JP2023079931A - Automatic construction system of concrete floor surface - Google Patents

Abstract

To provide an automatic construction system of a concrete floor surface capable of finishing the concrete floor surface with high accuracy and high quality even when operators are not skilled engineers while improving work efficiency by a device automating each work process.SOLUTION: An automatic construction system 100 of a concrete floor surface comprises: a control device 101; a first automatic maneuvering device 200 communicable with the control device 101 and executing a levelling work and a re-vibration compaction work of the concrete floor surface 10; and a second automatic maneuvering device 300 communicable with the control device 101 and executing a trowel work.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a concrete floor construction method for various civil engineering and construction works, which is automated using unmanned equipment, and more particularly to a concrete floor construction method for buildings such as warehouses.

Conventionally, a construction method for a concrete floor surface of a building such as a warehouse is known. When constructing a concrete floor, ready-mixed concrete, which is a mixture of cement, aggregate, water, and various admixtures in appropriate proportions, is hardened through construction such as pouring, compaction, surface finishing, and curing. . After leveling the concrete surface to make it smooth, the floor surface is evenly pressurized using a floor surface finishing device such as Trowell to flatten it, and if necessary, a skilled plasterer Finishing is done manually with a trowel (plastering trowel), and the surface of the concrete is finished with a glossy surface.

For example, Patent Document 1 discloses a method for finishing a floor surface after pouring concrete. As a second step, after the concrete floor surface after tamping has completely hardened, the concrete floor surface is directly ground with a grinder to complete the floor finish.

Patent Literature 2 discloses an apparatus capable of automatically traveling and performing leveling work while automatically traveling on a concrete floor surface.

JP-A-6-173453 Japanese Patent Application Laid-Open No. 2020-60021

In the concrete floor construction method disclosed in Patent Document 1, the plastering work is performed by machines instead of the conventional manual work by plasterers, so that the difference in finishing level occurs depending on the skill level of the plasterers. In addition, it is possible to shorten the working time and reduce the cost.

In addition, according to the leveling work device disclosed in Patent Document 2, it is possible to automatically travel a set route by means of a control computer, so that work time and work efficiency can be improved.

The conventional method of constructing a concrete floor consists of a plurality of steps performed by professional and skilled craftsmen. However, since senior craftsmen who are familiar with the process leave the construction site before they can train younger craftsmen, it has been pointed out that the detailed techniques for concrete floor construction methods cannot be sufficiently passed on.

When the same concrete floor construction process is carried out, this has a considerable effect on the quality of the finish, makes it impossible to uniformize the construction accuracy of the concrete floor surface, and increases the frequency of cracks. On the other hand, when trying to secure skilled craftsmen at each site, the cost of construction per person increases, and the demand for complete automation of a series of concrete floor construction methods has been pointed out as an upcoming issue.

The present invention is an improvement of the conventional concrete floor construction method, improving work efficiency by an apparatus that automates each work process, and even if the worker is not a skilled technician, high precision and The purpose of the present invention is to provide an automatic construction system for concrete floors capable of achieving high-quality finished concrete floors.

The present invention includes a control device, a first autopilot device capable of communicating with the control device for leveling and re-vibration compaction of a concrete floor surface, and a second autopilot device capable of communicating with the control device and performing a trowel work. 2 autopilot and an automatic construction system for concrete floors.

According to the automatic concrete floor construction system according to the present invention, the work efficiency is improved by the equipment that automates each work process, and even if the worker is not a skilled technician, high precision and high quality It is possible to realize a finish of a concrete floor surface.

The drawings show specific embodiments of the automatic concrete floor construction system and construction method thereof according to the present invention, and include not only the essential components of the invention, but also optional and preferred embodiments.
(a) General view schematically showing an automatic concrete floor construction system according to the present invention. (b) A block diagram schematically showing the configuration of a control device. The figure of the flowchart which shows the procedure of the construction method of the concrete floor which concerns on this invention. 3 is a perspective view of the first autopilot; FIG. FIG. 2 is a partially broken plan view of the first autopilot; The figure which shows the mode of the placement leveling work in a 1st process. The figure which shows the mode of a laser screed leveling in a 2nd process. The figure which shows the mode of re-vibration compaction work in a 4th process. (a) A diagram for explaining bleeding measurement inside a concrete floor. (b) An external configuration diagram of a bleeding measuring device. (a) A diagram showing measurement results using a bleeding measurement device (ambient temperature 10°C). (b) A diagram showing measurement results using a bleeding measurement device (ambient temperature 35°C). The figure which shows the mode of the disk hooking operation|work by the 2nd autopilot in a 5th process. The figure which shows the mode of the blade|wing holding work by the 2nd autopilot in a 6th process.

