Management device, work system, and program

Abstract

To improve the quality of a construction joint by accurately evaluating the quality of a concrete treatment surface.SOLUTION: A management device 40 for managing removable work of a laitance layer 4 on the front surface of concrete 3 comprises: frequency analysis means (control unit 41, frequency analysis program 423) for performing frequency analysis for irregularity information of a concrete treatment surface subjected to removal work; and evaluation means (control unit 41, evaluation program 424) for evaluating the quality of the concrete treatment surface on the basis of the analyzing result of the frequency analysis means. A work system 100 comprises the management device 40, a green cut device 10 that performs removal work of the laitance layer 4 on the front surface of the concrete 3, and a 3D scanner device 30 that acquires three-dimensional data on the concrete treatment surface subjected to the removal work by the green cut device 10.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a management device, an operation system, and a program. [Background technology]

[0002] For example, when constructing a large-scale concrete structure such as a dam embankment, the concrete structure is divided into several layers, and concrete is poured from the bottom up. After each layer is poured, light particles in the concrete rise to the surface, forming a fragile laitance layer on the surface of the concrete. In order to provide sufficient strength, durability, and watertightness to the pouring joints, it is necessary to remove the laitance layer formed on the surface of the lower concrete layer before pouring the upper layer of concrete. The process of removing this laitance layer is called green cutting or laitance treatment.

[0003] Conventionally, methods for removing the laitance layer include a method of pressing a wire brush rotating at high speed against the surface layer of the concrete, and a method of spraying high-pressure water onto the surface layer of the concrete. Furthermore, in order to ensure that construction joints have sufficient strength, durability and watertightness, it is also important to check the treated surface after removing the laitance layer, that is, to evaluate and judge the quality of the treated surface. Patent Document 1 discloses a technology in which the surface of concrete to be treated is captured using ultrasound, electromagnetic waves or video, the captured detection data is compared with a pre-set standard surface roughness for an appropriate construction joint, and the green cut device is controlled based on the difference. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3101826 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the quality of the treated concrete surface cannot be quantitatively evaluated by simply comparing the detection data with the reference surface roughness, and accurate quality evaluation and quality judgment cannot be performed. That is, although Patent Document 1 describes the detection of the surface roughness of the treated concrete surface and the acquisition of the detection data, it does not describe a specific definition (quantification) of surface roughness. In other words, it does not describe which of the various parameters representing surface roughness (arithmetic mean roughness, maximum height, ten-point average height) should be used to quantify and evaluate the surface roughness, and the validity of this is unclear. The present invention has been made in consideration of the above circumstances, and an object of the present invention is to accurately evaluate the quality of a treated concrete surface and improve the quality of a construction joint. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention provides a management device for managing a laitance layer removal operation on a surface layer of concrete, comprising: A frequency analysis means for performing a frequency analysis on the unevenness information of the concrete treatment surface on which the removal work has been performed; The present invention is characterized by comprising an evaluation means for evaluating the quality of the treated concrete surface based on the analysis result by the frequency analysis means.

[0007] The present invention relates to a management device according to claim 1, A cross-sectional data acquisition means for acquiring cross-sectional data from the three-dimensional data of the concrete treatment surface; and a roughness curve acquisition means for acquiring a roughness curve of the treated concrete surface from the cross-sectional data acquired by the cross-sectional data acquisition means. The frequency analysis means performs a frequency analysis on the roughness curve acquired by the roughness curve acquisition means.

[0008] The present invention relates to a management device according to claim 2, the frequency analysis means performs a Fourier transform on the roughness curve to obtain an amplitude spectrum with respect to a spatial frequency; The evaluation means is characterized in that it compares the amplitude spectrum acquired by the frequency analysis means with a predetermined reference amplitude spectrum to determine the removal status of the laitance layer on the concrete treatment surface.

[0009] The invention described in claim 4 is a work system, A management device according to claim 2; A green cut device that performs the removal work; and a 3D scanner device for acquiring the three-dimensional data.

[0010] The invention described in claim 5 is a program, A computer is installed in a management device that manages the removal of the laitance layer from the surface of the concrete. a frequency analysis means for performing a frequency analysis on the unevenness information of the concrete treatment surface on which the removal work has been performed; The present invention is characterized in that it functions as an evaluation means for evaluating the quality of the treated concrete surface based on the analysis results by the frequency analysis means. Effect of the Invention

