Concrete management device, concrete management system, concrete management method, and concrete management program

Abstract

To provide a concrete management device, a concrete management system, a concrete management method, and a concrete management program capable of improving convenience on estimation of concrete workability.SOLUTION: A concrete management device is provided with: a measured result acquisition part for acquiring a result measured by radiation of a laser beam to irregularity on a surface of flow-down concrete; a point group extraction part for extracting a point group showing the irregularity on the surface of the flow-down surface on the basis of the measured result acquired by the measured result acquisition part; an approximated line extraction part for extracting an approximated line on irregularity height from the point group extracted by the point group extraction part on the basis of the measured result acquired by the measured result acquisition part; and an estimation part for estimating concrete workability on the basis of the approximated line extracted by the approximated line extraction part.SELECTED DRAWING: Figure 6

Description

[Technical field]

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

[0002] Pouring fresh concrete with reduced workability can cause initial defects such as poor filling. Hereafter, fresh concrete will be simply referred to as concrete. For this reason, when using concrete transported by an agitator truck at a construction site, it is necessary to evaluate the quality of the concrete.

[0003] Traditionally, the quality of concrete is evaluated based on its workability, which is related to the resistance of concrete to deformation, fluidity, and segregation. Workability is controlled by regular slump tests when unloading concrete. In addition, concrete workability is checked visually at any time when unloading concrete. However, slump tests are random sampling tests, and cannot grasp quality fluctuations between tests. Furthermore, visual inspection requires highly experienced engineers.

[0004] In such a case, for example, Patent Document 1 discloses a concrete management system that captures an image of the flow state of concrete at a work site and evaluates the workability of the concrete based on the captured image information. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2021-172011 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, in such a concrete management system, depending on the environment in which the flow state of concrete is imaged, there are cases in which the workability of concrete cannot be appropriately evaluated. For this reason, it is desired to improve the convenience of estimating the workability of concrete by improving the accuracy of the evaluation of the workability of concrete. [Means for solving the problem]

[0007] A concrete management device that solves the above-mentioned problems comprises a measurement result acquisition unit that acquires the results of measuring the unevenness on the surface of the concrete flowing down by irradiating it with laser light, a point cloud extraction unit that extracts a point cloud indicating the unevenness on the surface of the concrete flowing down based on the measurement results acquired by the measurement result acquisition unit, an approximation line extraction unit that extracts an approximation line for the height of the unevenness in the point cloud extracted by the point cloud extraction unit based on the measurement results acquired by the measurement result acquisition unit, and an estimation unit that estimates the workability of the concrete based on the approximation line extracted by the approximation line extraction unit.

[0008] A concrete management system that solves the above-mentioned problems comprises a measurement unit that measures unevenness on the surface of the concrete flowing down by irradiating laser light, a measurement result acquisition unit that acquires the results measured by the measurement unit, a point cloud extraction unit that extracts a point cloud indicating the unevenness on the surface of the concrete flowing down based on the measurement results acquired by the measurement result acquisition unit, an approximation line extraction unit that extracts an approximation line for the height of the unevenness in the point cloud extracted by the point cloud extraction unit based on the measurement results acquired by the measurement result acquisition unit, and an estimation unit that estimates the workability of the concrete based on the approximation line extracted by the approximation line extraction unit.

[0009] A concrete management method that solves the above-mentioned problems involves one or more computers acquiring results of measuring the unevenness on the surface of the concrete as it flows by irradiating it with laser light, extracting a point cloud indicating the unevenness on the surface of the concrete as it flows based on the acquired measurement results, extracting an approximation line for the height of the unevenness in the extracted point cloud based on the acquired measurement results, and estimating the workability of the concrete based on the extracted approximation line.

[0010] A concrete management program that solves the above-mentioned problems causes one or more computers to acquire results of measuring the unevenness on the surface of the concrete flowing down by irradiating it with laser light, extract a point cloud indicating the unevenness on the surface of the concrete flowing down based on the acquired measurement results, extract an approximation line for the height of the unevenness in the extracted point cloud based on the acquired measurement results, and estimate the workability of the concrete based on the extracted approximation line. Effect of the Invention

[0011] According to the present invention, it is possible to improve the convenience of estimating the workability of concrete. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is an explanatory diagram of a site where concrete is unloaded according to the first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the electrical configuration of the concrete control system of the first embodiment. [Diagram 3] FIG. 3 is an explanatory diagram showing a point cloud viewed from a normal direction in the first embodiment. [Figure 4] FIG. 4 is an explanatory diagram showing heights of projections and recesses in a point cloud according to the first embodiment. [Diagram 5] FIG. 5 is an explanatory diagram showing the approximation straight line of the first embodiment. [Figure 6] FIG. 6 is a flowchart showing the workability evaluation process according to the first embodiment. [Figure 7] FIG. 7 is a graph showing the workability evaluation results of the first embodiment. [Figure 8] FIG. 8 is an explanatory diagram showing an approximate quadratic curve according to the second embodiment. [Figure 9] FIG. 9 is a graph showing the workability evaluation results of the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] [First embodiment] An embodiment of a concrete management device, a concrete management system, a concrete management method, and a concrete management program will be described.

