Evaluation system, evaluation method and evaluation program

Abstract

To provide a technique for evaluating a construction joint face of concrete with a simple constitution.SOLUTION: An evaluation system evaluates a surface of installed concrete. One or more computers included in the evaluation system execute: a step of reading out image data of the surface from a storage unit; and a step of determining pass / fail based on the illuminance of the read-out image data.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present technology relates to an evaluation system, an evaluation method, and an evaluation program for evaluating the surface of poured concrete. [Background technology]

[0002] Previously, an evaluation device has been proposed for evaluating the joint surface where new concrete is poured onto the surface of previously poured concrete (Patent Document 1). This device is composed of a line laser, a digital camera, and an analytical computer, and irradiates the concrete joint surface with a linear laser beam so as to form a straight irradiation line in a plan view, photographs the irradiation line from an oblique direction with the digital camera, and extracts the joint surface as coordinate data by analyzing the image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5702703 Summary of the Invention [Problem to be solved by the invention]

[0004] If a line laser and digital camera are used to quantitatively evaluate the joint surface, and if a reference plate is used to further correct the image, the overall system configuration will be relatively large-scale.

[0005] An object of the present disclosure is to provide a technique for evaluating a concrete surface with a simple configuration. [Means for solving the problem]

[0006] (Aspect 1) An evaluation system for evaluating a surface of poured concrete, comprising: reading image data of the surface from a storage device; and determining pass / fail based on the illuminance of the read image data; 2. An evaluation system comprising one or more computers running (Aspect 2) When the pass / fail is judged to be a failure, the one or more computers execute the following: transmitting information to another computer to instruct reapplication to an area corresponding to a position where the image data was captured. 2. The evaluation system of embodiment 1. (Aspect 3) The pass / fail judgment is made by judging the image data as failing when the average value of the illuminance per unit area of ​​the image data exceeds a judgment threshold value. 3. The evaluation system according to claim 1 or 2. (Aspect 4) The pass / fail judgment is made by binarizing the image data using a threshold value for binarization, and judging the image data as failing when the number of white pixels per unit area exceeds the threshold value for judgment. 4. The evaluation system according to embodiment 3. (Aspect 5) The surface of the concrete is a joint surface after a joint surface treatment has been performed on the concrete previously poured, The one or more computers determine whether the concrete is acceptable or not before pouring the next layer of concrete. do 5. An evaluation system according to any one of aspects 1 to 4. In addition, joint surface treatment refers to a treatment that includes at least the removal of laitance. (Aspect 6) The air temperature after pouring the preceding concrete at the location where the joint is to be performed is continuously acquired and accumulated, and when the accumulated value exceeds an accumulated temperature threshold, information for instructing the start of the joint surface processing is transmitted to a joint surface processing device that performs the joint surface processing. 6. The evaluation system according to embodiment 5. (Aspect 7) An imaging device different from the joint surface processing device images the joint surface after the joint surface processing and creates the image data. 7. The evaluation system of embodiment 6. (Aspect 8) The imaging device is provided with a sunshade having an open bottom. 8. The evaluation system of embodiment 7.

[0007] The contents described in the Summary of the Invention may be combined as much as possible without departing from the scope of the invention and the technical concept thereof. The contents of the Summary of the Invention may be provided as a device such as a computer or a system including multiple devices, a method executed by a computer, or a program executed by a computer. A recording medium for storing the program may be provided. Effect of the Invention

