Concrete compaction management system, concrete compaction management method and program

Abstract

To provide a concrete compaction management system, a concrete compaction management method and a program which support a compaction process using a vibrator.SOLUTION: A concrete compaction management system includes a vibrator having a vibration body inserted into fresh concrete, an operator terminal worn by an operator, and a range finder for measuring the height of the upper face of the fresh concrete. The vibrator includes a hose connected to the vibration body, and a sensor unit for detecting the position where the hose is gripped by the operator, and the operator terminal has a self position estimation unit for estimating a self position, and an insertion depth calculation unit for calculating an insertion depth of the vibration body on the basis of the self position, the position where the hose is gripped, and the height of the upper face of the fresh concrete.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a concrete compaction management system, a concrete compaction management method, and a program, and in particular to a technique for supporting a compaction process using a vibrator. [Background technology]

[0002] An important process in the construction of concrete structures is pouring fresh concrete into a formwork (casting) and vibrating the fresh concrete (compaction). Compaction removes air bubbles that were mixed into the fresh concrete when it was poured, homogenizes the fresh concrete, and allows it to fill every corner of the formwork. In recent years, a method of compacting by inserting a vibrator into the poured fresh concrete has been widely adopted.

[0003] A typical vibrator has a vibrating body having a rod-like or spatula-like shape, for example. A worker inserts the vibrating body into the fresh concrete poured into the formwork and applies vibration for a specified time. By repeating this process at multiple locations, it is possible to compact the concrete as evenly as possible. The insertion depth of the vibrating body is often specified in advance, but in reality, there is a tendency for variations to occur depending on the worker. Since the worker cannot visually check the tip of the vibrating body inserted into the fresh concrete, the worker determines the depth while relying heavily on his or her own sense and experience. Therefore, from the perspective of quality control of concrete, it has been an issue to suppress variations due to workers.

[0004] Patent document 1 describes a system in which a terminal device such as a smartphone is fixed to a vibrator with a jig, and an augmented reality image of the vibrator is superimposed on an image of the construction site taken by the camera of the terminal device and displayed on the screen of the terminal device. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 7012980 Summary of the Invention [Problem to be solved by the invention]

[0006] In the method described in Patent Document 1, it is necessary to attach a terminal device such as a smartphone to the vibrator approximately horizontally (that is, with the rear camera facing downward, i.e., toward the fresh concrete, and the front display facing upward, i.e., toward the user). However, when the terminal device is attached in this manner, there is a problem that the terminal device is likely to collide with reinforcing bars arranged in the formwork, reducing workability.

[0007] The method described in Patent Document 1 also has a problem in that it is not possible to accurately grasp the insertion depth of the vibrator into the fresh concrete.

[0008] The present invention has been made to solve such problems, and has an object to provide a concrete compaction management system, a concrete compaction management method, and a program for supporting the compaction process using a vibrator. [Means for solving the problem]

[0009] In one embodiment, a concrete compaction management system includes a vibrator having a vibrating body to be inserted into fresh concrete, a worker terminal worn by a worker, and a rangefinder that measures the height of the top surface of the fresh concrete, wherein the vibrator includes a hose connected to the vibrating body and a sensor unit that detects the gripping position of the hose by the worker, and the worker terminal has a self-position estimation unit that estimates its own position, and an insertion depth calculation unit that calculates the insertion depth of the vibrating body based on the self-position, the gripping position of the hose, and the height of the top surface of the fresh concrete. In one embodiment, the sensor unit includes a plurality of pressure sensors arranged along the length of the hose. In one embodiment, the concrete compaction management system further includes an administrator terminal that displays characters or graphics indicating the insertion depth or position of the vibrator. In one embodiment, a concrete compaction management system includes a vibrator having a vibrating body to be inserted into fresh concrete, a worker terminal worn by a worker, a sensor terminal, and a rangefinder that measures the height of the top surface of the fresh concrete, wherein the vibrator has a hose connected to the vibrating body, the sensor terminal and the rangefinder are installed at approximately the same position on the hose, the sensor terminal has a self-position estimation unit that estimates its own position, and the worker terminal has an insertion depth calculation unit that calculates the insertion depth of the vibrating body based on the self-position of the sensor terminal and the height of the top surface of the fresh concrete. In one embodiment, the concrete compaction management system includes a plurality of the sensor terminals, and the sensor terminal further has a self-position sharing unit that shares the self-position with the other sensor terminals. In one embodiment, the concrete compaction management system includes a total station, and the sensor terminal further has a self-position correction unit that corrects the self-position based on a position measurement result by the total station. In one embodiment, the concrete compaction management method includes a self-position estimation step of estimating the self-position in a worker terminal, a step of acquiring the position at which the worker holds the hose from a sensor unit, a step of acquiring the height of the top surface of the fresh concrete from a range finder, and an insertion depth calculation step of calculating the insertion depth of the vibrator based on the self-position, the position at which the hose is held, and the height of the top surface of the fresh concrete. In one embodiment, the concrete compaction management method includes, in a worker terminal, a step of acquiring the self-position of a sensor terminal from the sensor terminal installed on a hose, a step of acquiring the height of the top surface of the fresh concrete from a rangefinder installed on the hose at approximately the same position as the sensor terminal, and an insertion depth calculation step of calculating the insertion depth of the vibrator based on the self-position of the sensor terminal and the height of the top surface of the fresh concrete. In one embodiment, a program causes a computer to carry out the above method. Effect of the Invention

[0010] The present invention makes it possible to provide a concrete compaction management system, a concrete compaction management method, and a program for supporting a compaction process using a vibrator. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing a hardware configuration of a concrete compaction management system 1 according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing an example of a usage mode of the concrete compaction management system 1 according to the first embodiment. [Diagram 3] FIG. 2 is a diagram showing a hardware configuration of a vibrator 10. [Figure 4] 2 is a block diagram showing a hardware configuration of a worker terminal 20. FIG. [Diagram 5] 2 is a block diagram showing a functional configuration of a worker terminal 20. FIG. [Figure 6] FIG. 13 is a diagram showing a method for calculating an insertion depth D3. [Figure 7] 2 is a block diagram showing a hardware configuration of an administrator terminal 30. FIG. [Figure 8] 2 is a block diagram showing a functional configuration of an administrator terminal 30. FIG. [Figure 9] 4 is a flowchart showing the operation of the concrete compaction management system 1 according to the first embodiment. [Figure 10] FIG. 11 is a block diagram showing a hardware configuration of a concrete compaction management system 1 according to a second embodiment. [Figure 11] 1 shows a hardware configuration of a concrete compaction management system 1 according to a second embodiment. [Figure 12] FIG. 2 illustrates an example of a worker terminal 20. [Figure 13] 2 is a block diagram showing a functional configuration of a sensor terminal 50. FIG. [Figure 14] 2 is a block diagram showing a functional configuration of a worker terminal 20. FIG. [Figure 15] FIG. 13 is a diagram showing a method for calculating an insertion depth D3. [Figure 16] 2 is a block diagram showing a hardware configuration of an administrator terminal 30. FIG. [Figure 17] 2 is a block diagram showing a functional configuration of an administrator terminal 30. FIG. [Figure 18] 10 is a flowchart showing the operation of the concrete compaction management system 1 according to the second embodiment. [Figure 19] FIG. 11 is a diagram showing a hardware configuration of a concrete compaction management system 1 according to a third embodiment. [Figure 20] FIG. 11 is a diagram showing a hardware configuration of a concrete compaction management system 1 according to a third embodiment. [Figure 21] 2 is a block diagram showing a functional configuration of a sensor terminal 50. FIG. [Figure 22] 11 is a flowchart showing the operation of the concrete compaction management system 1 according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] <Embodiment 1> 1 is a block diagram showing a hardware configuration of a concrete compaction control system 1 according to a first embodiment of the present invention. The concrete compaction control system 1 includes a vibrator 10, a worker terminal 20, a manager terminal 30, a distance meter 40, and a sensor unit 60.