The details of the automatic concrete floor construction system and construction method thereof according to the present invention will now be described with reference to the accompanying drawings. In addition to the essential requirements of the present invention, the following embodiments also include requirements that can be selectively adopted and requirements that can be combined as appropriate.

Referring to FIGS. 1(a) and 1(b), an automatic concrete floor surface construction system 100 according to the present invention includes a control device (computer, server) 101 and a first autopilot device ( leveling machine, re-vibrating machine) 200, a second autopilot device (rotary driving machine, surface finishing machine) 300 capable of communicating with the control device 101, and a work database (big data) 400 for supplying data to the control device 101. including. The first and second autopilots 200 and 300 are remotely operable via an operator terminal 500 .

The control device 101 comprises a control board including a CPU, a ROM, a RAM, etc., and is provided with a communication unit. AI for analyzing the data stored in the automatic command means 123 and the storage means and/or the data accumulated in the work database 400 for instructing the devices 200 and 300 to automatically run and work A data analysis means 124 is included.

One automatic construction system 100 is constructed by the control device 101, the first autopilot device 200, and the second autopilot device 300 communicating while recognizing each other via each identification signal. The control programs (firmware) executed by the first autopilot 200 and the second autopilot 300 are stored in a rewritable memory and configured to be upgradable at any time. Moreover, it is not limited to the language of the control program (firmware).

The worker terminal 500 is capable of information communication with the control device 101 using an Internet line such as a wifi system, in addition to a remote controller used by a known wireless communication system, and can run an application linked to a control system program. It may be a smartphone or a tablet information terminal that is downloaded and stored.

In addition, although the work database 400 is constructed as an external memory, the control device 101 may acquire work information from the work database 400 provided on the cloud via wifi (not shown) in the field environment.
The control device 101 and the work database 400 are equipped with artificial intelligence (AI), and the operator of the control device 101 stores parameters (temperature, humidity, concrete material, etc.) to be set in the work database 400 at the time, date, and time. By accumulating the site name and the person in charge of construction, the construction data of the concrete floor surface 10 may be strongly promoted to AI, and may be configured so as to automate various parameter settings as described later.

As a result, even if the worker is an inexperienced craftsman, almost all processes in the method of constructing the concrete floor surface 10 are fully automated using the parameters of a skilled craftsman to achieve high precision and high quality. It is possible to complete the finish of the concrete floor surface in

As shown in FIGS. 3 and 4, the first autopilot 200 includes a transport section 20 as a traveling means, and a leveling/re-vibration section 30 detachably connected to the transport section 20 . The transport unit 20 includes a housing 21, a lithium-ion (Li-ion) battery 22, a toothed wheel (wheel) 23, an optional removable auxiliary tire 24 that is detachably attached to the toothed hole, and leveling and re-vibration. A lifting mechanism 26 for vertically lifting the unit 30, a traction hook 27 for locking the leveling/re-vibrating unit 30 to the transport unit, and the transport unit 20 and the leveling/re-vibrating unit 30 are detachably connected. and a concatenated join 28 for

The housing 21 accommodates drive control mechanisms such as a motor for the conveying section, a converter, a motor driver, a gearbox, and a compressor. The lithium ion battery 22 is a power source that supplies power to the transport unit 20, and can be replaced by a solar power generation system or a hydrogen fuel battery.

The leveling/re-vibrating section 30 includes the vibration transmission bar 18, the vibration transmission rods 19a, 19b, 19c, and 19d, the re-vibration motor 12, the vibrating blade 13, and the tapper 16 located in front of the vibrating blade 13. have. Here, the vibration frequency of the vibrating blade 13 is preferably 50-300 Hz, and the excitation acceleration is 7 G or more.

The re-vibration motor 12 is powered by a battery 22 (for example, a lithium ion battery). The re-vibration motor 12 has a role of generating re-vibration (tamping) of the vibrating blade 13 . That is, the re-vibration motor 12 is a vibration source, and the vibration of the vibrator is transmitted from the vibration transmission bar 18 to the vibrating blade 13 through four vibration transmission rods 19a, 19b, 19c, and 19d that are evenly distributed. We are taking measures to prevent cracks during concrete construction by removing water and air that have accumulated inside the concrete construction.