[0008] According to the present disclosure, it becomes possible to evaluate the surface of concrete with a simple configuration. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of an evaluation system. [Diagram 2] FIG. 2 is a diagram showing an example of a configuration of the self-propelled imaging device. [Diagram 3] FIG. 3 is a configuration diagram showing an example of a GCM (green cut device). [Figure 4] FIG. 4 is a diagram illustrating an example of a configuration of the server. [Diagram 5] FIG. 5 is a diagram for explaining an example of a travel route. [Figure 6] FIG. 6 is a processing flow diagram showing an example of joint surface processing. [Figure 7] FIG. 7 is a graph for explaining the integrated temperature. [Figure 8] FIG. 8 is a processing flow diagram showing an example of joint surface processing. [Figure 9] FIG. 9 is a process flow diagram showing an example of the quality confirmation process. [Figure 10] FIG. 10 is a diagram for explaining the average illuminance. [Figure 11]FIG. 11 is a schematic perspective view for explaining a self-propelled imaging device according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] <Embodiment 1> FIG. 1 is a diagram showing an example of an evaluation system. The evaluation system 100 is a system for evaluating the condition of a concrete surface. The surface of the concrete to be evaluated is the surface of the layer that is poured first among horizontal joints when pouring concrete, for example, in the construction of a dam embankment, and is also called the joint surface. The evaluation system 100 also judges whether the quality of the joint surface after the joint surface treatment is sufficient. "Joint surface treatment" refers to at least one of laitance removal, laitance treatment, green cutting, and cleaning of the joint surface. "Laitance removal" refers to the removal of bleeding water and other impurities by vibration of a vibrator. Both are procedures for depositing mortar on the top surface of concrete and then removing it. In other words, when bleeding water mixes with mortar, the water-cement ratio (W / C) changes, causing partial strength loss, and laitance is removed. "Laitance treatment" includes the above-mentioned laitance removal as well as the process of forming sharp irregularities. "Green cut" is a process that, in addition to laitance treatment, exposes the heads of aggregates and intentionally creates irregularities. The unevenness can improve the bonding strength of the joint surface. The degree of exposure differs depending on the site. It is also possible to identify areas where joint surface treatment is insufficient and perform additional joint surface treatment. It is also possible to detect the occurrence of excessive joint surface treatment. The following explanation assumes that green cut is performed.

[0012] The evaluation system 100 includes, for example, a self-propelled imaging device 1, a green-cut machine (GCM) 2, and a server 3. These components are connected to a network. The GCM2 is connected to the GCM2 via a network 4 so as to be able to communicate with the GCM2. The self-propelled imaging device 1 includes an imaging device 15 for imaging the joint surface, and a drive device 16 for self-propelling. The GCM2 includes a scraping device 26 having a brush for scraping the surface of the concrete, a water discharge device 27 for discharging high-pressure water, and a drive device 28 for self-propelling. The GCM2 is also connected to a hose 5 that supplies high-pressure water to the water discharge device 27. The hose 5 may be connected to a take-up reel 51 that automatically winds up the bent portion of the hose 5 and holds the hose 5 so that it can be pulled out. The server 3 controls the operation of the GCM2 and the self-propelled imaging device 1, for example. The process of evaluating the joint surface is performed, for example, in the self-propelled imaging device 1 and the GCM2.

[0013] <Device configuration> 2 is a configuration diagram showing an example of the self-propelled imaging device 1. The self-propelled imaging device 1 includes a processor 11, a storage device 12, a communication interface (IF) 13, a position sensor 14, an imaging device 15, and a driving device 16. The processor 11 is an arithmetic processing device such as a CPU (Central Processing Unit), and performs the functions related to this embodiment by executing a program. The storage device 12 is, for example, a main storage device such as a random access memory (RAM) or a read only memory (ROM), and an auxiliary storage device such as a hard disk drive (HDD), a solid state drive (SSD), an embedded multi-media card (eMMC), or a flash memory. The main memory device temporarily stores the program read by the processor 11 and information to be transmitted and received between other computers, and secures a working area for the processor 11. The auxiliary memory device stores the program executed by the processor 11 and information to be transmitted and received between other computers. The communication IF 13 is, for example, a network card or a communication module, and communicates with other computers based on a predetermined protocol. The self-propelled imaging device 1 can communicate with the GCM 2 or the server 3 via the communication IF 13 based on the control of the processor 11.

[0014] The position sensor 14 is a receiver that receives, for example, a signal from a satellite positioning system (GNSS: Global Navigation Satellite System), calculates coordinates indicating the position where the position sensor 14 is located, and outputs them as position information. That is, the processor 11 can acquire the position information of the self-propelled imaging device 1 from the position sensor 14. The imaging device 15 is a digital camera that converts light into an electric signal using an imaging element such as a CCD or CMOS, creates image data, and outputs it. The imaging device 15 is supported on the upper part of the self-propelled imaging device 1 by a columnar support 151, and images a predetermined range of the joint surface. The imaging device 15 also images the joint surface and creates image data. The imaging device 15 may output a so-called video. In this case, the joint surface can be evaluated using each of the multiple still images (i.e., image data) that make up the video. The image data is associated with position information indicating the position where the image was captured. The position information may be recorded in the image data as meta information, or the identification information of the image data may be associated with the position information and stored in a table. The drive unit 16 includes a drive source such as a motor, wheels rotated by the drive source, and a steering device for steering the wheels. The self-propelled imaging device 1 includes a steering device that steers the vehicle. The number of wheels is, for example, six, but is not limited to this number. The driving device 16 operates based on a signal from the processor 11, and causes the self-propelled imaging device 1 to travel.