[0014] <Concrete Management System 10> As shown in Fig. 1, the concrete control system 10 is used at a site 90 where concrete 99 is poured. The concrete control system 10 is a system that evaluates the workability of concrete 99 at the site 90.

[0015] At a construction site 90, concrete 99 transported by an agitator truck 91 is supplied from a chute 92 to a hopper 94 of a pump truck 93. The concrete 99 supplied to the hopper 94 is transported to a pouring site by a pressure-feeding device (not shown) of the pump truck 93.

[0016] The chute 92 has a chute surface 92A. The chute surface 92A is a surface that allows the concrete 99 to flow down into the hopper 94. The chute 92 is disposed so that the chute surface 92A is inclined at a predetermined angle. Hereinafter, the direction in which the concrete 99 flows down the chute 92 is referred to as the flow-down direction Y, and the direction perpendicular to the flow-down direction Y and the vertical direction is referred to as the width direction X.

[0017] The concrete management system 10 includes a concrete management device 11 and a measurement device 12. The concrete management device 11 performs control related to the estimation of the workability of concrete 99 based on the measurement results of the measurement device 12.

[0018] The measuring device 12 is supported by the support member 95 in an orientation facing the normal direction Z to the chute surface 92A. In other words, the measuring device 12 is supported by the support member 95 in an orientation facing the normal direction Z to the concrete 99 flowing down the chute surface 92A in the flow direction Y. The normal direction Z is a direction perpendicular to the width direction X and the flow direction Y. The measuring device 12 measures the unevenness of the surface of the concrete 99 flowing down the chute 92.

[0019] The measuring device 12 irradiates a laser beam onto a measurement target. The measuring device 12 receives the laser beam reflected by the measurement target. As a result, the measuring device 12 measures the distance to the measurement target. In this manner, the measuring device 12 measures the unevenness of the surface of the concrete 99 by measuring the distance to the surface of the concrete 99 flowing down the chute surface 92A along the flow direction Y. The measuring device 12 may be a scanner device that scans the laser beam in the width direction X. The measuring device 12 may be a scanner device that scans the laser beam in the width direction X in a plurality of scanning rows aligned in the flow direction Y. The measuring device 12 may be a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging).

[0020] <Electrical configuration of the concrete management system 10> 2, the concrete management apparatus 11 is configured with one or more computers. The concrete management apparatus 11 includes a control unit 20, a storage unit 21, an input unit 22, a notification unit 23, and a management communication unit 24.

[0021] The control unit 20 is configured to control the concrete management apparatus 11. The control unit 20 includes a calculation device and a main storage medium. The calculation device loads an OS (Operating System) and a program from the storage unit 21 to the main storage medium, and executes the command retrieved from the main storage medium. The calculation device is one or more circuits. The circuit may be a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), or an NPU (Neural network Processing Unit). The storage unit 21 may be a secondary storage medium and store a program. The storage unit 21 stores the measurement results from the measuring device 12.

[0022] The input unit 22 is configured to input information in response to an operation by an operator. The notification unit 23 notifies information in response to an output instruction from the control unit 20. The notification unit 23 may include at least one of a display unit that displays an image, an audio output unit that outputs audio, and a light-emitting unit that emits light in a predetermined light-emitting mode. The management communication unit 24 is implemented as hardware, software, or a combination of these. The management communication unit 24 transmits and receives information to and from the measuring device 12.

[0023] The measurement device 12 includes a measurement control unit 30, a measurement memory unit 31, a measurement unit 32, and a measurement communication unit 33. The measurement control unit 30 is configured to control the measurement device 12. In particular, the measurement control unit 30 controls the measurement unit 32. The measurement control unit 30 includes a calculation device and a main storage medium. The measurement control unit 30 has a similar configuration to the control unit 20, and a description of the calculation device and the main storage medium will be omitted. The measurement memory unit 31 is a secondary storage medium, and stores information for managing the measurement device 12. In particular, the measurement memory unit 31 may store the measurement results measured by the measurement unit 32.