A control unit (controller) in the first autopilot device 200 is configured to be able to communicate with the computer 101 shown in FIG. The 1st, 2nd and 4th processes are performed with high precision by self-propelled within the area. The first autopilot device 200 is controlled by the control device 101 to perform the work of the first process in a "concreting leveling mode (first work mode)" and in a "laser screed mode (second work mode)" to perform the second process. mode)”, a “re-vibration mode (third work mode)” for performing the fourth step, and a “fully automatic mode” for performing work by fully automatically self-propelled according to commands from the automatic command means 123 of the control device 101. The free-running speed is set by selecting the self-running parameter optimized by inputting environmental information (site temperature, humidity, weather, air volume) and the re-vibration pattern.

As a result, it becomes possible to automate and program the manual pushing work by a craftsman and the placing and leveling work process performed by a craftsman on board. At this time, the input parameters, selected various work modes, etc. are stored in the work database 400 and machine-learned and analyzed by the AI analysis means 124 of the control device 101. It is reflected in various works. Therefore, the information of various places in the 1st to 8th steps in this construction method is effectively used for the next concrete floor finish.

The concrete floor construction method including the first to eighth steps shown in FIG. 2 is based on a unique construction method (LCS construction method) devised by the applicant. The second autopilot 200, 300 can be fully automatic, efficient and highly accurate.

<First step (concrete leveling work) S1>
Referring to FIG. 5, in the first step S1, reinforcing bars are installed at a location where a concrete floor surface 10 is to be constructed in a construction site such as a warehouse, and then ready-mixed concrete is poured by a concrete pump truck. Concrete pumped from the pipe of a pump car is roughly leveled using a scraper or the like. Before placing the fresh concrete, various tests such as a slump test, an air content test, and a chloride content test are conducted to confirm the properties of the fresh concrete.

In the first step according to the present invention, the first autopilot device 200 can be set to the "concrete leveling mode (first work mode)" and the concreting leveling can be performed by remote control or automatic control. Conventionally, a worker performed compaction work by inserting a rod-shaped vibrator into ready-mixed concrete while considering the insertion interval and insertion location based on experience. By leveling, it is possible to reduce work costs and improve work efficiency.

<Second step (laser screed leveling) S2>
As shown in FIG. 6, in the second step S2, the first autopilot device 200 is switched to the "laser screed leveling mode (second work mode)", and the floor is automatically leveled by remote control or automatic control. do The first autopilot 200 rotates the excitation shaft at high speed to vibrate the vibrating blade 13 in a plane, thereby filling and compacting the concrete.

The first autopilot 200 has support rods 42 and 43 facing each other in the width direction, and laser receivers 42a and 43a are positioned at the tips of the support rods 42 and 43, respectively. A laser emitter 45 having a laser irradiation section is arranged near the first autopilot 200, and the concrete floor surface 10 is leveled by automatic level adjustment means comprising the laser emitter 45 and laser receivers 42a and 43a. watching the level.

In addition, as described above, the first autopilot device 200 includes the tapper 16 that scrapes the concrete floor surface 10 and the vibrator that is positioned behind the tapper 16 that imparts plane vibration to the concrete floor surface 10 for leveling. a blade 13; Cracking of the concrete floor surface 10 can be suppressed by removing air bubbles and air in the concrete by vibration tamping with a vibrator and increasing the density of the concrete.

In conjunction with the automatic level adjustment means, scraping of the concrete floor surface 10 by the tapper 16 and tamping by plane vibration of the vibrating blade 13 are performed. That is, the first autopilot 200 has a laser level measuring function by the automatic level adjusting means, a concrete scraping function by the tapper 16 that is driven in conjunction with the automatic level adjusting means, and a tamping function that vibrates in conjunction with the automatic level adjusting means. Prepare.

In this way, the first autopilot device 200 advances in the direction of travel while the automatic level adjustment means checks the horizontal level of the casting surface, so that the operator can always check the level and work while maintaining a stable level. It can be performed. Therefore, by performing automatic floor leveling with the first autopilot device 200 instead of the leveling work that has been manually performed by conventional plasterers, unevenness can be reduced, the level can be made uniform, and workability can be improved. Further, the tamping effect caused by the vibration of the vibrating blade 13 can realize a dense concrete.