[0015] FIG. 3 is a configuration diagram showing an example of the GCM2. The GCM2 is a concrete joint surface processing device including a processor 21, a storage device 22, a communication interface (IF) 23, a position sensor 24, a distance measurement sensor 25, a scraping device 26, a water discharge device 27, a driving device 28, and a temperature sensor 29. The processor 21 is an arithmetic processing device such as a CPU, and performs each process according to this embodiment by executing a program. The storage device 22 includes, for example, a main storage device such as a RAM or a ROM, and an auxiliary storage device such as an HDD, an SSD, an eMMC, or a flash memory. The main storage device temporarily stores the program read by the processor 21 and information transmitted and received between other computers, and secures a working area for the processor 21. The auxiliary storage device stores the program executed by the processor 21, information transmitted and received between other computers, and the like. The communication IF 23 is, for example, a network card or a communication module, and communicates with other computers based on a predetermined protocol. The GCM2 can communicate with the self-propelled imaging device 1 and the server 3 via the communication IF 23 based on the control of the processor 21.

[0016] The position sensor 24 is a receiver that receives signals from, for example, a satellite positioning system, calculates coordinates indicating the position of the device, and outputs the coordinates as position information. In other words, the processor 21 can obtain the position information of the GCM2 from the position sensor 24. The distance measurement sensor 25 is a LiDER (Light Detection and Ranging / Laser Imaging Detection and Ranging) or a radar. The sensor 25 is a sensor for detecting obstacles around the GCM2 when the GCM2 is traveling. The processor 21 can obtain the direction and position of the obstacle through the distance measuring sensor 25. The scraping device 26 includes a rotating brush such as a cup brush and a drive source for driving the rotating brush. The rotating brush is made of metal, for example, and can scrape off the surface of the concrete before it completely sets. The scraping device 26 operates based on a signal from the processor 21. The number and rotation direction of the scraping devices 26 included in the GCM2 are not particularly limited. The water discharge device 27 has a nozzle that sprays high-pressure water supplied through the hose 5. The water discharge device 27 removes the scraped laitance from the joint surface by spraying high-pressure water from the nozzle. The water discharge device 27 also operates based on a signal from the processor 21. The number and direction of water discharge of the water discharge devices 27 included in the GCM2 are not particularly limited. The drive device 28 includes a drive source such as a motor, wheels rotated by the drive source, and a steering device that steers the wheels. The number of wheels is, for example, four, but is not particularly limited. The driving device 28 operates based on a signal from the processor 21 to drive the GCM2. The temperature sensor 29 is an electric temperature sensor, such as a resistance temperature detector, thermistor, or thermocouple, and converts information indicating temperature into an electric signal and outputs it. That is, the processor 21 can obtain the air temperature at the location where the GCM2 is located via the storage device 22. The temperature sensor 29 may be a mechanical temperature measuring device or a non-contact temperature measuring device.

[0017] FIG. 4 is a configuration diagram showing an example of the server 3. The server 3 includes a processor 31, a storage device 32, and a communication interface (IF) 33. The processor 31 is an arithmetic processing device such as a CPU, and executes a program to perform each process according to the present embodiment. The storage device 32 includes, for example, a main storage device such as a RAM or a ROM, and an auxiliary storage device such as an HDD, an SSD, an eMMC, or a flash memory. The main storage device temporarily stores the program read by the processor 31 and information to be transmitted / received between the processor 31 and other computers, and secures a working area for the processor 31. The auxiliary storage device stores the program executed by the processor 31, information to be transmitted / received between the processor 31 and other computers, and the like. The communication IF 33 is, for example, a network card or a communication module, and communicates with other computers based on a predetermined protocol. The server 3 communicates with other computers via the communication IF 33 under the control of the processor 31. Communication with the self-propelled imaging device 1 and the GCM 2 can be performed via this.