[0011] According to the present invention, the quality of a concrete treated surface can be accurately evaluated, thereby improving the quality of pouring joints. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view showing a dam embankment, which is a large-scale concrete structure. [Diagram 2] FIG. 1 is a block diagram showing a configuration of a work system. [Diagram 3] FIG. 2 is a schematic diagram showing the configuration of a green cut device. [Figure 4] FIG. 2 is a block diagram showing a configuration of a control device in the green cutting device. [Diagram 5] FIG. 2 is a block diagram showing a configuration of a management device. [Figure 6] FIG. 1 shows roughness curves before and after a green cutting operation. [Figure 7] FIG. 4A is a diagram showing the results of frequency analysis, and FIG. 4B is a diagram for explaining a method for evaluating the quality of a treated concrete surface based on the analysis results shown in FIG. [Figure 8] 1 is a flowchart showing a green cutting work management method using the work system. [Figure 9] FIG. 2 is a diagram for explaining an inspection area and an evaluation target position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, the embodiments of the present invention will be described with reference to the drawings. However, the embodiments described below are subject to various technically preferable limitations for carrying out the present invention, but the technical scope of the present invention is not limited to the following embodiments and illustrated examples.

[0014] FIG. 1 is a diagram showing an example of a large-scale concrete structure. 1, reference numeral 1 denotes a large-scale concrete structure, which in this embodiment denotes a dam embankment. Other examples of large-scale concrete structures include buildings and bridges. Such large-scale concrete structures, including the dam embankment 1, are composed of multiple layers, and are constructed by pouring concrete 3 in order from the bottom layer onwards.

[0015] After each layer of concrete is poured, light particles in the concrete 3 rise to the surface, forming a fragile laitance layer 4 on the surface of the concrete 3. If the upper layer of concrete 3 is poured without removing the laitance layer 4, the pouring joint between the lower and upper layers will not have sufficient strength, durability, or watertightness. For this reason, it is necessary to remove the laitance layer 4 from the lower layer of concrete 3 before pouring the upper layer of concrete 3. A green cut device 10 is used to remove the laitance layer 4.

[0016] In Fig. 1, reference numeral 2 indicates a work area where the laitance layer 4 is to be removed by the green cut device 10. That is, the work area 2 is a portion of the dam body 1 where concrete 3 has been poured and its surface layer, and is surrounded by, for example, formwork. The concrete 3 to be poured into the work area 2 is put into a bucket and transported by a crane to above the planned pouring position in the work area 2. The bucket is then lowered to a height where the concrete can be poured into the planned pouring position, and the concrete 3 is released from that position. In this way, the concrete 3 is poured. The squares shown in the work area 2 in Fig. 1 represent, for example, a bucket full of concrete 3.

[0017] After the concrete 3 is poured into the work area 2, it is compacted by a vibrator. After a certain time has passed since the compaction of the concrete 3 is completed, a laitance layer 4 is formed on the surface of the concrete 3.

[0018] <Working system> FIG. 2 is a diagram showing an example of the configuration of the work system 100. As shown in FIG. As shown in FIG. 2, the work system 100 includes a control device 20 provided in the green cutting device 10, a 3D scanner device (three-dimensional scanner device) 30, and a management device 40.

[0019] The control device 20, the 3D scanner device 30, and the management device 40 are connected via a communication network N so as to be able to communicate data with each other. The communication network N in this embodiment may include various communication networks such as telephone lines, ISDN lines, optical fibers, mobile communication networks, communication satellite lines, CATV lines, and other dedicated lines, as well as an Internet service provider (i.e., the Internet) that connects them. It may also be a collective communication network in which various communication networks such as LAN (Local Area Network), WAN (Wide Area Network), WiFi (Wireless Fidelity), Bluetooth (registered trademark), and NFC (Near Field Communication) are connected to each other so that they can communicate with each other. The connection form may be wired, wireless, or a combination of wired and wireless.

[0020] <Green cut device> FIG. 3 is a diagram showing an example of the configuration of the green cut device 10. As shown in FIG. The green cutting device 10 is a device for removing a laitance layer 4 from the surface layer of concrete 3 poured into a work area 2. Specifically, as shown in Fig. 3, the green cutting device 10 includes a device main body 11 and a control device 20 for performing the green cutting work with the device main body 11.

[0021] The device main body 11 has a running section 12 for running the device main body 11, a removal work section 13 for performing green cutting work, and a sensor section 14 for sensing the environment surrounding the work area 2. The device body 11 is provided with structural parts necessary for performing the work of removing the laitance layer 4, and functions as a housing for the green cut device 10.

[0022] The traveling unit 12 includes a plurality of tires 12a and a driving unit 12b that drives the plurality of tires 12a to rotate, and is provided, for example, at the bottom of the device body 11. Furthermore, the traveling unit 12 includes a steering mechanism that adjusts the orientation of the plurality of tires 12a to change the traveling direction, a brake mechanism that stops the rotation of the plurality of tires 12a, and the like. In the present embodiment, the traveling portion 12 is constituted by the tires 12a, but is not limited thereto, and may be constituted by, for example, caterpillars (crawlers).