[0013] FIG. 2 is a diagram showing an example of a usage mode of the concrete compaction management system 1. A worker shown in FIG. 2 is performing concrete compaction work using reinforcing bars arranged in a formwork as a foothold. The worker wears a worker terminal 20 on the arm or the like, and holds a vibrator 10 to insert it into fresh concrete. A sensor unit 60 is attached to the vibrator 10. A distance meter 40 and an AR marker 80 are installed on the formwork or reinforcing bars near the worker. A manager uses the manager terminal 30 to monitor the work status.

[0014] 3 is a schematic diagram showing a hardware configuration of the vibrator 10. The vibrator 10 typically includes a vibrating body 11, a hose 12, and a power source 13.

[0015] The vibrating body 11 has, for example, a rod-like or spatula-like shape, and vibrates by power applied from a power source 13. The vibrating body 11 is inserted into fresh concrete, and compacts the fresh concrete by vibrating.

[0016] Hose 12 is a support member for vibrating body 11. Vibrating body 11 is connected to one end of hose 12, and the other end is connected to power source 13. Power generated by power source 13 is transmitted to vibrating body 11 via hose 12, causing vibrating body 11 to vibrate. Hose 12 is generally flexible. A worker holds hose 12 at any point and inserts vibrating body 11 into fresh concrete.

[0017] The sensor unit 60 includes a sensor 61 and a sensor control device 62. The sensor unit 60 outputs data indicating a position D1 (the distance from the vibrating body 11 to the gripping position) where the worker grips the hose 12. The sensor unit 60 may output the position D1 itself, or may output data for calculating the position D1.

[0018] Typically, the sensor 61 is a pressure sensor. The sensor 61 installed on the surface of the hose 12 detects pressure generated when the worker grips the hose 12. A sensor unit 60 that identifies a position D1 where the worker grips the hose 12 can be configured by arranging a plurality of sensors 61 at approximately equal intervals (for example, 1 cm intervals) in the longitudinal direction of the hose 12 and connecting each sensor 61 to a sensor control device 62 so as to be able to communicate with each other. That is, when the sensor 61 installed at the position D1 detects that the worker grips the hose 12 and outputs sensing data, the sensor control device 62 identifies the sensor 61 that transmitted the sensing data and outputs data indicating the position D1 of the sensor 61 to the outside. Typically, the sensor control device 62 transmits data indicating the position D1 to the worker terminal 20 by wireless communication such as Bluetooth (registered trademark).

[0019] The type of the sensor 61 is not limited to the pressure sensor described above, and may be any type that can detect the position D1 where the worker grips the hose 12. However, the pressure sensor method described above is compatible with the action of gripping the hose 12 as envisioned in this embodiment. That is, it is excellent in terms of the reliability of the action detection and the accuracy of the position D1 detection. In addition, the pressure sensor is relatively strong against dirt, water, etc., when covered with a cover or the like, so it is suitable for installation on the surface of the hose 12. Although there is a problem with bending, since the movement of the worker from the vibrator 11 to the gripping position D1 is basically on a straight line, the influence of bending is almost unaffected, or can be dealt with by adjusting the threshold resistance value of the pressure sensor to a level where it does not react. In addition, the pressure sensor can be manufactured by printing technology and is relatively low cost, which is preferable from the viewpoint of ease of introduction.

[0020] The distance meter 40 is installed at an arbitrary position above the fresh concrete, measures the distance D2 from that position to the fresh concrete, and outputs the measurement result to the outside. The distance meter 40 is typically a laser distance meter. For example, when the distance meter 40 is installed facing downward on a reinforcing bar arranged in a formwork, the distance meter 40 measures the distance D2 from the installation position to the top surface of the fresh concrete, and transmits the distance D2 to the worker terminal 20 by wireless communication such as Bluetooth (registered trademark).

[0021] The worker terminal 20 receives data sent from the sensor unit 60 and the range finder 40, and calculates the insertion depth of the vibrator 11 based on the received data. Fig. 4 is a block diagram showing the hardware configuration of the worker terminal 20. The worker terminal 20 is an information processing device having a camera 21, a processing unit 24, a communication unit 25, and a display 26. It may also have an auxiliary sensor 23.

[0022] Typically, the worker terminal 20 is a smartphone. Preferably, the worker terminal 20 is worn across the worker's arm via an armband or the like, i.e., so that the longitudinal direction of the worker terminal 20 and the longitudinal direction of the worker's arm are substantially perpendicular to each other. This makes it difficult for the arm to obstruct the field of view of the camera 21 on the back of the worker terminal 20, and allows the self-position estimation process described below to be performed smoothly.

[0023] The camera 21 captures an image of the real world. The image captured by the camera 21 is mainly used for self-position estimation by SLAM (Simultaneous Localization and Mapping). Note that instead of the camera 21, a LiDAR (Light Detection And Ranging) sensor, a ToF (Time of Flight) sensor, or the like may be adopted.

[0024] The auxiliary sensor 23 includes an inertial measurement unit (IMU), a global navigation satellite system (GNSS), etc. The auxiliary sensor 23 is mainly used to improve the accuracy of SLAM.

[0025] The processing unit 24 is an information processing device including a CPU (Central Processing Unit) 241, a memory 242, etc., and the CPU 241 executes a program stored in the memory 242 to realize a predetermined function.

[0026] The communication section 25 communicates with the sensor unit 60, the range finder 40, the administrator terminal 30, etc. according to instructions from the processing section 24.

[0027] The display 26 displays the information output by the processing unit 24 .

[0028] 5 is a block diagram showing the functional configuration of the worker terminal 20. The worker terminal 20 has a self-position estimation unit 201, an insertion depth calculation unit 203, and an output unit 205.

[0029] The self-position estimation unit 201 constantly calculates the position of the worker terminal 20 in the real space. Typically, a map of the real world is generated and the self-position is recognized at the same time by a known technology such as SLAM based on the information acquired by the camera 21. At this time, information acquired from the auxiliary sensor 23 may be used.

[0030] The self-position can be expressed in any coordinate system. Preferably, the coordinate system can be defined by placing a reference object such as an AR marker 80 in the real space. In this case, the camera 21 captures the AR marker 80 placed in the real space. The AR marker 80 is typically a flat plate on which a predetermined pattern is printed, and information indicating the position of the origin and the direction of the coordinate axes is encoded in the pattern. The processing unit 24 recognizes and analyzes the AR marker 80 included in the captured image, and determines the origin and coordinate axes of the coordinate system. Alternatively, it is also possible to define the coordinate system with the position of the worker terminal 20 at the time of startup as the origin.

[0031] The insertion depth calculation unit 203 calculates the depth (insertion depth) D3 to which the vibrating body 11 is inserted into the fresh concrete, and outputs the calculation result to the output unit 205. A method for calculating the insertion depth D3 will be described with reference to Fig. 6. The insertion depth D3 is obtained by calculating the difference between the height Hc of the top surface of the fresh concrete and the height Hb of the vibrating body 11.

[0032] (Height of top surface of fresh concrete Hc) The top surface of the fresh concrete is located below the distance meter 40. Therefore, Hc can be calculated by subtracting the distance D2 between the distance meter 40 and the top surface of the fresh concrete from the height Hd of the distance meter 40. The insertion depth calculation unit 203 obtains Hd and D2 and calculates Hc by the following procedure.