[0018] The server 3 controls the operation of the evaluation system 100 via the network 4. For example, the processor 31 continuously acquires temperature information from the GCM 2 after the preceding concrete layer is poured. The processor 31 also instructs the GCM 2 to start green cutting at a timing based on the accumulated temperature. The processor 31 also instructs the self-propelled imaging device 1 to take an image of the joint surface at a predetermined timing after the green cutting. Then, the processor 31 of the server 3 or the processor 11 of the self-propelled imaging device 1 evaluates the joint surface using the image data. In this embodiment, the joint surface is evaluated based on the illuminance of the image, and a portion determined to have insufficient quality (rejection) is identified. That is, the joint surface can be evaluated from the image data of the joint surface captured by the camera without requiring a projection device such as a line laser. The processor 31 also instructs the GCM 2 to re-perform green cutting for a portion determined to have insufficient quality of the joint surface.

[0019] The travelable range of the self-propelled imaging device 1 and GCM2 on the concrete joint surface is assumed to be known in advance based on design information included in, for example, CIM (Construction Information Modeling / Management) or the like. The self-propelled imaging device 1 and GCM2 travel on the joint surface according to a travel route created by, for example, the server 3. FIG. 5 is a diagram for explaining an example of a travel route. The joint surface 6 in FIG. 5 corresponds to the surface of one section when one lift is divided and constructed in the RCD (Roller Compacted Dam-Concrete) construction method. As shown by the dashed arrow in the upper part (A) of FIG. 5, the self-propelled imaging device 1 or GCM2 may travel linearly back and forth between one end side and the other end side of the joint surface 6, and may turn around at the end so as to shift the outward and return routes, so as to travel over the entire joint surface 6. At this time, the GCM2 may determine the travel route so that the construction width (width perpendicular to the direction of travel and horizontal) that can be constructed by the scraping and peeling device 26 overlaps by a predetermined size (for example, 30% of the image data) on the outward and return routes. The self-propelled imaging device 1 may also determine the travel route so that the range that can be imaged by the imaging device 15 overlaps by a predetermined size on the outward and return routes. In addition, the GCM2 performs green cutting (i.e., scraping off the surface of the joint surface 6 by the scraping and peeling device 26 and cleaning by the water discharge device 27), and then the self-propelled imaging device 1 performs imaging by the imaging device 15. As shown by the dashed arrow in the lower part (B) of FIG. 5, the travel route may be such that the green cutting or image capturing operation while traveling in a straight line from one end side to the other end side of the joint surface 6 is repeated, and the travel from the other end side to the one end side (not shown) is repeated. Such a travel route is useful for accumulating laitance in one place during cleaning. In addition, in the image capturing, for example, image data in a state in which sunlight is shining on the image capturing target at almost the same angle can be created, which is preferable for evaluating the quality of the green cutting based on the image data. In addition, since the GCM2 is connected to the hose 5, the travel route shown in FIG. 5 can prevent the hose 5 from becoming an obstacle to the travel. In addition, the travel route is not limited to the example in FIG. 5, and can be appropriately set according to the shape of the joint surface 6. In addition, the travel route may be different in each process of green cutting and image capturing. In addition, when an obstacle is detected by the distance measuring sensor 25 provided in the GCM2, the travel route may be appropriately corrected. The information on obstacles may be shared to create a driving route for the self-propelled imaging device 1, or the self-propelled imaging device 1 may be equipped with a distance measuring sensor so that it can autonomously change its driving route. In addition, in order to prevent the hose 5 from getting tangled, it is preferable that the driving device 28 of the GCM 2 can control, for example, the steering angle of all the wheels and can freely change the direction of travel.

[0020] <Concrete joint surface treatment> FIG. 6 is a process flow diagram showing an example of joint surface processing. The joint surface processing is performed after pouring of a predetermined section corresponding to at least a part of a layer to be poured in advance is completed, and before pouring the next layer of concrete on the top surface of the section. In addition, the self-propelled imaging device 1 and the GCM 2 are, for example, For example, the self-propelled imaging device 1 and the GCM 2 are on standby on an area that has already set or hardened. For example, if the area to be processed is an exterior concrete area, the self-propelled imaging device 1 and the GCM 2 are on standby on an interior concrete area that has already set.