[0023] The removal work unit 13 includes multiple sets of brushes 13a and drive units 13b that rotate the brushes 13a, and is provided, for example, at the bottom of the device body 11. Furthermore, the removal work unit 13 includes an elevation mechanism that moves the multiple sets of brushes 13a and drive units 13b toward or away from the laitance layer 4. In other words, when the brushes 13a are elevated and separated from the laitance layer 4, the green cutting work is not performed, and when the brushes 13a are lowered and brought into contact with the laitance layer 4, the green cutting work is performed. In this embodiment, the removal work unit 13 is constituted by the brush 13a, but is not limited to this and may be, for example, a chipping device or a high-pressure washer.

[0024] The sensor unit 14 is used for self-position estimation processing and mapping processing, and is provided on the top of the device body 11, for example. Examples of the type of sensor used in the sensor unit 14 include an optical distance measuring sensor such as LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a camera, etc. In the present embodiment, an optical distance measuring sensor is used, but a camera may be used, or an optical distance measuring sensor and a camera may be used in combination.

[0025] Optical distance sensors measure the scattered light from a pulsed laser and can analyze the distance to a distant object and the properties of that object. Optical distance sensors can obtain two-dimensional (X,Y coordinates) or three-dimensional (X,Y,Z coordinates) point cloud data regardless of the surrounding brightness. As the camera, a monocular camera, a compound eye camera, an RGB-D camera, etc. can be used. In the case of a camera, the surrounding environment can be acquired as image data.

[0026] FIG. 4 is a diagram showing an example of the configuration of the control device 20. As shown in FIG. The control device 20 is a computer built into the device body 11, and controls the traveling unit 12, the removal work unit 13, and the sensor unit 14 provided in the device body 11. Specifically, as shown in Fig. 4, the control device 20 includes a control unit 21, a storage unit 22, and a communication unit 23.

[0027] The control unit 21 is composed of a CPU (Central Processing Unit), a RAM (Random Access Memory), and the like. The CPU reads out various programs stored in the storage unit 22, loads them into the RAM, executes various processes according to the loaded programs, and centrally controls the operation of each means in the green cutting device 10.

[0028] The storage unit 22 is configured with a non-volatile memory, a hard disk, etc. The storage unit 22 stores various programs executed by the control unit 21, various data required for executing the programs, etc. The various programs executed by the control unit 21 include a mapping program, a self-position estimation program, a travel control program, and an operation control program. The various data required for executing the program includes mapping information and / or position information of the working area 2.

[0029] The communication unit 23 is configured with a communication module, etc. The communication unit 23 transmits and receives various signals and various data to and from other devices (the 3D scanner device 30, the management device 40, etc.) connected by wire or wirelessly via the communication network N.

[0030] The green cutting device 10 in this embodiment operates as follows. As described above, the memory unit 22 of the green cutting device 10 stores the mapping program, the self-position estimation program, the travel control program, and the work control program.

[0031] The mapping program is for creating map information of the range in which the device main body 11 has traveled within the work area 2, and creates a map of the work area 2 based on information relating to the surrounding environment of the work area 2 obtained by the sensor unit 14. Specifically, the control unit 21 executes a mapping program, and first senses the environment around the work area 2 using the sensor unit 14. The sensor unit 14 in this embodiment is an optical distance measuring sensor as described above, and acquires information related to the sensed environment around the work area 2 as two-dimensional or three-dimensional point cloud data. A point cloud is a data format in which each pulse reflected from surrounding objects and terrain detected by the sensor unit 14 is expressed as a point.

[0032] Next, the control unit 21 creates a two-dimensional or three-dimensional map of the work area 2 based on the point cloud data acquired by the sensor unit 14. Next, the control unit 21 stores the created map information in the memory unit 22. Such a mapping program functions as a mapping means in cooperation with the control unit 21 and the sensor unit 14 . The mapping program is executed simultaneously with the self-location estimation program.

[0033] The self-position estimation program is intended to estimate the position of the device main body 11 within the work area 2, and senses the environment surrounding the work area 2 using the sensor unit 14, and estimates the position of the device main body 11 relative to the work area 2 based on the sensing results. Specifically, the control unit 21 executes a self-location estimation program simultaneously with the mapping program. The control unit 21 executes the self-location estimation program, and first senses the surrounding environment of the work area 2 with the sensor unit 14. Next, the control unit 21 estimates, in two or three dimensions, where the device main body 11 is located on the map created by the mapping program. Such a self-position estimation program functions as a self-position estimation means in cooperation with the control unit 21 and the sensor unit 14 .