[0033] The distance meter 40 measures D2. The insertion depth calculation unit 203 acquires D2 from the distance meter 40 via the communication unit 25.

[0034] The height Hd of the rangefinder 40 can typically use a default value. For example, the height Hd of the rangefinder 40 can be determined in advance as 0 by defining an operation method such as installing the rangefinder 40 at the same height as the AR marker 80 or starting the worker terminal 20 at the same height as the rangefinder 40. Alternatively, any value input by a worker or the like may be used as the default value of Hd. Alternatively, the insertion depth calculation unit 203 may measure the distance and direction between the rangefinder 40 and the worker terminal 20 using a known positioning technique, and calculate the coordinates of the rangefinder 40 based on the self-position calculated by the self-position estimation unit 201.

[0035] (Height Hb of vibrating body 11) The hose 12 extends vertically from the gripping position of the operator to the vibration body 11. Therefore, Hb can be calculated by subtracting the distance D1 between the gripping position and the vibration body 11 from the height of the gripping position (the height component of the coordinate Ph of the gripping position). The insertion depth calculation unit 203 obtains Ph and D1 by the following procedure and calculates Hb.

[0036] The sensor unit 60 measures D1. The insertion depth calculation unit 203 acquires D1 from the sensor unit 60 via the communication unit 25.

[0037] If the offset O between the gripping position and the worker terminal 20 is known, the coordinate Ph of the gripping position can be calculated with the coordinate Pt of the worker terminal 20 as the starting point. The self-position estimation unit 201 calculates the coordinate Pt of the worker terminal 20. The offset O between the gripping position and the worker terminal 20 can typically be a default value. For example, if a standard wearing position (such as the wrist) of the worker terminal 20 is determined as a rule, the offset O between the worker terminal 20 and the gripping position can be roughly assumed and set as a default value. Alternatively, any value input by a worker or the like may be used as the default value of the offset O. The insertion depth calculation unit 203 calculates the coordinate Ph of the gripping position by adding the offset O to the coordinate Pt of the worker terminal 20.

[0038] In addition, when the worker holds the hose 12 with one hand, the worker terminal 20 needs to be attached to the wrist of the arm holding the hose 12. When the worker holds the hose 12 with both hands, it is preferable to determine a rule that the worker terminal 20 should be attached to the wrist of the arm holding the position closer to the vibrating body 11. When the worker holds the hose 12 with both hands, there is a possibility that two positions D1 (distances from the vibrating body 11 to the holding positions) at which the worker holds the hose 12 may be obtained. In that case, the value to be adopted can be determined according to the above operation. For example, in the case of an operation in which the worker terminal 20 is attached to the wrist of the arm holding the position closer to the vibrating body 11, the insertion depth calculation unit 203 adopts the D1 obtained at the position closer to the vibrating body 11 out of the two D1s output by the sensor unit 60.

[0039] As shown in Fig. 6, the coordinate Pt of the worker terminal 20, the coordinate Ph of the gripping position, and the insertion depth D3 change when the worker is standing (left side of Fig. 6) and when the worker is crouching (right side of Fig. 6). Even when the worker moves in this way, the self-position estimation unit 201 of the worker terminal 20 updates the self-position Pt with the AR marker 80 as the origin in real time. Therefore, the insertion depth calculation unit 203 can also recalculate the coordinate Ph of the gripping position and the insertion depth D3 in real time.

[0040] The input / output unit 205 outputs the position of the AR marker 80, the position Pt of the worker terminal 20, the position of the vibrating body 11, the insertion depth D3, etc. The position of the vibrating body 11 can be calculated based on the coordinate Ph of the gripping position and the distance D1 between the gripping position and the vibrating body 11.

[0041] The input / output unit 205 can display the position of the AR marker 80, the position Pt of the worker terminal 20, the position of the vibrating body 11, the insertion depth D3, etc., as characters or figures on the display 36. For example, a three-dimensional grid is generated with the AR marker 80 as the origin, and graphic objects representing the AR marker 80, the worker terminal 20, and the vibrating body 11 are arranged within the grid. At the same time, the coordinates Pt of the worker terminal 20, the position of the vibrating body 11, and the insertion depth D3 may be displayed as numerical values. The positions of the worker terminal 20 and the vibrating body 11 may change from moment to moment. Therefore, the position information is updated, for example, at 10 fps, depending on the frequency at which the self-position estimation unit 201 and the insertion depth calculation unit 203 generate data.

[0042] It is preferable that grids and graphic objects can be enlarged (pinch in), reduced (pinch out), and rotated.

[0043] The input / output unit 205 may receive user inputs for setting various default values. For example, it provides an input interface for the height Hd of the range finder 40 and the offset O between the operator terminal 20 and the gripping position.

[0044] The input / output unit 205 may transmit these data to the manager terminal 30 via the communication unit 25 .

[0045] The manager terminal 30 receives data sent from the worker terminal 20 and draws the work status. Fig. 7 is a block diagram showing the hardware configuration of the manager terminal 30. The manager terminal 30 is an information processing device having a processing unit 34, a communication unit 35, and a display 36. It may also include a camera 31 and an auxiliary sensor 33. Typically, the manager terminal 30 is a tablet computer.

[0046] The processing unit 34 is an information processing device including a CPU 341, a memory 342, etc., and the CPU 341 executes a program stored in the memory 342 to realize a predetermined function.

[0047] The communication unit 35 communicates with the worker terminal 20 and the like in accordance with instructions from the processing unit 34 .

[0048] The display 36 displays the information output by the processing unit 34 .

[0049] The camera 31 captures an image of the real world. The image captured by the camera 31 is mainly used for self-position estimation by SLAM. Instead of the camera 31, a LiDAR, a ToF sensor, or the like may be adopted.

[0050] The auxiliary sensor 33 includes an inertial measurement unit (IMU), a global navigation satellite system (GNSS), etc. The auxiliary sensor 33 is mainly used to improve the accuracy of SLAM.

[0051] 8 is a block diagram showing a functional configuration of the manager terminal 30. The manager terminal 30 has an input / output unit 301. A self-location estimation unit 302 may also be provided.

[0052] The input / output unit 301 displays the position of the AR marker 80, the position Pt of the worker terminal 20, the insertion depth D3 of the vibrating body 11, and the like received from the worker terminal 20, as characters or figures on the display 36. For example, a three-dimensional grid is generated with the AR marker 80 as the origin, and graphic objects representing the AR marker 80, the worker terminal 20, and the vibrating body 11 are placed within the grid. At the same time, the coordinates Pt of the worker terminal 20, the position of the vibrating body 11, and the insertion depth D3 may be displayed as numerical values. The positions of the worker terminal 20 and the vibrating body 11 may change from moment to moment. Therefore, the position information is updated according to the frequency at which data is transmitted from the worker terminal 20, for example, at 10 fps.

[0053] It is preferable that grids and graphic objects can be enlarged (pinch in), reduced (pinch out), and rotated.

[0054] Alternatively, the input / output unit 301 may display the coordinates Pt of the operator terminal 20, the position of the vibrating body 11, the insertion depth D3, a three-dimensional grid, etc., superimposed on the real space. The process in this case is as follows.

[0055] The self-location estimation unit 302 constantly calculates the location of the manager terminal 30 in the real space. Typically, a map of the real world is generated and the self-location is recognized at the same time by a known technology such as SLAM based on the information acquired by the camera 31. At this time, information acquired from the auxiliary sensor 33 may be used.