[0021] The processor 21 of the GCM2 acquires temperature information output by the temperature sensor 29 and transmits it to the server 3 (FIG. 6: S1). The processor 21 also determines to repeat temperature measurement until it receives an instruction to start green cutting from the server 3 (S2: YES), and repeats the process of S1. The transmission of temperature information is executed at predetermined time intervals, such as every 30 minutes or every hour. The process of S1 ends when it receives an instruction to start green cutting from the server 3 (S2: NO).

[0022] Meanwhile, the processor 31 of the server 3 acquires temperature information from the GCM 2 and accumulates the temperature (S3). The processor 31 also determines whether the accumulated temperature exceeds a predetermined threshold (S4). It is assumed that the threshold is set in advance. FIG. 7 is a graph for explaining the accumulated temperature. The graph shown in the upper part of FIG. 7 is a graph showing the relationship between the elapsed time and the penetration resistance value in the Proctor penetration test of concrete. In the Proctor penetration test, a penetration needle is inserted into a sample of fresh concrete, and the progress of setting is evaluated based on the resistance value. It is to be noted that the poured fresh concrete has a resistance of 3.5 N / mm 2 When it reaches 28N / mm, it is considered to be the beginning of condensation. 2When the temperature reaches 100° C., it is judged that the setting is completed. The time required for setting is affected by the outside air temperature, the water-cement ratio (W / C), the slump, etc. In addition, concrete starts hardening after setting. As can be seen from the graph in the upper part of FIG. 7, the setting time varies greatly depending on the outside air temperature. The starting time is not affected by the outside air temperature as much as the ending time. The graph in the lower part of FIG. 7 shows the relationship between the penetration resistance value and the accumulated temperature in a specified temperature range. The needle penetration is mainly performed during the period from setting (start) to setting (final). The accumulated temperature is the accumulation of the temperature for each specified time, and is calculated by sequentially adding the temperature for every 30 minutes or every hour, for example. In this embodiment, a threshold value of the accumulated temperature for judging that the concrete has set (finished) is determined in advance based on the test results, and is used in S4 of FIG. 6. Setting (final) is a state before the development of strength due to hardening occurs, and is suitable for carrying out green cutting. The threshold value may be determined for each season or temperature range of the outside air temperature, or may be determined for each concrete mix.

[0023] If it is determined that the accumulated temperature does not exceed the threshold (FIG. 6: S4: NO), the server 3 returns to S3 and repeats the process. On the other hand, if it is determined that the accumulated temperature exceeds the threshold (S4: YES), the processor 31 of the server 3 instructs the GCM 2 to start construction (S5). On the other hand, when the processor 21 of the GCM 2 receives the instruction, it performs green cutting (S6). In this step, the processor 21 controls the driving device 28, the scraping device 26, etc., to scrape and scrape the joint surface along a predetermined travel route. After the scraping and scraping, the processor 21 controls the driving device 28, the water discharge device 27, etc., to clean the joint surface along a predetermined travel route. The travel route may be different for scraping and cleaning, for example, as shown in FIG. 5. The travel route is instructed, for example, from the server 3. The processor 21 may appropriately correct the travel route according to the information output by the distance measurement sensor 25. Then, the processor 21 notifies the server 3 of the progress of the construction at a predetermined timing (S7). This step may be repeated at predetermined time intervals, or may be performed when scraping or cleaning is completed.

[0024] Then, processor 21 determines whether to end the process (S8). In this step, it is determined that the process is to end when green cutting is completed for the specified range of the concrete surface. If it is determined that the process is not to end (S8: NO), the process returns to S6 and processor 21 continues construction. On the other hand, if it is determined that the process is to end (S8: YES), processor 21 ends construction and moves GCM2 to a specified position to wait.

[0025] On the other hand, when the processor 31 of the server 3 receives the notification of S7 (S9), the processor 31 judges whether to make the self-propelled imaging device 1 start imaging the joint surface (S10). It is possible to start imaging when cleaning of the entire joint surface is completed, or to make the self-propelled imaging device 1 perform imaging of the area where cleaning by the GCM2 is completed when cleaning of at least a part of the joint surface is completed. In the latter case, cleaning by the GCM2 and imaging by the self-propelled imaging device 1 can be performed in parallel. The start timing of the imaging process as described above is determined in advance. If it is judged not to start imaging (S10: NO), the processor 31 returns to S9 and repeats the process.