[0034] The above mapping program and self-position estimation program are executed simultaneously by the control unit 21, thereby functioning as so-called Simultaneous Localization and Mapping (SLAM). SLAM is a method of simultaneously performing position estimation and map creation. That is, the device body 11 equipped with the sensor unit 14 senses the environment around the work area 2 while traveling, thereby creating a two-dimensional or three-dimensional environmental map. At the same time, the device body 11 can estimate its own position on the environmental map by sequentially estimating the amount of movement of the device body 11. With this type of SLAM, it is possible to perform self-position estimation even in an environment where no map exists. In addition, by utilizing the constructed map information, it is possible to perform green cutting work in every corner in the shortest time possible without repeating an area where green cutting work has been performed once.

[0035] In addition, by executing the mapping program and the self-position estimation program (i.e., SLAM), the location where the device main body 11 has passed within the work area 2 is identified. In other words, the location within the work area 2 where the green cutting work has been performed is identified. This makes it possible to perform the green cutting work within the work area 2 along the optimal route.

[0036] The travel control program is for controlling the drive of the travel unit 12 based on the positional relationship between the work area 2 and the device main body 11 estimated by the self-position estimation program. Specifically, the control unit 21 executes a travel control program to drive and control the travel unit 12 of the device main body 11. This causes the device main body 11 to travel within the work area 2.

[0037] The above mapping program and self-position estimation program are also executed while the device body 11 is traveling within the work area 2. That is, the control unit 21 drives and controls the traveling unit 12 of the device body 11 while estimating the position and movement amount of the device body 11 and selecting a portion within the work area 2 that the device body 11 has not passed through. Therefore, when there is no portion within the work area 2 that the device body 11 has not passed through, that is, when the green cutting work has been performed over the entire work area 2, the drive control of the traveling unit 12 by the travel control program is stopped.

[0038] For example, if there is a waiting area for the green cutting device 10 near the work area 2, the control unit 21 may drive and control the traveling unit 12 to move the device body 11 to the waiting area when it is determined that the green cutting work has been performed in the entire work area 2. The waiting area is recognized by the green cutting device 10 as an area where the device body 11 can travel and outside the work area 2 (a place where green cutting work is not performed). Such a driving control program functions as a driving control means in cooperation with the control unit 21 and the driving unit 12.

[0039] The work control program is for controlling the drive of the removal work unit 13 when green cutting work is being performed, and for controlling the stop of the removal work unit 13 when green cutting work is not being performed. Specifically, the control unit 21 executes a work control program to drive and control the removal work unit 13 of the device body 11. This causes the device body 11 to perform the removal work (green cut work) of the laitance layer 4. That is, the brush 13a is lowered and brought into contact with the surface layer of the work area 2, and the brush 13a is rotationally driven by the drive unit 13b.

[0040] The location where the laitance layer 4 has been removed is determined based on the position information of the device body 11 estimated by the self-position estimation means. When the green cutting work has been performed over the entire work area 2, the brush 13a rises and moves away from the surface of the work area 2. Such a work control program functions as a work control means in cooperation with the control unit 21 and the removal work unit 13.

[0041] As described above, the green cutting device 10 is set to perform green cutting work by the control unit 21 executing the mapping program, the self-position estimation program, the travel control program, and the work control program.

[0042] <3D scanner device> The 3D scanner device 30 is a device that measures the three-dimensional shape of a solid object and generates three-dimensional data. The scanning method of the 3D scanner device 30 in this embodiment is a pattern light projection method, but is not limited to this and may be, for example, a laser light method. By using a 3D scanner using a pattern light projection method or a laser light method, it is possible to obtain highly accurate three-dimensional data with a resolution of 1 mm or less.

[0043] In this embodiment, a 3D scanner device 30 is used to obtain three-dimensional data of the surface (hereinafter referred to as the "treated concrete surface") of the concrete 3 processed by the green cut device 10. That is, the 3D scanner device 30 obtains three-dimensional data (irregularity data) of the treated concrete surface. In addition, the 3D scanner device 30 is configured to transmit and receive various signals and various data to and from other devices (the control device 20, the management device 40, etc.) connected via the communication network N in a wired or wireless manner.

[0044] <Management device> The management device 40 is a device that manages the green cutting work performed by the green cutting device 10 based on the three-dimensional data acquired by the 3D scanner device 30. The management device 40 of this embodiment is configured by a general-purpose computer. Here, the general-purpose computer refers to a communication-enabled information terminal (management terminal) such as a PC, a smartphone, a tablet, etc.

[0045] FIG. 5 is a diagram showing an example of the configuration of the management device 40. As shown in FIG. As shown in FIG. 5, the management device 40 includes a control unit 41, a storage unit 42, an operation unit 43, a display unit 44, and a communication unit 45.

[0046] The control unit 41 is composed of a CPU, a RAM, and the like. The CPU reads out various programs stored in the storage unit 42, loads them into the RAM, executes various processes in accordance with the loaded programs, and centrally controls the operations of each unit in the management device 40.