[0056] The self-position estimation unit 302 typically expresses the self-position in a coordinate system based on an AR marker 80 placed in real space. In this case, the camera 31 captures an image of the AR marker 80 placed in real space. The processing unit 34 recognizes and analyzes the AR marker 80 included in the captured image, and determines the origin and coordinate axes of the coordinate system.

[0057] In this way, the manager terminal 30 sets a coordinate system using the same AR marker 80 as the worker terminal 20, so that the manager terminal 30 and the worker terminal 20 can share the same coordinate system.

[0058] The input / output unit 301 of the manager terminal 30 displays the coordinates Pt of the worker terminal 20, the position of the vibrator 11, the insertion depth D3, the three-dimensional grid, etc., superimposed on the real space. For example, a graphic object representing the coordinates Pt of the worker terminal 20, the position of the vibrator 11, the insertion depth D3, the three-dimensional grid, etc., is placed in an image of the real space captured by the camera 31. Since the manager terminal 30 shares a coordinate system with the worker terminal 20, the manager can visually recognize the objects drawn on the display 36 as if they were placed in the real space. At the same time, the input / output unit 301 may display the coordinates Pt of the worker terminal 20, the position of the vibrator 11, the insertion depth D3, etc., as numerical values. The contents of these data may change from moment to moment. Therefore, the display is updated, for example, at 10 fps, depending on the frequency with which the manager terminal 30 receives these data.

[0059] The input / output unit 301 may receive user inputs for setting various default values. For example, it provides an input interface for the height Hd of the range finder 40 and the offset O between the operator terminal 20 and the gripping position.

[0060] FIG. 9 is a flowchart showing the operation of the concrete compaction management system 1 according to the first embodiment.

[0061] S101: The worker terminal 20 recognizes its own position The self-position estimation unit 201 of the worker terminal 20 recognizes the AR marker 80 and sets a coordinate system. The self-position Pt in the coordinate system is recognized by a publicly known technique such as SLAM.

[0062] S102: Distance Meter 40 measures the distance to fresh concrete The distance meter 40 measures the distance D2 from the installation position to the top surface of the fresh concrete, and transmits it to the worker terminal 20.

[0063] S103: The sensor unit 60 identifies the grip position The sensor unit 60 detects the worker's gripping of the hose 12. The gripping position (the distance from the vibrating body 11 to the gripping position) D1 is measured and transmitted to the worker terminal.

[0064] S104: The operator terminal 20 calculates and outputs the insertion depth of the vibration body 11. The insertion depth calculation unit 203 of the operator terminal 20 calculates the insertion depth D3 in the following procedure. (1) The distance D2 measured in S102 and the distance D1 measured in S103 are obtained. (2) Calculate the height Hc of the top surface of the fresh concrete based on the height Hd of the installation position of the distance meter 40 and the distance D2. (3) The coordinate Ph of the gripping position is calculated based on the coordinate Pt of the self-position measured in S101 and the predetermined offset value O. The height Hb of the vibrating body 11 is calculated based on the coordinate Ph of the gripping position and the distance D1. (4) Calculate the insertion depth D3 of the vibrating body 11 based on the height Hc of the top surface of the fresh concrete and the height Hb of the vibrating body 11.

[0065] The input / output unit 205 displays the position of the AR marker 80, the position Pt of the worker terminal 20, the position of the vibrator 11, the insertion depth D3, etc. on the display and / or transmits them to the manager terminal 30.

[0066] S105: The manager terminal 30 outputs the work status The input / output unit 301 of the manager terminal 30 displays the position of the AR marker 80, the position Pt of the worker terminal 20, the insertion depth D3 of the vibrator 11, etc. received from the worker terminal 20 on a display, for example, in a form superimposed on real space.

[0067] According to the first embodiment, it is possible to significantly reduce the risk of interference of the worker terminal 20 with reinforcing bars and the like, thereby improving workability. It is also possible to precisely grasp the insertion depth of the vibrator into fresh concrete. In addition, since the worker terminal 20 is attached to the worker's arm or the like and does not enter the formwork, there is also the advantage that it is easier to maintain the accuracy of self-position recognition by SLAM.

[0068] <Modification> As a modification of the first embodiment, an example in which two worker terminals 20 are used will be disclosed. The two worker terminals 20 are attached to the left and right arms (wrists, etc.) of the worker via armbands or the like. The worker may hold the hose 12 with any one arm or both arms.

[0069] That is, the concrete compaction management system 1 includes two operator terminals 20. The other components, that is, the vibrator 10, the manager terminal 30, the distance meter 40, and the sensor unit 60, are the same as those in the first embodiment.

[0070] The self-position estimation units 201 of the two worker terminals 20 recognize their own positions Pt in a coordinate system with the AR marker 80 or the like as the origin. Of these, the worker terminal 20 closer to the vibration body 11 performs the subsequent insertion depth calculation process. This is because when the hose 12 is held with one arm, the arm that is holding the hose 12 is usually closer to the vibration body 11. When the hose 12 is held with both arms, the insertion depth calculation can be performed by either worker terminal 20, but for convenience, it is assumed that the worker terminal 20 closer to the vibration body 11 performs this process. Typically, it can be estimated that the worker terminal with the smaller value of the height component of Pt is closer to the vibration body 11.

[0071] The insertion depth calculation unit 203 of the worker terminal 20 closer to the vibrating body 11 calculates the depth (insertion depth) D3 to which the vibrating body 11 is inserted into the fresh concrete, and outputs it to the output unit 205.

[0072] In the calculation process of D3, as described above, the position D1 (the distance from the vibrating body 11 to the gripping position) at which the worker grips the hose 12 is required. If the worker grips the hose 12 with both hands, two positions D1 (the distance from the vibrating body 11 to the gripping position) at which the worker grips the hose 12 are obtained. In that case, the D1 obtained at the position closer to the vibrating body 11 is used.

[0073] The input / output unit 205 of the worker terminal 20 closer to the vibrating body 11 displays the position of the AR marker 80, the position Pt of the worker terminal 20, the position of the vibrating body 11, the insertion depth D3, etc. on the display 26, and / or transmits these data to the manager terminal 30.

[0074] The input / output unit 301 of the manager terminal 30 displays the position of the AR marker 80 received from the worker terminal 20 closer to the vibrating body 11, the position Pt of the worker terminal 20, the insertion depth D3 of the vibrating body 11, etc. on the display 36, for example, by superimposing it on real space.

[0075] According to the modification of the first embodiment, there is no need to determine on which arm the worker terminal 20 should be worn, so the insertion depth of the vibrator can be easily calculated without bothering the worker.

[0076] <Embodiment 2> 10 is a block diagram showing a hardware configuration of a concrete compaction control system 1 according to a second embodiment of the present invention. The concrete compaction control system 1 includes a vibrator 10, a worker terminal 20, a manager terminal 30, a distance meter 40, and a sensor terminal 50.

[0077] In this embodiment, the vibrator 10 is not provided with a sensor unit 60. Instead, a sensor terminal 50 is attached to the hose 12. Also, in this embodiment, a distance meter 40 is attached to the hose 12.

[0078] The distance meter 40 is fixed at an arbitrary position on the hose 12. The mounting position must be at a height that does not allow the hose 12 to be buried in the fresh concrete. The distance meter 40 measures the distance D2 from the mounting position to the fresh concrete, and transmits the measurement result to the worker terminal 20. The distance meter 40 is typically a laser distance meter.

[0079] The sensor terminal 50 calculates the position of the vibrating body 11. The hardware configuration of the sensor terminal 50 will be described. The sensor terminal 50 is an information processing device having a camera 51, a processing unit 54, and a communication unit 55. It may also have an auxiliary sensor 53. Typically, the sensor terminal 50 is a smartphone.

