper-proof function. Of course, instead of storing the data directly, the data once stored in the memory unit 26 may be copied to a storage medium in an unalterable state, and then the data in the memory unit 26 may be deleted.

[0057] 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 located adjacent to or near the target surface, and 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 the surface of the structure parallel to the target surface from the construction shape data, or extracts it by the worker's designation, and calculates virtual plane data by translating the target surface by a predetermined distance in the direction perpendicular to the target surface based on the surface. The method of calculating the virtual plane is the same as step 2A of the thickness measurement method in FIG. 3. The other processes are substantially the same as those in the thickness measurement system 20 .

[0058] 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 image to be projected (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 defects in the application of the coating material from the image projected onto the target surface, simplifying the finishing process.

[0059] As shown in Fig. 6, the thickness measurement system 20a according to the fourth embodiment includes a three-dimensional measurement device 21, a control unit 22, a reference marker 23, and an eyeglass-type display 30. The surface shape of the dressing is displayed on the eyeglass-type display 30 so as to overlap with the target surface in the user's field of vision. The three-dimensional measurement device 21 and the control unit 22 including a storage unit 26 and a data processing unit 27 are substantially the same as those in the thickness measurement system 20 shown in Fig. 5.

[0060] The glasses-type display 30 includes a lens-shaped display unit 31 , an image acquisition unit 32 , and a display control unit 33 . The lens-like display unit 31 is transparent and fixed to the frame of the eyeglass-type display 30 so as to be located 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 visual field direction 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 may be used.

[0061] The display control unit 33 includes a display storage unit 33a and a display data processing unit 33b, neither of which is 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 position adjustment processing so that the reference markers of the image data and the reference markers of 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 vision. 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, and conversely, the calculations of the display data processing unit 33b may be performed by the data processing unit 27.

[0062] Because of this configuration, the worker can simply wear the eyeglass-type display 30 and check through the lenses for locations of defective application of the covering material, making the finishing process even easier.

[0063] 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 the plane, 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.

[0064] 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 the "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 over real 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), etc. built into the HMD. This operating method involves placing a reference marker on the coating material, wearing 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, the worker 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 not thick enough. EXAMPLES

[0065] The image in Figure 7 is an image of the installed shape taken with a three-dimensional measuring device (Handy 3D Scanner "F6 SMART" manufactured by MantisVision). The shaded areas on this wall surface are the installed insulation material. In Figure 7, the reference marker M1 in Figure 8a is set in the range of "Reference Installation Surface 1", and the reference marker M2 in Figure 8b is set in the range of "Reference Installation Surface 2". The insulation material is the rigid urethane foam in Table 1 sprayed on.

[0066] [Table 1]

[0067] Fig. 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, because 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. [Explanation of symbols]

[0068] 10, 10a, 10b construction shape; 11 wall; 12 covering material; 13 fiducial marker; 13a pin; 20, 20a measurement system; 21 three-dimensional measurement device; 21a light emitting unit; 21b light receiving unit; 22 control unit; 23 fiducial 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 fiducial marker; M2 fiducial marker; P pillar; S virtual plane; S1 surface; S2 surface; V1 vertical line

Claims

1. A method for measuring the thickness of a covering material applied to a target surface of a building, comprising: After the application of the coating material, a step of installing a fiducial marker having a pin extending in one direction on the coating material by inserting the pin into the coating material so that a tip of the pin abuts the target surface; acquiring a construction shape including three-dimensional coordinates of the surface of the coating material, three or more equidistant points that are equidistant from the target surface, and reference three-dimensional coordinates of one or more reference points on the reference marker, the distance of which from the target surface being known; calculating a virtual plane based on the three-dimensional coordinates of the acquired equidistant points; calculating a thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material, the virtual plane calculated based on the three-dimensional coordinates of the equidistant points, and the reference three-dimensional coordinates; the distance of the equidistant point from the object surface is known, and the equidistant point is also the reference point; How to measure coating thickness.