[0047] The storage unit 42 is configured by a non-volatile memory, a hard disk, etc. The storage unit 42 stores various programs executed by the control unit 41, various data required for executing the programs, etc. The various programs executed by the control unit 41 include a cross-sectional data acquisition program 421 , a roughness curve acquisition program 422 , a frequency analysis program 423 , and an evaluation program 424 .

[0048] The operation unit 43 is constituted by a keyboard, a mouse, a touch panel, etc. The operation unit 43 outputs an operation signal to the control unit 41 in response to an operation by an operator. The display unit 44 is configured with a liquid crystal display etc. The display unit 44 performs a given display process in accordance with a display signal input from the control unit 41.

[0049] The communication unit 45 is configured by a communication module, etc. The communication unit 45 transmits and receives various signals and various data to and from other devices (the control device 20, the 3D scanner device 30, etc.) connected by wire or wirelessly via the communication network N.

[0050] The management device 40 in this embodiment operates as follows. As described above, the storage unit 42 of the management device 40 stores the cross-sectional data acquisition program 421, the roughness curve acquisition program 422, the frequency analysis program 423, and the evaluation program 424.

[0051] The cross-sectional data acquisition program 421 is for acquiring cross-sectional data from the three-dimensional data acquired by the 3D scanner device 30. Specifically, the control unit 41 executes the cross-sectional data acquisition program 421 to set a vertical cross section at an arbitrary position for the three-dimensional data transmitted from the 3D scanner device 30 via the communication network N, and extracts the cross-sectional data. Such a cross-sectional data acquisition program 421 functions as a cross-sectional data acquisition means in cooperation with the control unit 41 .

[0052] The roughness curve acquisition program 422 is for acquiring a roughness curve (unevenness information) from the cross-sectional data acquired by the cross-sectional data acquisition program 421. Specifically, the control unit 41 executes the roughness curve acquisition program 422 to extract two-dimensional data of the uneven shape of the treated concrete surface contained in the cross-sectional data acquired by the cross-sectional data acquisition program 421, and uses this as a roughness curve. Such a roughness curve acquisition program 422 cooperates with the control unit 41 to function as a roughness curve acquisition means.

[0053] FIG. 6 is a diagram showing an example of roughness curves before and after a green cutting operation. In the roughness curve acquired by the roughness curve acquisition program 422, the surface properties of the treated concrete surface are visualized in detail. On the treated concrete surface (i.e., the surface of the concrete 3 after the green cut operation), the laitance layer 4 has been removed, exposing some of the aggregate that was buried inside the concrete 3. Therefore, the roughness curve after the green cut operation has a relatively large number of projections and recesses, as shown by the solid line in FIG. 6, for example.

[0054] On the other hand, the roughness curve before the green cutting work is drawn with the muddy laitance layer 4 remaining on the surface, and is therefore a smooth curve with relatively few irregularities, as shown by the dashed line in Fig. 6. The roughness curve before the green cutting work is a curve obtained, for example, by acquiring three-dimensional data from the surface of the concrete 3 before the green cutting work using a 3D scanner device 30, and then by the cross-sectional data acquisition means and the roughness curve acquisition means based on the acquired three-dimensional data.

[0055] In this way, the roughness curve visualizes the surface properties of the surface to be inspected. Therefore, the removal status of the laitance layer 4 on the treated concrete surface can be evaluated and judged using the roughness curve after the green cut operation. That is, the roughness curve represents the surface quality of the surface to be inspected in detail. Therefore, for example, as shown in Fig. 6, by comparing the roughness curves before and after the green cutting work, the difference in the surface quality before and after the green cutting work (the presence or absence of the laitance layer 4 and the presence or absence of unevenness due to the exposure of aggregate) can be visualized.

[0056] The frequency analysis program 423 is for performing frequency analysis on the roughness curve (unevenness information) acquired by the roughness curve acquisition program 422. This enables quantitative evaluation of the surface properties of the treated concrete surface. That is, in this embodiment, the obtained roughness curve is frequency analyzed to quantitatively evaluate the surface properties of the treated concrete surface. Specifically, the control unit 41 executes the frequency analysis program 423 to obtain an amplitude spectrum for each spatial frequency by performing a Fourier transform on the roughness curve obtained by the roughness curve obtaining program 422. This makes it possible to quantify the quality of the treated concrete surface, such as whether the laitance layer 4 has been completely removed (whether exposed aggregate has been detected). Such a frequency analysis program 423 functions as a frequency analysis means in cooperation with the control unit 41 .

[0057] The evaluation program 424 is for evaluating the quality of the treated concrete surface based on the analysis results by the frequency analysis program 423. Specifically, the control unit 41 executes the evaluation program 424 and compares the amplitude spectrum acquired by the frequency analysis program 423 with preset index data to determine the removal status of the laitance layer 4 on the treated concrete surface and evaluate the quality of the treated concrete surface. Such an evaluation program 424 functions as an evaluation means in cooperation with the control unit 41 .