[0080] FIG. 11 is a left side view (a), a front view (b), a right side view (c), a rear view (d), a top view (e), and a bottom view (f) showing a hardware configuration of a concrete compaction management system 1 according to a second embodiment. The sensor terminal 50 is stored in a protective case 57 and is attached to the hose 12 via a jig such as a band. The height (vertical position) of the sensor terminal 50 is approximately the same as the height of the range finder 40. The sensor terminal 50 is attached so that the longitudinal direction of the housing approximately coincides with the longitudinal direction (i.e., the vertical direction) of the hose 12. This can reduce the risk of collision between the sensor terminal 50 and reinforcing bars arranged in the formwork, and can improve workability.

[0081] It is preferable that the protective case 57 is provided with a bumper portion 571 tapered toward the top at the upper portion (top surface side) of the sensor terminal 50, and a bumper portion 572 tapered toward the bottom at the lower portion (bottom surface side) of the sensor terminal 50. As a result, even if the sensor terminal 50 comes into contact with reinforcing bars or the like during the process of lowering the vibrator 10 into or lifting it up from the formwork, the sensor terminal 50 is guided to avoid the reinforcing bars or the like along the shapes of the bumper portions 571, 572 of the protective case 57, improving workability.

[0082] A similar bumper portion may be provided on the range finder 40. Alternatively, a common bumper portion that covers both the sensor terminal 50 and the range finder 40 may be provided.

[0083] The camera 51 captures an image of the real world. The image captured by the camera 51 is mainly used for self-position estimation by SLAM. Instead of the camera 51, a LiDAR, a ToF sensor, or the like may be adopted.

[0084] The auxiliary sensor 53 includes an inertial measurement unit (IMU), a global navigation satellite system (GNSS), etc. The auxiliary sensor 53 is mainly used to improve the accuracy of SLAM.

[0085] The processing unit 54 is an information processing device including a CPU 541, a memory 542, etc., and the CPU 541 executes a program stored in the memory 542 to realize a predetermined function.

[0086] The communication unit 55 communicates with the worker terminal 20, the manager terminal 30, etc. according to instructions from the processing unit 54.

[0087] 13 is a block diagram showing the functional configuration of the sensor terminal 50. The sensor terminal 50 includes a self-position estimation unit 501 and an output unit 505.

[0088] The self-location estimation unit 501 constantly calculates the location of the sensor terminal 50 in the real space. Typically, a map of the real world is generated and the self-location is recognized at the same time by a known technique such as SLAM based on the information acquired by the camera 51. At this time, information acquired from the auxiliary sensor 53 may be used.

[0089] The self-position is defined in a coordinate system based on an AR marker 80 or the like placed in real space. In this case, the camera 51 captures an image of the AR marker 80 placed in real space. The AR marker 80 is typically a flat plate on which a predetermined pattern is printed, and information indicating the position of the origin and the orientation of the coordinate axes is encoded in the pattern. The processing unit 54 recognizes and analyzes the AR marker 80 included in the captured image, and determines the origin and coordinate axes of the coordinate system.

[0090] The output unit 505 transmits the position of the sensor terminal 50 calculated by the self-position estimation unit 501 to the worker terminal 20.

[0091] 12 is a diagram showing an example of the worker terminal 20. The worker terminal 20 typically includes a camera 21, a processing unit 24, a communication unit 25, a display 26, and the like in a head-mounted housing. It may also include a depth sensor 22 and an auxiliary sensor 23. The worker terminal 20 is a so-called HMD (Head Mounted Display), and examples of the device include HoloLens (registered trademark).

[0092] The camera 21 captures images of the real world. Typically, the camera captures an image of a range equivalent to the field of vision of a worker wearing the worker terminal 20 at a predetermined frame rate.

[0093] The depth sensor 22 measures the distance to an object by irradiating an object in real space with infrared light or the like and measuring the time it takes for the light to be reflected. The depth sensor 22 can obtain three-dimensional point cloud data by measuring (scanning) multiple points on the object. The three-dimensional point cloud data is information that indicates the shape of an object in the real world.

[0094] The auxiliary sensor 23 is a sensor that measures acceleration, angular velocity, etc. The acceleration, angular velocity, etc. are used to calculate, for example, the amount of movement, the direction of movement, the speed of movement, and the attitude (inclination, i.e., the direction of gaze) of the worker terminal 20.

[0095] The processing unit 24 is an information processing device including a CPU 241, a memory 242, etc., and the CPU 241 executes a program stored in the memory 242 to realize a predetermined function.

[0096] The communication unit 25 communicates with the range finder 40 , the sensor terminal 50 , and the manager terminal 30 .

[0097] The display 26 displays the information output by the processing unit 24. A worker wearing the worker terminal 20 can view the information displayed on the display 26 by the processing unit 24 through the display 26 or simultaneously with viewing the real world projected on the display 26.

[0098] 14 is a block diagram showing the functional configuration of the worker terminal 20. The worker terminal 20 has a self-position estimation unit 201, an insertion depth calculation unit 203, and an output unit 205.

[0099] The self-position estimation unit 201 constantly calculates the position of the worker terminal 20 in the real space. Typically, a map of the real world is generated and the self-position is recognized at the same time by a known technique such as SLAM based on the information acquired by the camera 21. At this time, information acquired from the depth sensor 22 and the auxiliary sensor 23 may be used.

[0100] The self-position is defined by an AR marker 80 placed in real space. In this case, the camera 21 captures an image of the AR marker 80 placed in real space. The AR marker 80 is typically a flat plate on which a predetermined pattern is printed, and information indicating the position of the origin and the orientation of the coordinate axes is encoded in the pattern. The processing unit 24 recognizes and analyzes the AR marker 80 included in the captured image, and determines the origin and coordinate axes of the coordinate system.

[0101] In this embodiment, the worker terminal 20 sets a coordinate system using the same AR marker 80 as the sensor terminal 50. This allows the worker terminal 20 and the sensor terminal 50 to share the same coordinate system.

[0102] The insertion depth calculation unit 203 calculates the depth (insertion depth) D3 to which the vibrating body 11 is inserted into the fresh concrete, and outputs the calculated depth to the output unit 205. A method for calculating the insertion depth D3 will be described with reference to Fig. 15. The insertion depth D3 is obtained by calculating the difference between the height Hc of the top surface of the fresh concrete and the height Hb of the vibrating body 11.

[0103] (Height of top surface of fresh concrete Hc) The top surface of the fresh concrete is located below the distance meter 40. Therefore, Hc can be calculated by subtracting the distance D2 between the distance meter 40 and the top surface of the fresh concrete from the height Hd of the distance meter 40. The insertion depth calculation unit 203 obtains Hd and D2 and calculates Hc by the following procedure.

[0104] The distance meter 40 measures D2. The insertion depth calculation unit 203 acquires D2 from the distance meter 40 via the communication unit 25.

[0105] The height Hd of the rangefinder 40 can be considered to be the same as the height of the sensor terminal 50. The insertion depth calculation unit 203 acquires the height of the sensor terminal 50 calculated by the self-position estimation unit 501 via the communication unit 25 (the height component of the coordinate Pt of the sensor terminal 50), and sets it as Hd.