The first autopilot device 200 can perform rough leveling, leveling, tamping, and screeding work in one unit, and has a function to prevent problems caused by unnecessary reflection of light rays during level measurement, and to accurately adjust the water gradient. Equipped with an extremely high-performance laser level, such as a measurable function, an automatic level correction function, and a remote control level setting.

When performing the first and second processes using the first autopilot 200, first, a new work folder is created, and basic information such as the construction area and floor shape based on the design drawing of the work site is created. In addition to the information, basic data including various conditions such as the thickness and hardness of the finished concrete floor surface, temperature and humidity on the day of construction are input in advance to the system program of the control device 101 and stored in the storage means 122 . Next, data analysis is performed by the AI data analysis means 124 based on the work database 400 in which past work data is accumulated, and the first autopilot device 200 is automatically driven by the automatic command means 123 and roughened by automatic control. Carry out the subsequent leveling work. At this time, the self-propelled speed of the first autopilot 200, the vibration frequency and vibration pressure of the vibrating blade 13, etc. are calculated based on the basic data and past work data.

In this way, by automatically controlling via the control device 101, it is possible to simultaneously control a plurality of the first autopilot devices 200 to perform work, and when a plurality of workers manually perform the work, or when a single device Compared to the case of performing work with the first autopilot device 200, the work efficiency can be greatly improved, and even in a large-scale multi-storey parking facility with a floor area of several thousand square meters ^or more, uniform Finished concrete floors can be constructed.

Remote control and automatic control can be executed in parallel, and even during automatic control, the worker can switch to remote control using the worker terminal according to the situation at the work site to control the entire work or a part of it. can be executed.

<Third step (floor surface level confirmation) S3>
In the third step S3, after automatic floor leveling by the first autopilot device 200, the level of the concrete floor surface 10 is checked at a pitch of 2000 mm using an auto level. Further, in the vicinity of the outer edge of the concrete floor surface 10 and the portion where the pillars of the building are located, confirmation work is performed at intervals of 500 to 1500 mm in order to accurately confirm the level.

Although not shown, the first autopilot device 200 is also equipped with a level measuring device corresponding to the automatic level for checking the floor level, and the level measuring device is measured at a plurality of points on the floor during remote or automatic travel. can be used to measure the level of the concrete floor 10 and record it in the controller 101 . In this way, by causing the control device 101 to record the automatically measured level numerical values, it is possible to store them as data in the work database.

<Fourth step (re-vibration compaction) S4>
Referring to FIG. 7, in the fourth step S4, after a predetermined period of time has elapsed after confirming the level of the concrete floor surface 10, when bleeding occurs, the first autopilot device 200 performs compaction by re-vibration. Remove air bubbles and voids. By performing re-vibration compaction, it is possible to expel the water that has accumulated under the reinforcing bars and aggregates due to bleeding, improve the adhesion of the concrete to the reinforcing bars and aggregates, and increase the strength of the concrete.

Referring to FIGS. 7 and 8(a) and (b), the automatic construction system 100 according to the present invention includes a bleeding measuring device 70 for confirming the time of occurrence of bleeding.

Conventionally, it was only necessary to perform registration mark hanging or vibration with a rod-shaped vibrator before bleeding or after a while, and re-vibration compaction was not performed immediately after confirming bleeding. However, if bleeding occurs, it is clear that water mites are formed inside the concrete. face could not be formed. Further, if vibration is applied again after bleeding has occurred completely, it interferes with the setting of the concrete due to the hydration reaction, making it impossible to form a strong concrete floor surface.

In the concrete floor construction method according to this embodiment, when bleeding occurs, tamping vibration is firmly applied using a flat tamper machine to remove air bubbles and voids caused by water mites, and finally a strong floor without cracks. A concrete floor surface can be formed. Here, the "time point when bleeding occurs" means the time point when it is confirmed that the formation of a water line has started. Specifically, in FIG. , when the depth dimension D2 of the pooled water 53 is 40 to 60%, preferably 45 to 55%. By applying the plane vibration by the second autopilot 300 at such timing, it is possible to reliably remove air bubbles and voids caused by water droplets.

In addition, according to the applicant's knowledge, "the point at which bleeding occurs" is the golden time that can be said to be the most suitable time for re-vibration between before and after setting of concrete, and cracks do not occur after construction. It can be said that this is one of the most important points for obtaining a strong concrete floor surface 10 . In other words, this timing is within a range in which quality uniformity can be obtained in terms of the compressive strength ratio and density ratio of the concrete floor surface, and can be said to be the optimal re-vibration compaction time for improving the quality of concrete.