[0058] The index data is data that serves as a criterion for the completion of the green cutting work, and is, for example, an amplitude spectrum that serves as a criterion for the completion of the green cutting work. Specifically, for example, a roughness curve before green cutting work and a roughness curve after green cutting work, which is a roughness curve of a treated concrete surface where it has been confirmed that no laitance layer 4 remains, are obtained as roughness curves for index data. Then, by performing a Fourier transform on these, the amplitude spectrum can be visualized, and the characteristics and trends of each can be captured and used as an index. More specifically, for example, the amplitude spectrum (amplitude spectrum of the concrete-treated surface) obtained by the frequency analysis program 423 is compared with index data (amplitude spectrum before green cutting work, and amplitude spectrum of the concrete-treated surface after green cutting work where it has been confirmed that no laitance layer 4 remains) to determine whether or not the laitance layer 4 has been completely removed (whether or not exposed aggregate has been detected).

[0059] Fig. 7(a) shows an example of the results of Fourier transform of the roughness curve before and after the green cut operation, and Fig. 7(b) shows the amplitude spectrum for each spatial frequency obtained from the results shown in Fig. 7(a). As shown in FIG. 7(a), for example, when the value of the spatial frequency F[1 / mm] is 0.01, the value of the amplitude spectrum is larger after the green cutting operation than before the green cutting operation. Assuming that the period L of the unevenness caused by exposed aggregate is 100 mm to 20 mm, the corresponding spatial frequency F [1 / mm] is 0.01≦F≦0.5 (F=1 / L). Fig. 7(b) is a diagram showing the amplitude spectrum in the range of 0.01≦F≦0.5 (the range surrounded by the dashed line in Fig. 7(a)) out of the amplitude spectrum shown in Fig. 7(a).

[0060] The control unit 41 of this embodiment executes the evaluation program 424 to pick up the top multiple (e.g., top 5) amplitude spectra with the largest values ​​from the amplitude spectra in the range of 0.01≦F≦0.5 among the amplitude spectra acquired by the frequency analysis program 423. Then, the control unit 41 calculates the average value of the picked-up amplitude spectra, and if the average value is equal to or greater than the index data (e.g., "0.1"), it is determined that the laitance layer 4 has been completely removed. For example, in Fig. 7(b), the amplitude spectrum with the tip surrounded by a dashed line is the top five amplitude spectra with the largest values ​​picked out from the amplitude spectra before the green cutting work in the range of 0.01≦F≦0.5. The average value of these is 0.061, and if the index data is set to "0.1", it is determined that the laitance layer 4 has not been completely removed. In addition, in Fig. 7(b), the amplitude spectrum whose tip is surrounded by a solid line is the top 5 amplitude spectrum with the largest value picked out from the amplitude spectrum after the green cut work in the range of 0.01≦F≦0.5. The average value of these is 0.131, and when the index data is set to "0.1", it is determined that the laitance layer 4 has been completely removed.

[0061] <Green cutting work management method> Next, the flow of the operation of removing the laitance layer 4 (green cutting operation) by the operation system 100 will be described with reference to FIGS. FIG. 8 is a flowchart showing an example of a green cutting work management method by the work system 100. FIG. 9(a) is a diagram showing an example of an inspection area 2a, and FIG. 9(b) is a diagram showing an example of an evaluation target position 2b.

[0062] First, the green cutting operation is performed by the green cutting device 10 (step S1). Specifically, for a given section of the dam body 1 under construction, the section after concrete pouring work is completed is defined as the work area 2 to be the target of green cutting work. The work area 2 may be defined based on coordinate information of CIM (Construction Information Modeling) data of the dam body 1, for example, or may be defined by the green cutting device 10 based on the above-mentioned SLAM. It is assumed that the pouring of the concrete 3 is carried out based on the coordinate information of the CIM data. Furthermore, when the work area 2 is defined by SLAM, the green cutting device 10 needs to travel, so this is performed after the concrete 3 has hardened to a certain extent. At that time, the removal work unit 13 is controlled to stop.

[0063] In the work area 2, concrete 3 is poured and then compacted. After a certain time has elapsed since the completion of the compaction, a laitance layer 4 is formed on the surface of the concrete 3. Thereafter, the green cutting device 10 executes the mapping program and the self-position estimation program, while executing the travel control program to start traveling by SLAM within the work area 2. Furthermore, the green cutting device 10 executes the work control program to perform green cutting work. By following the above-mentioned procedure, the laitance layer 4 removal operation (green cut operation) can be performed.