[0106] (Height Hb of vibrating body 11)

[0107] If the attachment position D4 of the sensor terminal 50 to the hose 12 (the distance from the vibrating body 11 to the sensor terminal 50) is known, the height Hb of the vibrating body 11 can be calculated using the coordinate Pt of the sensor terminal 50 as the starting point. A default value can typically be used for the attachment position D4 of the sensor terminal 50. Alternatively, any value input by an operator or the like may be used as the default value for D4. The insertion depth calculation unit 203 calculates the height Hb of the vibrating body 11 by subtracting D4 from the height of the sensor terminal 50 (the height component of the coordinate Pt of the sensor terminal 50).

[0108] 15, the coordinates Pt of the sensor terminal 50 and the insertion depth D3 change between when the worker is standing (left side of FIG. 15) and when the worker is crouching (right side of FIG. 15). Even when the worker moves in this way, the self-position estimation unit 501 of the sensor terminal 50 updates the self-position Pt with the AR marker 80 as the origin in real time. Therefore, the insertion depth calculation unit 203 can also recalculate the insertion depth D3 in real time.

[0109] The input / output unit 505 outputs the position of the AR marker 80, the position of the vibrating body 11, the insertion depth D3, etc. The position of the vibrating body 11 can be calculated based on the coordinates Pt of the sensor terminal 50 and the distance D4 between the sensor terminal 50 and the vibrating body 11.

[0110] The input / output unit 205 of the worker terminal 20 can display the position of the vibrating body 11, the insertion depth D3, etc., in the form of characters or figures on the display 36. For example, a graphic object representing the vibrating body 11 is superimposed on the real space. Since the worker terminal 20 and the sensor terminal 50 share a coordinate system, the worker can visually recognize the object drawn on the display 36 as if it were placed in the real space. At the same time, the input / output unit 505 may display the position of the vibrating body 11 and the insertion depth D3 in numerical values. The position of the vibrating body 11 may change from moment to moment. Therefore, the position information is updated according to the frequency at which the insertion depth calculation unit 203 generates data, for example, at 10 fps.

[0111] The input / output unit 205 may receive user input for setting various default values. For example, it provides an input interface for the attachment position D4 of the sensor terminal 50.

[0112] The input / output unit 205 may transmit the position of the AR marker 80, the position of the vibrator 11, the insertion depth D3, and the like to the manager terminal 30 via the communication unit 25.

[0113] The manager terminal 30 receives data sent from the worker terminal 20 and draws the work status. Fig. 16 is a block diagram showing the hardware configuration of the manager terminal 30. The manager terminal 30 is an information processing device having a processing unit 34, a communication unit 35, and a display 36. It may also include a camera 31 and an auxiliary sensor 33. Typically, the manager terminal 30 is a tablet computer.

[0114] The processing unit 34 is an information processing device including a CPU 341, a memory 342, etc., and the CPU 341 executes a program stored in the memory 342 to realize a predetermined function.

[0115] The communication unit 35 communicates with the worker terminal 20 and the like in accordance with instructions from the processing unit 34 .

[0116] The display 36 displays the information output by the processing unit 34 .

[0117] The camera 31 captures an image of the real world. The image captured by the camera 31 is mainly used for self-position estimation by SLAM. Instead of the camera 31, a LiDAR, a ToF sensor, or the like may be adopted.

[0118] The auxiliary sensor 33 includes an inertial measurement unit (IMU), a global navigation satellite system (GNSS), etc. The auxiliary sensor 33 is mainly used to improve the accuracy of SLAM.

[0119] 17 is a block diagram showing a functional configuration of the manager terminal 30. The manager terminal 30 has an input / output unit 301. A self-location estimation unit 302 may also be provided.

[0120] The input / output unit 301 displays the position of the AR marker 80, the position of the vibrating body 11, the insertion depth D3, etc. received from the worker terminal 20 on the display 36 as characters or figures. For example, a three-dimensional grid is generated with the AR marker 80 as the origin, and graphic objects representing the AR marker 80 and the vibrating body 11 are arranged within the grid. At the same time, the position of the vibrating body 11 and the insertion depth D3 may be displayed as numerical values. The position of the vibrating body 11 may change from moment to moment. Therefore, the position information is updated according to the frequency at which data is transmitted from the worker terminal 20, for example, at 10 fps.

[0121] It is preferable that grids and graphic objects can be enlarged (pinch in), reduced (pinch out), and rotated.

[0122] Alternatively, the input / output unit 301 may superimpose and display the position of the AR marker 80, the position of the vibrating body 11, the insertion depth D3, the three-dimensional grid, etc., on the real space. The process in this case is as follows.

[0123] The self-location estimation unit 302 constantly calculates the location of the manager terminal 30 in the real space. Typically, a map of the real world is generated and the self-location is recognized at the same time by a known technology such as SLAM based on the information acquired by the camera 31. At this time, information acquired from the auxiliary sensor 33 may be used.

[0124] The self-position estimation unit 302 typically expresses the self-position in a coordinate system based on an AR marker 80 placed in real space. In this case, the camera 31 captures an image of the AR marker 80 placed in real space. The processing unit 34 recognizes and analyzes the AR marker 80 included in the captured image, and determines the origin and coordinate axes of the coordinate system.

[0125] In this way, the manager terminal 30 sets a coordinate system using the same AR marker 80 as the worker terminal 20, so that the manager terminal 30 and the worker terminal 20 can share the same coordinate system.

[0126] The input / output unit 301 of the manager terminal 30 displays the position of the AR marker 80, the position of the vibrator 11, the insertion depth D3, the three-dimensional grid, etc., superimposed on the real space. For example, graphic objects representing the position of the AR marker 80, the position of the vibrator 11, the insertion depth D3, the three-dimensional grid, etc. are arranged in an image of the real space captured by the camera 31. Since the manager terminal 30 shares a coordinate system with the worker terminal 20, the manager can visually recognize the objects drawn on the display 36 as if they were arranged in the real space. At the same time, the input / output unit 301 may display the position of the AR marker 80, the position of the vibrator 11, the insertion depth D3, etc. of the worker terminal 20 as numerical values. The contents of these data may change from moment to moment. Therefore, the display is updated, for example, at 10 fps, depending on the frequency with which the manager terminal 30 receives these data.

[0127] The input / output unit 301 may receive user input for setting various default values. For example, it provides an input interface for the attachment position D4 of the sensor terminal 50.

[0128] FIG. 18 is a flowchart showing the operation of the concrete compaction management system 1 according to the second embodiment.

[0129] S201: The worker terminal 20 recognizes its own position The self-position estimation unit 201 of the worker terminal 20 recognizes the AR marker 80 and sets a coordinate system. The worker terminal 20 recognizes its own position in the coordinate system by using a publicly known technique such as SLAM.

[0130] S202: The sensor terminal 50 recognizes its own position The self-position estimation unit 501 of the sensor terminal 50 recognizes the AR marker 80 and sets a coordinate system. The self-position Pt in the coordinate system is recognized by a known technique such as SLAM, and transmitted to the worker terminal 20.

[0131] S203: Distance Meter 40 measures the distance to fresh concrete The distance meter 40 measures the distance D2 from the installation position to the top surface of the fresh concrete, and transmits it to the worker terminal 20.

[0132] S204: The operator terminal 20 calculates and outputs the insertion depth of the vibration body 11. The insertion depth calculation unit 203 of the operator terminal 20 calculates the insertion depth D3 in the following procedure. (1) The position Pt measured in S202 and the distance D2 measured in S203 are obtained. (2) The height Hd of the range finder 40 is identified based on the position Pt of the sensor terminal 50. The height Hc of the top surface of the fresh concrete is calculated based on the height Hd and the distance D2. (3) Calculate the height Hb of the vibrating body 11 based on the position Pt of the sensor terminal 50 and the attachment position D4 of the sensor terminal 50 to the hose 12 (the distance from the vibrating body 11 to the sensor terminal 50). (4) Calculate the insertion depth D3 of the vibrating body 11 based on the height Hc of the top surface of the fresh concrete and the height Hb of the vibrating body 11.