The bleeding measuring device 70 includes a wireless communication unit 71 with a built-in power supply (not shown), a water surface detector (water surface detection sensor) 72 connected to the wireless communication unit 71 , and a measuring unit 73 . The power source of the wireless communication unit 71 is preferably a small power source such as a small lithium button battery, AAA dry battery, alkaline battery, AAA dry battery or alkaline battery. This is because a small and lightweight measuring device is suitable for measuring bleeding inside a concrete floor. The wireless communication unit 71 can use Bluetooth (registered trademark), wifi, etc., which are capable of short-range wireless communication.

The measurement unit 73 is composed of a measurement container 74, a mesh filter 75 provided on the outer skin of the measurement container, and an insertion port 76 (cylindrical) into which the water level detector 72 is inserted. Since the measurement unit 73 is used by directly inserting it into the cast fresh concrete, a plurality of slits and holes (or holes) are provided in the measurement container 74 so that the water seeping out from the inside of the fresh concrete is collected in the measurement container 74 . ing. Furthermore, the entire measuring container 74 is covered with a mesh filter 75 to prevent mud, gravel, etc. from entering the measuring container 74 .

A transparent acrylic material or the like can be used for the measurement container 74 . The mesh filter 75 is made of nylon and has a bag shape. It is welded so as to cover the entire measurement container 74 . The water surface detector 72 is provided with a detachable flange, is inserted into the pipe of the measurement container 74 from the insertion port 76, and is positioned at a predetermined position within the pipe. The flange 77 is a C-shaped resin material having a notch (opening) in part. When the water level detector 72 is inserted into the insertion port, the flange 77 is bent inward, applying a pressing force to the pipe wall and positioning the detector. be done.

A mesh filter selection experiment was conducted. The mesh filters of #100 to 300 had turbidity in the cement, and it was determined that the cement had permeated through them, and was judged to be unsuitable. In addition, the #400 and #500 mesh filters were judged to be suitable (usable) because there was no turbidity in the cement and they did not permeate.

A trial experiment was conducted to confirm the tube hole position and tube size of the measurement container. The water level of the hole in the side varies depending on the depth of insertion into the ready-mixed concrete, making it difficult to use as a measuring instrument. Consideration is advanced with a hole to the bottom. As a result of examining the minimum hole diameter, it was determined that the smaller the hole diameter, the better the penetration resistance (surface tension), and the closer the measurement to the dry state of concrete.
Hole diameter 3 mm → permeation Hole diameter 1 mm → permeation Since both are permeable, it was determined that a hole diameter in the range of 1 mm to 3 mm was suitable (usable). Confirmation of the water level data was performed with a hole diameter of 1 mm in the measurement container.

From these experimental results, a #500 filter was used as the bleeding measuring device, the hole diameter of the measuring container was 1 mm, and the water content of the concrete → cement 1:sand 3 (water 40% to 45% by volume).
An experiment was conducted by submerging a 100 mm-high tube of a measurement container by 90 mm. The experimental results are shown in FIG.

The timing of using the bleeding measuring device 70 is the time from after the concrete is poured until the time of re-vibration.

As shown in FIG. 8(a), after the driving is finished, the measuring part 73 is inserted into the ready-mixed concrete (ready-mixed concrete) by 90 mm (D1), and when the water level in the inner pipe reaches X mm (D2), vibration is performed again. Regarding X mm, the target value (X) is changed according to the outside air temperature. FIG. 9(a) shows the results of measurement using a bleeding measurement device in an environment with an ambient temperature of 10° C. (assuming a winter environment). FIG. 9(b) shows the results of measurement using a bleeding measurement device under an environment with an ambient temperature of 35° C. (assuming a summer environment).

In this measurement, the elapsed time after pouring ready-mixed concrete (in the experimental environment) was measured every 5 minutes from 0 to 60 minutes. Moisture content was measured at 40% and 45%. From the measurement results, it can be said that in winter, when the water level reaches a level corresponding to the amount of water in about 45 minutes or less, the vibration should be started again. Also, in the summertime, it can be said that it is good to start the vibration again when the water level is reached in about 25 minutes or less.