[0064] Next, after removing the sludge by spraying water or the like, three-dimensional data of the concrete treatment surface is obtained by the 3D scanner device 30 (step S2). Specifically, for example, an inspection area 2a is set within the work area 2, and the surface layer (concrete treatment surface) of the inspection area 2a is scanned using a 3D scanner device 30 to obtain three-dimensional data. In this embodiment, as shown in FIG. 9(a), four inspection areas 2a are set within the work area 2, and each of these four inspection areas 2a is scanned, but the number of inspection areas 2a set within the work area 2 is not limited to this. That is, the number of inspection areas 2a set within the work area 2 may be multiple or may be one. In this embodiment, the inspection area 2a is set to an area of ​​2m×2m, but the size of the inspection area 2a is not limited to this.

[0065] In this embodiment, a handheld 3D scanner is used as the 3D scanner device 30, and the operator scans the surface of the inspection area 2a to obtain scan data (three-dimensional data), but the method of obtaining the three-dimensional data is not limited to this. For example, a method may be used in which a 3D scanner is mounted on the green cut device 10, which serves as the 3D scanner device 30, the green cut device 10 performs green cut work, and after removing sludge by spraying water or the like, the green cut device 10 automatically scans the surface of the inspection area 2a to obtain scan data (three-dimensional data).

[0066] Next, the management device 40 acquires cross-sectional data from the three-dimensional data acquired in step S2 (step S3). That is, the control unit 41 executes the cross-sectional data acquisition program 421. Specifically, for example, the 3D scanner device 30 transmits three-dimensional data of one of the four inspection areas 2a (hereinafter referred to as the "evaluation target area") to the management device 40 via the communication network N. Then, when the communication unit 45 receives the three-dimensional data of the evaluation target area transmitted from the 3D scanner device 30, the control unit 41 sets a vertical cross section at a predetermined evaluation target position 2b for the three-dimensional data and extracts cross-sectional data. In this embodiment, as shown in FIG. 9(b), cross-sectional data in the X direction and cross-sectional data in the Y direction are extracted at intervals of 50 cm. That is, in this embodiment, eight cross-sectional data are obtained from one inspection area 2a, but the number of cross-sectional data to be obtained is not limited to this.

[0067] Next, the management device 40 acquires a roughness curve of the treated concrete surface from the cross-sectional data acquired in step S3 (step S4). In this embodiment, eight cross-sectional data are obtained in step S3, and therefore eight roughness curves are obtained in step S4.

[0068] Next, the management device 40 performs a frequency analysis on the roughness curve acquired in step S4 (step S5). In this embodiment, eight roughness curves are obtained in step S4, and therefore, in step S5, analysis results corresponding to each roughness curve, that is, eight patterns of amplitude spectra, are obtained.

[0069] Next, the quality of the treated concrete surface is evaluated by the management device 40 based on the analysis result of the frequency analysis performed in step S5 (step S6). In this embodiment, eight patterns of amplitude spectra are obtained in step S5, and the eight patterns of amplitude spectra are compared with the reference amplitude spectrum to determine whether or not the laitance layer 4 has been completely removed. Specifically, for example, among the amplitude spectra obtained in step S5, the top several (e.g., the top five) amplitude spectra with the largest values ​​are picked out from the amplitude spectra in the range of 0.01≦F≦0.5, the average value of the picked-up several amplitude spectra is calculated, and the average value is compared with the reference amplitude spectrum (e.g., "0.1"). This comparison is performed for each of the eight patterns of amplitude spectra.

[0070] Next, the management device 40 determines whether or not the green cutting work in the evaluation area has been completed (step S7). Specifically, the control unit 41 determines that the green cutting work in the evaluation area is completed when, for example, as a result of the comparison and matching in step S6, it determines that the laitance layer 4 has been completely removed for all eight patterns of amplitude spectra.

[0071] In step S7, when it is determined that the green cutting work in the evaluation target area has not been completed (step S7; No), the management device 40 notifies that the green cutting work has not been completed (step S9). Specifically, the control unit 41 displays, for example, on the display unit 44, a message indicating that the green cutting work in the evaluation target area has not been completed. If it is notified that the green cutting work is not yet completed, the processes of steps S1 to S9 are carried out again within the evaluation target area and its vicinity.

[0072] On the other hand, if it is determined in step S7 that the green cutting work in the evaluation target area has been completed (step S7; Yes), the management device 40 notifies the user that the green cutting work has been completed (step S8). Specifically, the control unit 41 displays, for example, on the display unit 44, a message indicating that the green cutting work in the evaluation target area has been completed. When the completion of the green cutting work is notified, of the four inspection areas 2a, the inspection area 2a other than the evaluation target area (green cutting work completed area) is set as a new evaluation target area, and the processing of steps S2 to S9 is performed on the new evaluation target area.