2. A method for measuring the thickness of a covering material applied to a target surface of a building, comprising: After the application of the coating material, a step of installing a fiducial marker having a pin extending in one direction on the coating material by inserting the pin into the coating material so that a tip of the pin abuts the target surface; acquiring a construction shape including three-dimensional coordinates of the surface of the coating material, three or more equidistant points that are equidistant from the target surface, and reference three-dimensional coordinates of one or more reference points on the reference marker, the distance of which from the target surface being known; calculating a virtual plane based on the three-dimensional coordinates of the acquired equidistant points; calculating a thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material, the virtual plane calculated based on the three-dimensional coordinates of the equidistant points, and the reference three-dimensional coordinates; a distance of the equidistant point from the target surface is unknown, and the reference point is a point different from the equidistant point; How to measure coating thickness.

3. The equidistant points are points on a surface of the structure adjacent or near the coating material and the target surface. The method for measuring the thickness of a coating material according to claim 2.

4. displaying a coating image showing the distribution of the coating thickness in color or shade; A method for measuring the thickness of a coating material according to any one of claims 1 to 3.

5. A step of determining whether or not there is a defective application portion where the thickness of the coating material is outside a predetermined range. A method for measuring the thickness of a coating material according to any one of claims 1 to 4.

6. A step of determining whether or not there is a defective application portion where the thickness of the coating material is outside a predetermined range; and displaying the defective application location on the coating material image. The method for measuring the thickness of a coating material according to claim 4.

7. storing said coating thickness in association with said target surface; A method for measuring the thickness of a coating material according to any one of claims 1 to 6.

8. measuring the moisture content of the target surface prior to application of the coating material; and storing the moisture content in association with a thickness of the coating material. The method for measuring the thickness of a coating material according to claim 7.

9. measuring a temperature distribution on the target surface prior to application of the coating material; and storing the temperature distribution in association with a thickness of the coating material. The method for measuring the thickness of a coating material according to claim 7 or 8.

10. The coating material is a sprayed polyurethane foam insulation material. A method for measuring the thickness of a coating material according to any one of claims 1 to 9.

11. acquiring spray conditions for the coating material; and storing the spraying conditions in association with the thickness of the coating material. The method for measuring the thickness of a coating material according to claim 10.

12. A system for measuring the thickness of a covering material applied to a target surface of a building, comprising: A three-dimensional measuring device, A data processing unit; a reference marker having a pin extending in one direction; the three-dimensional measuring device acquires a construction shape including three-dimensional coordinates of a surface of the coating material, three or more 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; the reference three-dimensional coordinates are three-dimensional coordinates on the reference marker that is installed on the covering material by inserting the pin into the covering material so that the tip of the pin abuts on the target surface; the data processing unit calculates a virtual plane based on the three-dimensional coordinates of the equidistant points, and calculates a thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material, the virtual plane, and the reference three-dimensional coordinates. Coating thickness measurement system.

13. The data processing unit recognizes the reference marker based on color or shape characteristics from the construction shape.

13. The coating thickness measurement system of claim 12.

14. A method for applying a covering material to a target surface of a building, comprising: applying the coating material to the target surface; a step of installing a reference marker having a pin extending in one direction on the applied covering material by inserting the pin into the covering material so that a tip of the pin abuts on the target surface; acquiring three-dimensional coordinates of the surface of the dressing, three or more equidistant points that are equidistant from the target surface, and one or more reference three-dimensional coordinates of the fiducial marker, the reference points being three-dimensional coordinates of the fiducial marker and having known distances from the target surface; calculating a virtual plane based on the three-dimensional coordinates of the acquired equidistant points; calculating a thickness of the coating material based on the three-dimensional coordinates of the surface of the coating material, the virtual plane calculated based on the three-dimensional coordinates of the equidistant points, and the reference three-dimensional coordinates; and determining whether or not there is a defective application portion where the thickness of the coating material is outside a predetermined range. How to apply the covering material.

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