[0133] The input / output unit 205 displays the position of the AR marker 80, the position Pt of the worker terminal 20, the position of the vibrator 11, the insertion depth D3, etc. on the display and / or transmits them to the manager terminal 30.

[0134] S205: The manager terminal 30 outputs the work status The input / output unit 301 of the manager terminal 30 displays the position of the AR marker 80, the position Pt of the worker terminal 20, the insertion depth D3 of the vibrator 11, etc. received from the worker terminal 20 on a display, for example, in a form superimposed on real space.

[0135] According to the second embodiment, the risk of interference of the sensor terminal 50 with reinforcing bars or the like is suppressed, and even if interference does occur, a protective case is provided to easily avoid the interference, thereby improving workability. It is also possible to precisely grasp the insertion depth of the vibrator into the fresh concrete.

[0136] <Embodiment 3> 19 is a diagram showing a hardware configuration of a concrete compaction control system 1 according to a third embodiment of the present invention. The concrete compaction control system 1 includes a vibrator 10, a worker terminal 20, a manager terminal 30, a distance meter 40, a plurality of sensor terminals 50, and a total station 70.

[0137] One of the main differences from the second embodiment is that the present embodiment includes a plurality of sensor terminals 50. The sensor terminal 50 may fail to estimate its own position due to a delay in SLAM processing or the like, and may temporarily lose sight of its own position. This is called a "loss." A loss is a major factor that reduces the position estimation accuracy of the sensor terminal 50. Therefore, in the present embodiment, in order to suppress a decrease in the position estimation accuracy due to a loss, a mechanism is introduced in which the sensor terminal 50 is informed of its own position from another sensor terminal 50 when a loss occurs.

[0138] Another difference from the second embodiment is that the present embodiment includes a total station 70. The total station 70 tracks one of the multiple sensor terminals 50 to grasp its exact position, thereby maintaining and improving the self-position estimation accuracy of the entire system.

[0139] 20 is a left side view (a), a front view (b), a right side view (c), a rear view (d), a top view (e), and a bottom view (f) showing a hardware configuration of a concrete compaction management system 1 according to a third embodiment. A plurality of sensor terminals 50 are attached to the hose 12 at approximately the same height. Bumper parts 571, 572 are provided on the protective case 57 of one of the sensor terminals 50. In this way, by providing the bumper parts 571, 572 on the protective case 57 of at least one of the sensor terminals 50, the plurality of sensor terminals 50 and the range finder 40 can be guided to avoid reinforcing bars and the like.

[0140] The bumper parts 571 and 572 may be provided on the protective case 57 of another sensor terminal 50. Alternatively, a bumper part that covers a plurality of sensor terminals 50, or a bumper part that covers a plurality of sensor terminals 50 and the distance sensor 40 may be provided.

[0141] 21 is a block diagram showing a functional configuration of the sensor terminal 50. In addition to a self-location estimation unit 501 and an output unit 505, the sensor terminal 50 has a spatial data integration unit 507, a self-location sharing unit 509, and a self-location correction unit 511. The functions of the self-location estimation unit 501 and the output unit 505 are the same as those in the second embodiment, and therefore description thereof will be omitted.

[0142] The spatial data integration unit 507 communicates with other sensor terminals 50 and integrates the spatial data of the multiple sensor terminals 50. As an example, assume that a sensor terminal 50a and a sensor terminal 50b exist in a real space. The sensor terminal 50a acting as a parent device transmits spatial data Sa recognized by itself (sensor terminal 50) to the sensor terminal 50b acting as a child device. The child sensor terminal 50b performs pattern matching between the spatial data Sa recognized by the sensor terminal 50a and the spatial data Sb recognized by itself (sensor terminal 50b), and generates integrated spatial data Si by integrating the spatial data of both. A specific process of the integration process of spatial data is disclosed in, for example, Japanese Patent No. 6733927, and therefore will not be described here.

[0143] The spatial data integration unit 507 of the child sensor terminal 50b transmits the generated integrated spatial data Si to the spatial data integration unit 507 of the parent sensor terminal 50a. As a result, the integrated spatial data Si is shared between the sensor terminals 50a and 50b. Thereafter, the sensor terminals 50a and 50b recognize their own positions using the integrated spatial data Si. In other words, they hold their own positions in the same coordinate system.

[0144] Although an example in which there is one child device has been shown here, the present invention is not limited to this, and there may be multiple child devices. In this case, the above-mentioned series of processes are executed in each child device.

[0145] The self-position sharing unit 509 transmits its own position to other sensor terminals 50 present in the real space at a predetermined interval. For example, when the sensor terminal 50a and the sensor terminal 50b exist in the real space, the sensor terminal 50a transmits its own position Pa to the sensor terminal 50b, and the sensor terminal 50b holds Pa for a certain period of time. Similarly, the sensor terminal 50b transmits its own position Pb to the sensor terminal 50a, and the sensor terminal 50a holds Pb for a certain period of time. Here, the self-positions Pa and Pb are expressed in the same coordinate system as a result of the spatial data integration process by the spatial data integration unit 507. Therefore, the sensor terminal 50a and the sensor terminal 50b can share coordinates indicating each other's existing positions.

[0146] When the self-location sharing unit 509 detects that the sensor terminal 50 has been lost, it transmits a lost signal to the other sensor terminals 50 that exist in the real space. The self-location sharing unit 509 of the other sensor terminals 50 that have received the lost signal notifies the lost sensor terminal 50 of the location of the sensor terminal.

[0147] For example, assume that the sensor terminal 50a and the sensor terminal 50b exist in the real space, and the sensor terminal 50a is lost. The self-location sharing unit 509 of the sensor terminal 50a transmits a lost signal to the self-location sharing unit 509 of the sensor terminal 50b. The self-location sharing unit 509 of the sensor terminal 50b transmits the latest self-location Pa of the self-location Pa previously shared by the sensor terminal 50a to the self-location sharing unit 509 of the sensor terminal 50a. The self-location sharing unit 509 of the sensor terminal 50a regards the received Pa as its self-location. This allows the sensor terminal 50a to continue executing a process such as calculation of insertion depth without interruption even if the sensor terminal 50a is lost.

[0148] The self-position correction unit 511 corrects the self-position based on the position information obtained from the total station 70. The procedure is as follows. The total station 70 measures the position of one of the multiple sensor terminals 50 at any time and transmits the measurement value to the self-position correction unit 511 of the sensor terminal 50. The self-position correction unit 511 may simply overwrite the self-position calculated by the self-position estimation unit 501 using SLAM with the measurement value by the total station 70. This is because the measurement value by the total station is generally more accurate than the estimated value by SLAM. Alternatively, the self-position calculated by SLAM may be corrected using the measurement value by the total station 70. For example, when the error between the self-position estimation value calculated by SLAM and the measurement value received from the total station 70 exceeds a predetermined threshold value, a correction can be made to cancel the error. Alternatively, when a loss occurs, the measurement value by the total station 70 may be used to identify the self-position.

[0149] It is assumed that the coordinate system of the total station 70 has been calibrated in advance so as to coincide with the coordinate system of the sensor terminal 50 .

[0150] The functions of the worker terminal 20 and the manager terminal 30 are the same as those in the second embodiment, and therefore the description thereof will be omitted.

[0151] FIG. 22 is a flowchart showing the operation of the concrete compaction management system 1 according to the third embodiment.