By having such a configuration of the bleeding measuring device 70, the height adjustment of the water surface is simplified as compared with the conventional method in which the worker inserts his/her finger to perform the confirmation work.

In addition, the wireless communication unit 71 of the bleeding measuring device 70 can communicate with the operator terminal and the control device 101, and records the measurement result of the bleeding measuring device 70 in the storage means of the control device 101 and stores it in the work database 400. Data can be accumulated. For example, it is possible to divide the concrete floor surface into areas, install a plurality of bleeding measuring devices 70 for each section, and automatically detect the timing of bleeding through wireless communication with the control device 101 . As a result, the entire concrete floor surface 10 can be re-vibrated appropriately.

Furthermore, without using the bleeding measuring device 70, the artificial intelligence of the control device 101 can be used to predict the time point at which bleeding occurs based on basic data on construction and past work data. In this way, by predicting the point at which bleeding occurs without using the bleeding measuring device 70, it is possible to improve overall work efficiency.

<Fifth step (disk hooking) S5 and sixth step (blade holding) S6>
10 and 11, after the concrete floor surface 10 is leveled by re-vibration, the concrete floor surface 10 is evenly pressurized by the second autopilot (rotary driver, surface finisher) 300. to flatten it. The second autopilot 300 is a floor surface finisher that finishes the concrete floor surface 10 before hardening by rotating a rotary disc (or a vane-shaped rotary trowel) with a motor or an engine. A hard steel plate such as SK material or high-strength steel is suitably used for the rotary disk and vane-shaped rotary iron.

The second autopilot device 300 includes a device main body 310, an antenna section 330 fixed to the upper surface of the device main body 310, and capable of communicating with the operator terminal and the control device 101 via a network. and a rotating trowel 320 attached thereto. The rotary iron section 320 is detachable from the device main body 310 and has a rotary disc 321 and a vane-shaped rotary iron 322 . The rotary disk 321 and the vane-shaped rotary iron 322 are made of plastic or metal, and either one can be selected and attached to the device main body 310 for use according to the content of the work.

The second autopilot device 300 has two types of control modes, a “rotary disk mode” and a “vane-shaped rotary iron mode”, and the operator terminal or the control device 101 selects the necessary control mode as appropriate. can be used.

As an option, a brush plate 365 is attached to the rear of the device body 310 . A brush plate (unevenness adjusting means) 365 is detachably attached to the apparatus main body 310 and is used for disc hanging. The brush plate 365 may have a comb-like or flat-plate brush portion, may have a plurality of large and small brushes arranged in the front-rear direction, or may have a plurality of brushes in the width direction of the apparatus main body 310 . They may be arranged in parallel. Further, it may be mechanically connected to the device main body 310 and controlled to be movable back and forth.

As the procedure of the fifth step, first, a rotary disk 321 is attached as the rotating iron part 320 of the device main body 310 of the second autopilot 300, and it is started in a state of being set to the "rotary disk mode", and rotates. The concrete floor surface 10 is flattened to a certain extent by adjusting the direction of rotation and the number of times of rotation of the formula disk 321 . Next, the rotary disk 321 is removed and a metal vane-shaped rotary iron 322 is attached to the device main body 310, and the "vane-shaped rotary iron mode" is switched to operate the vane-shaped rotary iron 322 along the vertical and horizontal axes. Then, the blades are rotated alternately, and finishing work (blade holding) is carefully performed at a constant speed while adjusting leveling unevenness and unevenness until the concrete floor surface 10 starts to shine faintly.

In the case of the conventional concrete floor construction method, the trowell is moved by tilting the trowell body by vertically operating the handle lever attached to the trowell body to change the ground pressure on the rotating surface of the rotary trowel. , using the thrust generated by the difference in ground resistance. In this way, when the trowel is moved, the trowel body is tilted and uneven contact pressure is applied to the rotating surface of the rotating trowel. In addition, a detailed metal trowel finish by a plasterer is required. In the second autopilot device 300, the brush plate 365 is attached to the rear of the device main body 310, so that the unevenness of the concrete floor surface 10 can be removed by the brush plate 365 immediately after the disc setting to adjust unevenness. can be done.

In this embodiment, as the second autopilot device 300, the rotary disk 321 and the blade-shaped rotary iron 322 can be detachably attached, but they are not detachably attached to the device main body 310. may In that case, the second autopilot 300 equipped with the rotary disk 321 and the second autopilot 300 equipped with the vane-shaped rotating iron 322 are alternately used for the work.