[0073] Then, if it is determined that the green cutting work has been completed for all four inspection areas 2a (Step S7; Yes), that is, if all four inspection areas 2a have become green cutting work completed areas, the green cutting work for the work area 2 that includes those four inspection areas 2a is deemed to be completed. Thereafter, further concrete 3 is poured into the upper layer of the work area 2, and a pouring joint is formed between the lower layer concrete 3 and the upper layer concrete 3.

[0074] <Effects> According to this embodiment, the following excellent effects are obtained. The management device 40 of this embodiment is a device for managing the removal work of the laitance layer 4 on the surface of concrete 3, and is equipped with a frequency analysis means for performing frequency analysis on the unevenness information of the treated concrete surface after the removal work has been performed, and an evaluation means for evaluating the quality of the treated concrete surface based on the analysis results by the frequency analysis means. That is, since the unevenness information of the concrete treated surface (surface of the concrete 3 after green cutting work) is frequency analyzed, the surface properties of the concrete treated surface can be quantitatively evaluated. Therefore, the quality of the concrete treated surface can be accurately evaluated, and the quality of the pouring joint can be improved. The same effect can also be achieved by a program that causes the computer (control unit 41) mounted on the management device 40 to function as frequency analysis means and evaluation means.

[0075] In addition, in this embodiment, the management device 40 is equipped with a cross-sectional data acquisition means for acquiring cross-sectional data from three-dimensional data of the concrete treated surface, and a roughness curve acquisition means for acquiring a roughness curve of the concrete treated surface from the cross-sectional data acquired by the cross-sectional data acquisition means, and the frequency analysis means can be configured to perform frequency analysis on the roughness curve acquired by the roughness curve acquisition means. By configuring it in this manner, the roughness curve (unevenness information) of the treated concrete surface can be obtained from the three-dimensional data (unevenness data) of the treated concrete surface, making it possible to visualize the surface properties of the treated concrete surface and confirm the presence or absence of a laitance layer 4 and the presence or absence of unevenness due to exposed aggregate. The same effect can be achieved in a work system 100 that includes a management device 40, a green cutting device 10 that performs green cutting work (the work of removing the laitance layer 4 on the surface of the concrete 3), and a 3D scanner device 30 that acquires three-dimensional data of the concrete treatment surface.

[0076] In addition, in this embodiment, the frequency analysis means can be configured to obtain an amplitude spectrum for spatial frequency by performing a Fourier transform on the roughness curve, and the evaluation means can be configured to compare the amplitude spectrum obtained by the frequency analysis means with a preset reference amplitude spectrum to determine the removal status of the laitance layer 4 on the treated concrete surface. By configuring it in this manner, the amplitude spectrum of the roughness curve is analyzed and compared with a reference index, making it possible to quantify the quality of the treated concrete surface and then evaluate and judge that quality. [Explanation of symbols]

[0077] 3. Concrete 4 Laitance layer 10 Green cutting device 30 3D Scanner Device 40 Management device 41 Control unit (computer) 100 Working Systems 421 Cross-sectional data acquisition program (cross-sectional data acquisition means) 422 Roughness curve acquisition program (means for acquiring roughness curve) 423 Frequency analysis program (frequency analysis means) 424 Evaluation Program (Evaluation Method)

Claims

1. A management device for managing the removal of a laitance layer from a surface layer of concrete, A frequency analysis means for performing a frequency analysis on the unevenness information of the concrete treatment surface on which the removal work has been performed; and an evaluation means for evaluating the quality of the treated concrete surface based on the analysis result by the frequency analysis means.

2. A cross-sectional data acquisition means for acquiring cross-sectional data from the three-dimensional data of the concrete treatment surface; and a roughness curve acquisition means for acquiring a roughness curve of the treated concrete surface from the cross-sectional data acquired by the cross-sectional data acquisition means.

2. The management device according to claim 1, wherein the frequency analysis means performs a frequency analysis on the roughness curve acquired by the roughness curve acquisition means.

3. the frequency analysis means performs a Fourier transform on the roughness curve to obtain an amplitude spectrum with respect to a spatial frequency; The management device described in claim 2, characterized in that the evaluation means compares the amplitude spectrum acquired by the frequency analysis means with a predetermined reference amplitude spectrum to determine the removal status of the laitance layer on the treated concrete surface.

4. The management device according to claim 2 ; A green cut device that performs the removal work; A work system comprising: a 3D scanner device for acquiring the three-dimensional data.

5. A computer is installed in a management device that manages the removal of the laitance layer from the surface of the concrete. a frequency analysis means for performing a frequency analysis on the unevenness information of the concrete treatment surface on which the removal work has been performed; A program that functions as an evaluation means for evaluating the quality of the treated concrete surface based on the analysis results by the frequency analysis means.

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