[0026] On the other hand, if it is determined that imaging should be started (S10: YES), the process transitions to FIG. 8 via connector A, and the processor 31 instructs the self-propelled imaging device 1 to start confirmation (FIG. 8: S11). The processor 11 of the self-propelled imaging device 1 that has received the instruction performs imaging (S12). The processor 11 controls the imaging device 15, the driving device 16, etc., and takes an image of the joint surface while traveling along a predetermined travel route. The travel route may be the same as the green cut, for example, as shown in FIG. 5, or may be different. In addition, the travel route is assumed to be instructed, for example, from the server 3. In addition, the processor 11 may obtain position information indicating the position where the image data was captured from the position sensor 14, and store the information in association with the image data. The position information can be held in the image data as, for example, metadata. Then, the processor 11 transmits the created image data to the server 3 (S13).

[0027] Then, the processor 11 judges whether to end the process (S14). In this step, when the imaging of the specified range of the joint surface is completed, the processor 11 judges to end the process. When it is judged not to end the process (S14: NO), the processor 11 returns to the process of S12 and continues imaging. It is preferable to create multiple image data by repeating S12 to cover the entire joint surface. Two pieces of image data for imaging adjacent areas may include overlapping areas in the imaging target areas. On the other hand, when it is judged to end the process (S14: YES), the processor 11 ends the imaging and moves the self-propelled imaging device 1 to a predetermined position and waits.

[0028] On the other hand, when the processor 31 of the server 3 receives the image data, it stores it in the storage device 32 and executes a quality confirmation process (S15). FIG. 9 is a process flow diagram showing an example of the quality confirmation process. The processor 31 of the server 3 acquires the image data from the storage device 32 (FIG. 9: S21). The processor 31 also binarizes the acquired image (S22). In this step, the processor 31 performs binarization based on a predetermined illuminance threshold value for binarization. The processor 31 also calculates an average illuminance value for a predetermined range (S23). The predetermined range may be the entire captured range or a partially cropped range. Furthermore, since the binarized image data is used, the average illuminance value can be calculated as the number of white pixels per unit area of ​​the image data.

[0029] FIG. 10 is a diagram for explaining the average illuminance. The upper left side of FIG. 10 is an example of image data of a joint surface before green cutting. The second from the left in the upper row of FIG. 10 is an example of image data of a joint surface with insufficient green cutting. The third from the left in the upper row of FIG. 10 is an example of image data of a joint surface with appropriate green cutting. The upper right end of FIG. 10 is an example of image data of a joint surface with excessive green cutting (overcut). The lower row of FIG. 10 is an example of binarizing each of the image data in the upper row with a binarization threshold T of 140. In the quality confirmation process, the image data after green cutting is the processing target, so the image data of the joint surface before green cutting is shown as a comparative example. As shown in FIG. 10, as the green cutting construction progresses, the surface of the concrete is scraped off and becomes rough, and the illuminance of the image data decreases. In this embodiment, a threshold value of illuminance is preset for pass / fail judgment, and when the average illuminance of the image data is equal to or higher than the threshold value for pass / fail judgment, the green cutting is sufficient. In the example of FIG. 10, the threshold for determining pass / fail is set to, for example, an average illuminance of 200, and if the average illuminance is less than the threshold or equal to or less than the threshold, the result is determined to be pass. The threshold can be set appropriately by the user. Similarly, it may be possible to determine whether the green cut is excessive (overcut) based on the average illuminance and notify the user of this.

[0030] The processor 31 determines whether the average illuminance of the image data is equal to or greater than a threshold value (FIG. 9: S24). If it is determined that it is equal to or greater than the threshold value (i.e., insufficient green cutting) (S24: YES), the processor 31 stores the location of the poor application in the storage device 32 (S25). In this step, the location of the poor application is identified based on the position information associated with the image data. The processor 31 also instructs the GCM2 to re-apply the poorly applied portion (S26). If it is determined that the average illuminance of the image data is not equal to or greater than the threshold value after S26 or in S24, the quality confirmation process ends.