[0152] S301: The worker terminal 20 recognizes its own position The self-position estimation unit 201 of the worker terminal 20 recognizes the AR marker 80 and sets a coordinate system. The worker terminal 20 recognizes its own position in the coordinate system by using a publicly known technique such as SLAM.

[0153] S302: A plurality of sensor terminals 50 recognize their own positions The self-position estimation units 501 of the multiple sensor terminals 50 recognize the AR markers 80 and set a coordinate system. The self-position estimation units 501 recognize the self-position in the coordinate system by using a publicly known technique such as SLAM.

[0154] S3021: Multiple sensor terminals 50 integrate spatial data and share their own positions Each sensor terminal 50 shares integrated spatial data obtained by integrating the spatial data of each sensor terminal 50. In addition, the sensor terminal 50 shares its own position with the other sensor terminals 50. The sensor terminal 50 serving as the parent device transmits its own position Pt in the integrated space to the worker terminal 20.

[0155] S3022: Self-position correction using Total Station 70 Each sensor terminal 50 corrects its own position based on the position information obtained from the total station 70. This process is not limited to this timing and can be repeatedly executed as needed.

[0156] S3023: Recovery of self-location by other sensor terminals 50 When a sensor terminal 50 becomes lost, it recovers its own position by sharing information with other sensor terminals 50.

[0157] S3024: Self-position recovery with Total Station 70 If the sensor terminal 50 becomes lost, it recovers its own position using position information obtained from the total station 70 .

[0158] S303: Distance Meter 40 measures the distance to fresh concrete The distance meter 40 measures the distance D2 from the installation position to the top surface of the fresh concrete, and transmits it to the worker terminal 20.

[0159] S304: The operator terminal 20 calculates and outputs the insertion depth of the vibrator 11. The insertion depth calculation unit 203 of the operator terminal 20 calculates the insertion depth D3 in the following procedure. (1) The position Pt measured in S3021 and the distance D2 measured in S303 are obtained. (2) The height Hd of the range finder 40 is identified based on the position Pt of the parent sensor terminal 50. If the parent sensor terminal and the range finder 40 are installed at the same height, the height of Pt can be considered to be Hd. The height Hc of the top surface of the fresh concrete is calculated based on the height Hd and the distance D2. (3) Calculate the height Hb of the vibrating body 11 based on the position Pt of the sensor terminal 50 and the attachment position D4 of the sensor terminal 50 to the hose 12 (the distance from the vibrating body 11 to the sensor terminal 50). (4) Calculate the insertion depth D3 of the vibrating body 11 based on the height Hc of the top surface of the fresh concrete and the height Hb of the vibrating body 11.

[0160] The input / output unit 205 displays the position of the AR marker 80, the position Pt of the worker terminal 20, the position of the vibrator 11, the insertion depth D3, etc. on the display and / or transmits them to the manager terminal 30.

[0161] S305: The manager terminal 30 outputs the work status The input / output unit 301 of the manager terminal 30 displays the position of the AR marker 80, the position Pt of the worker terminal 20, the insertion depth D3 of the vibrator 11, etc. received from the worker terminal 20 on a display, for example, in a form superimposed on real space.

[0162] According to this embodiment, by allowing multiple sensor terminals 50 to share their position information with each other, or by introducing a total station 70, it is possible to quickly restore one's own position information even if it becomes lost.

[0163] In the present invention, components can be added, changed, or deleted without departing from the spirit of the invention. In addition, it is also possible to combine multiple embodiments described above. For example, embodiment 1 and embodiment 2 can be combined. Embodiment 1 and embodiment 3 may also be combined.

[0164] Each processing means constituting the present invention may be configured by hardware, or any process may be realized by making a CPU execute a computer program. Also, the computer program can be stored and supplied to a computer using various types of temporary or non-temporary computer-readable media. A temporary computer-readable medium includes, for example, an electromagnetic signal supplied to a computer by wire or wirelessly. [Explanation of symbols]

[0165] 1. Concrete compaction management system 10. Vibrator 11 Vibration body 12 Hose 20 Worker terminal 21 Camera 22 Depth Sensor 23 Auxiliary Sensor 24 Processing section 241 CPU 242 Memory 25 Communications Department 26 Display 201 Self-position estimation part 203 Insertion Depth Calculation Unit 205 Input / output section 30 Administrator terminal 31 Camera 33 Auxiliary Sensor 34 Processing section 341 CPU 342 Memory 35 Communications Department 36 Display 301 Input / output section 302 Self-position estimation part 40 Rangefinder 50 Sensor terminals 51 Camera 53 Auxiliary Sensor 54 Processing section 541 CPU 542 Memory 55 Communications Department 56 Display 57 Protective Case 501 Self-position estimation part 505 Output section 507 Spatial Data Integration Department 509 Self-location sharing part 511 Self-position correction section 60 Sensor Unit 61 Sensors 62 Sensor control device 70 Total Station 80 AR Marker

Claims

1. A vibrator having a vibrating body that is inserted into fresh concrete; A worker terminal worn by a worker; A distance meter for measuring the height of the top surface of the fresh concrete; A concrete compaction management system comprising: The vibrator is A hose connected to the vibrator; a sensor unit for detecting a gripping position of the hose by the operator, The worker terminal includes: a self-location estimation unit that estimates a self-location; and an insertion depth calculation unit that calculates an insertion depth of the vibrator into the fresh concrete based on the self position, the gripping position of the hose, and the height of the upper surface of the fresh concrete. Concrete compaction management system.

2. The sensor unit includes a plurality of pressure sensors arranged in the longitudinal direction of the hose. The concrete compaction management system according to claim 1.

3. The apparatus further includes an administrator terminal that displays characters or figures indicating the insertion depth or position of the vibrator. The concrete compaction management system according to claim 1.

4. A vibrator having a vibrating body that is inserted into fresh concrete; A worker terminal worn by a worker; A sensor terminal; A distance meter for measuring the height of the top surface of the fresh concrete; A concrete compaction management system comprising: The vibrator is A hose connected to the vibrator, the sensor terminal and the distance meter are installed at approximately the same position on the hose, The sensor terminal includes: A self-location estimation unit that estimates a self-location, The worker terminal includes: An insertion depth calculation unit that calculates the insertion depth of the vibrator based on the self-position of the sensor terminal and the height of the top surface of the fresh concrete. Concrete compaction management system.

5. A plurality of the sensor terminals are included, The sensor terminal further includes a self-location sharing unit that shares the self-location with other sensor terminals. The concrete compaction management system according to claim 4.

6. Includes a total station, The sensor terminal further includes a self-position correction unit that corrects the self-position based on a position measurement result by the total station. The concrete compaction management system according to claim 4.

7. On the operator terminal, a self-location estimation step of estimating a self-location; acquiring a gripping position of a hose connected to the vibration body by an operator from a sensor unit; Obtaining the height of the top surface of the fresh concrete from a distance meter; and an insertion depth calculation step of calculating an insertion depth of the vibration body based on the self position, the gripping position of the hose, and the height of the top surface of the fresh concrete. Concrete compaction management methods.

8. On the operator terminal, acquiring a self-location of a sensor terminal from the sensor terminal installed on a hose connected to a vibrator; A step of acquiring a height of an upper surface of fresh concrete from a distance meter installed on the hose at approximately the same position as the sensor terminal; and an insertion depth calculation step of calculating an insertion depth of the vibrator based on a self-position of the sensor terminal and a height of an upper surface of the fresh concrete. Concrete compaction management methods.

9. A program for causing a computer to execute the method according to claim 7 or 8.

Images