When performing the fifth and sixth steps using the second autopilot 300, the work results of the first autopilot 200 recorded in the control device 101, the measurement results of the bleeding measuring device 70, etc. The AI data analysis means 124 analyzes the actual work data and the past work data accumulated in the work database 400, and the automatic command means 123 determines the self-propelled speed of the second autopilot 300 and the rotation direction of the rotary iron section 320. , the number of rotations, etc., can be appropriately adjusted to carry out the trowel work.

According to the findings of the present applicant, it is estimated that the surface pressurization by the second autopilot 300 of 3.5 N or more falls within the range in which vibration and load should not be applied. Therefore, when the second autopilot 300 is used or finishing work is performed, there is a possibility that cracks or the like may occur.

<Seventh step (finishing with iron trowel) S7>
After the trowel work is performed by the second autopilot device 300, the trowel finish is performed by the plasterer as needed. The plasterer can confirm the construction status of the concrete floor surface 10 from the worker terminal or the liquid crystal screen of the control device 101, and then perform an appropriate trowel finish based on his own experience.

<Eighth step (curing) S8>
After the surface is pressurized by the second autopilot 300, it is important to supply water to the concrete floor 10 in order to promote a sufficient hydration reaction and prevent surface cracks due to drying. For that purpose, water curing and moist curing are performed for the required number of days according to the average daytime temperature. In this construction method, it is preferable to perform water curing and wet curing for at least 7 days. In addition, by performing curing in about three days after finishing with a trowel, it is possible to suppress the occurrence of cracks on the surface of the concrete floor surface 10 even when the air is dry.

The present invention supplies a program that implements one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in the computer of the system or apparatus reads and executes the program. It can also be realized by processing to It can also be implemented by a circuit (for example, ASIC) that implements one or more functions.

The disclosure relating to the present invention described above can be summarized at least in the following matters.

A control device, a first autopilot device capable of communicating with the control device for leveling a concrete floor surface and re-vibrating compaction work, and a second autopilot device capable of communicating with the control device and performing a troweling work. Automatic construction system for concrete floors including

The present invention disclosed in paragraph 0071 above can include at least the following embodiments. Said embodiments can be taken separately or in combination with each other.
(1) The control device has automatic command means, and the automatic command means causes the first and second autopilot devices to self-propell and automatically perform work.
(2) It further includes a bleeding measuring device communicable with the control device, wherein the bleeding measuring device comprises a wireless communication unit, a water surface detector connected to the wireless communication unit, and a measuring unit.
(3) The first autopilot device includes a transport section, which is a traveling means, and a leveling/re-vibrating section detachably attached to the transport section.
(4) The second autopilot includes a device main body and a rotary iron section detachably attached to the device main body, wherein the rotary iron section has a rotary disk and a vane-shaped rotary iron.

In the specification and claims of this invention, the terms "first" and "second" are used merely to distinguish like elements, locations, and the like.

10 Concrete floor surface 20 Transfer unit 30 Leveling/re-vibration unit 70 Bleeding measuring device 71 Wireless communication unit 72 Water surface detector 73 Measuring unit 101 Control device 123 Automatic command means 200 First autopilot 300 Second autopilot 310 Apparatus Main body 320 Rotary iron part 321 Rotary disc 322 Blade-shaped rotary iron

Claims (5)

A control device, a first autopilot device capable of communicating with the control device for leveling a concrete floor surface and re-vibrating compaction work, and a second autopilot device capable of communicating with the control device and performing a troweling work. Automatic construction system for concrete floors including 2. The automatic construction system for a concrete floor according to claim 1, wherein said control device has automatic command means, and said first and second autopilot devices are operated by said automatic command means to run and work automatically. 3. A bleeding measuring device communicable with said control device, said bleeding measuring device comprising a wireless communication unit, a water surface detector connected to said wireless communication unit, and a measuring unit. The automatic construction system for the concrete floor surface described in . The concrete floor surface according to any one of claims 1 to 3, wherein the first autopilot device includes a transport section that is a traveling means, and a leveling and re-vibrating section detachably attached to the transport section. Automatic construction system. 1-4, wherein the second autopilot device includes a device main body and a rotary iron section detachably attached to the device main body, wherein the rotary iron section has a rotary disk and a vane-shaped rotary iron. The automatic construction system for concrete floors according to any one of the above.

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