[0031] On the other hand, when the processor 11 of GCM2 receives an instruction to perform re-application (S27), it transitions to S6 in Fig. 6 via connector B and performs application to the specified area. In this step, green cutting is performed only on the area instructed to perform re-application, and cleaning is performed so that, for example, laitance accumulates in a specified location. Then, quality confirmation processing, etc. is repeated for the area to be re-application.

[0032] <Effects> According to the above-described processing, the need for re-construction can be determined based on the illuminance of the image data, making it possible to evaluate the concrete joint surface with a simple configuration.

[0033] In addition, since green cutting must be performed before the concrete hardens, it is generally performed within 6 to 24 hours after casting depending on the season. Therefore, if casting work is performed all day on a day before a holiday, there is a problem that there is no time to manually perform green cutting and checking. In the above-mentioned embodiment, green cutting is automatically started based on the accumulated temperature, which improves the flexibility of the schedule. In addition, the system determines whether or not re-construction is necessary and even performs the work, which shortens the overall construction period.

[0034] In addition, by providing the self-propelled imaging device 1 and the GCM 2 as separate devices, it is possible to prevent the imaging device 15 from becoming dirty during green cutting, for example. In addition, it is also possible to use only the self-propelled imaging device 1 or only the GCM 2, for example.

[0035] Furthermore, since the imaging device 15 of the self-propelled imaging device 1 is supported above the device body, dirt can be reduced and the imaging range can be expanded.

[0036] <Variation 1> Without using the GCM 2, the worker may perform the green cut by operating a polisher or driving a green cut machine, and the quality confirmation process may be performed by the self-propelled imaging device 1. In this case, for example, the worker may operate the self-propelled imaging device 1 to start the process of S12 in Fig. 8. Also, in S26 in Fig. 9, information indicating the areas requiring re-treatment may be transmitted from the server 3 to a mobile terminal such as a tablet used by the worker.

[0037] <Variation 2> Also, at least a part of the quality confirmation process may be executed by the self-propelled imaging device 1, not by the server 3. For example, if there is no need to transmit and receive image data, the throughput of the entire system can be improved. Also, the process of binarizing and determining the illuminance has a relatively small load, and is suitable for execution by the self-propelled imaging device 1.

[0038] <Modification 3> The self-propelled imaging device 1 may further include a sunshade around the imaging device 15 so that image data can be created under as uniform a sunlight condition as possible. FIG. 11 is a schematic perspective view for explaining a self-propelled imaging device 1 according to a modified example. The self-propelled imaging device 1 in FIG. 11 includes a sunshade 17 that covers an imaging range 152 on a joint surface by the imaging device 15. The sunshade 17 is a sheet-like or board-like cover with a relatively high light-shielding rate. The sunshade 17 is suspended by, for example, a support 151. The support 151 may include a frame for maintaining the shape of the sunshade 17. The sunshade 17 in FIG. 11 is tubular with an open bottom and a closed top, but may be a cone-like shape with an open bottom as long as it does not block the space between the imaging device 15 and the imaging range 152. The shape of the bottom surface of the sunshade 17 is not particularly limited, but when the imaging range of the imaging device 15 is rectangular, it is preferable that the bottom surface of the sunshade 17 is a rectangle that is one size larger than the rectangular shape. The lower end of the sunshade 17 may have a gap between it and the joint surface, but if the lower end of the sunshade 17 is in contact with the joint surface, the influence of weather on the captured image can be further reduced. When sunlight enters from the lower end of the sunshade 17 or when the end of the sunshade 17 is reflected in the edge of the image data, the peripheral part of the image data may be trimmed to remove it, and the average illuminance may be calculated. In addition, a light 18 may be provided inside the sunshade 17. The light 18 may be, for example, an LED light, and may have a wide-angle light distribution or may be a light guide plate or indirect lighting so as to illuminate the imaging range as uniformly as possible.

[0039] <Variation 4> The subject of the evaluation is not limited to the joint surface, and may be the evaluation of the quality of the surface of the poured concrete. For example, the possibility of cracking or the inclusion of foreign matter may be evaluated. In this case, the server 3 makes a judgment based on the average illuminance of the image data. For example, in the case of a crack, even if the characteristics of the length and width of the crack are not known, the overall illuminance is reduced by the crack appearing in the image, so a judgment can be made based on the average illuminance. In addition, if it is determined that there is a possibility of cracking or the inclusion of foreign matter, the location that should be visually confirmed may be output to the user, rather than performing some kind of re-construction.

[0040] <Other> The above-mentioned embodiment is an example, and the present invention is not limited to the above-mentioned configuration. In the embodiment, the "green cut" in dam construction is exemplified, but the processing shown in the embodiment and the modified example may be implemented in combination with joint surface processing in construction other than dam construction. In addition, at least a part of the processing performed by the self-propelled imaging device 1, the GCM 2, and the server 3 may be executed by other devices. In addition, the above-mentioned embodiment and each modified example may be implemented in combination as much as possible within the scope of the problem and technical idea of ​​the present disclosure, or may be partially modified. For example, the drive device 16 or the drive device 28 may be equipped with a moving mechanism such as a caterpillar instead of wheels. In addition, the GCM 2 may be connected to a pump for sucking and recovering the laitance via a hose, and may not be equipped with the water discharge device 27. In addition, the average illuminance of the image may be calculated based on image data such as grayscale, instead of a binarized image.

[0041] The subject matter of the present invention also includes a computer program for executing the above-mentioned processes, and a computer-readable recording medium having the program recorded thereon. The recording medium having the program recorded thereon enables the above-mentioned processes by causing a computer to execute the program.

[0042] A computer-readable recording medium is a recording medium that stores information such as data and programs through electrical, magnetic, optical, mechanical, or chemical action and can be read by a computer. Among such recording media, those that can be removed from a computer include flexible disks, magneto-optical disks, optical disks, magnetic tapes, memory cards, etc. Furthermore, recording media that are fixed to a computer include HDDs, SSDs, ROMs, etc. [Explanation of symbols]

[0043] 100: Rating System 1: Self-propelled imaging device, 11: Processor, 12: Storage device, 13: Communication interface, 14: Position sensor, 15: Imaging device, 16: Driving device, 17: Sunshade, 18: Lighting 2: Green Cut Machine (GCM), 21: Processor, 22: Storage device, 23: Communication interface, 24: Position sensor, 25: Distance measurement sensor, 26: Scraping device, 27: Water discharge device, 28: Driving device, 29: Temperature sensor 3: server, 31: processor, 32: storage device, 13: communication interface 4: Network 5: Hose, 51: Take-up reel

Claims

1. An evaluation system for evaluating a surface of poured concrete, comprising: reading image data of the surface from a storage device; and determining pass / fail based on the illuminance of the read image data; An evaluation system comprising one or more computers running the

2. When the pass / fail is determined to be a failure, the one or more computers transmit information to another computer to instruct reapplication to an area corresponding to a position where the image data was captured. The evaluation system according to claim 1 .

3. The pass / fail judgment is made by judging the image data as failing when the average value of the illuminance per unit area of ​​the image data exceeds a judgment threshold value. The evaluation system according to claim 1 .

4. The pass / fail determination is made by binarizing the image data using a threshold value for binarization, and determining that the image data is unsatisfactory if the number of white pixels per unit area exceeds the threshold value for determination. The evaluation system according to claim 3 .

5. The surface of the concrete is a joint surface after a joint surface treatment has been performed on the concrete previously poured, The one or more computers determine whether or not the concrete is acceptable before pouring the next layer of concrete. The evaluation system according to any one of claims 1 to 4.

6. The air temperature after pouring the preceding concrete at the location where the joint is to be performed is continuously acquired and accumulated, and when the accumulated value exceeds an accumulated temperature threshold, information for instructing the start of the joint surface processing is transmitted to a joint surface processing device that performs the joint surface processing. The evaluation system according to claim 5 .

7. An imaging device different from the joint surface processing device images the joint surface after the joint surface processing and creates the image data. The evaluation system according to claim 6.

8. The imaging device is provided with a sunshade having an open bottom. The evaluation system according to claim 7.

9. A method for evaluating the surface of poured concrete, comprising: reading image data of the surface from a storage device; and determining pass / fail based on the illuminance of the read image data; The evaluation method is carried out by one or more computers.

10. An evaluation program for evaluating a surface of poured concrete, comprising: reading image data of the surface from a storage device; and determining pass / fail based on the illuminance of the read image data; An evaluation program for causing one or more computers to execute the above.

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