[0024] The measuring unit 32 measures the distance to the measurement target by irradiating the measurement target with laser light and receiving the laser light reflected by the measurement target. In this way, the measuring unit 32 measures the unevenness of the surface of the measurement target. In other words, the measuring unit 32 measures the unevenness of the surface of the flowing concrete 99 by irradiating it with laser light.

[0025] The measurement and communication unit 33 is implemented as hardware, software, or a combination of these. The measurement and communication unit 33 transmits and receives information to and from the concrete management apparatus 11. The measurement device 12 may include a measurement input unit that inputs information in response to an operation by an operator. The measurement device 12 may include a measurement notification unit that notifies the operator of information related to the measurement.

[0026] <Detailed configuration of control unit 20> Here, the detailed configuration of the control unit 20 will be described with reference to FIGS. 2, in the concrete management apparatus 11, the control unit 20 configures a processing circuit by executing a program. The control unit 20 includes, as the processing circuit, a measurement result acquisition unit 20A, a point cloud extraction unit 20B, an area specification unit 20C, a distance extraction unit 20D, an approximation line extraction unit 20E, and an estimation unit 20F.

[0027] The measurement result acquisition unit 20A acquires the measurement results measured by the measurement unit 32. In particular, the measurement result acquisition unit 20A acquires the results of measuring the unevenness on the surface of the flowing concrete 99 by irradiating it with laser light, based on communication with the measurement device 12.

[0028] The point cloud extraction unit 20B extracts a point cloud based on the measurement results acquired by the measurement result acquisition unit 20A. The point cloud is a plurality of points indicating the distance to the flowing concrete 99. In this way, the point cloud is a plurality of points indicating the unevenness on the surface of the flowing concrete 99. It can also be said that the point cloud is a plurality of points indicating the unevenness of the surface of the concrete 99 with respect to a plane including the width direction X and the flowing direction Y.

[0029] As a specific example, as shown in Fig. 3, the measurement result acquisition unit 20A acquires the positions of the point cloud 40 included in a rectangular measurement region and the distances to each of the points in the point cloud 40 as measurement results. The point cloud extraction unit 20B identifies the positions of the point cloud 40 by referring to the measurement results acquired by the measurement result acquisition unit 20A. In addition, since the measurement unit 32 scans in the width direction X, the point cloud 40 is located linearly in the width direction X. In this way, the point cloud 40 exists in a plurality of linear regions 41 that are linear in the width direction X.

[0030] 2, the region specifying unit 20C specifies a straight line region 41. The region specifying unit 20C may specify each of the multiple straight line regions 41. The region specifying unit 20C specifies the straight line region 41 based on the position of the point cloud 40 extracted by the point cloud extraction unit 20B. The straight line region 41 is a straight line region in which the point cloud 40 extracted by the point cloud extraction unit 20B exists.

[0031] The distance extraction unit 20D extracts the distance in the point cloud 40 extracted by the measurement result acquisition unit 20A based on the measurement results acquired by the measurement result acquisition unit 20A. As a result, the distance extraction unit 20D extracts the height of the unevenness in the point cloud 40 extracted by the measurement result acquisition unit 20A based on the measurement results acquired by the measurement result acquisition unit 20A. In particular, the distance extraction unit 20D may extract the height of the unevenness in the point cloud 40 included in the straight line region 41 identified by the region identification unit 20C for each straight line region 41 identified by the region identification unit 20C.

[0032] The approximation line extraction unit 20E extracts an approximation line for the height of the unevenness in the point cloud 40 extracted by the point cloud extraction unit 20B based on the measurement results acquired by the measurement result acquisition unit 20A. In particular, the approximation line extraction unit 20E may extract an approximation line for the height of the unevenness in the point cloud 40 included in the straight line region 41 specified by the region specification unit 20C from among the point cloud 40 extracted by the point cloud extraction unit 20B. The approximation line extraction unit 20E may extract an approximation line for the height of the unevenness in the point cloud 40 included in the straight line region 41 specified by the region specification unit 20C for each straight line region 41 specified by the region specification unit 20C.

[0033] The approximation line extraction unit 20E extracts an approximation line for the height of the irregularities in the point cloud 40 extracted by the point cloud extraction unit 20B using the RANSAC method, based on the measurement results acquired by the measurement result acquisition unit 20A.

[0034] The estimation unit 20F estimates the workability of the concrete 99. In particular, the estimation unit 20F estimates the workability of the concrete 99 based on the approximation line extracted by the approximation line extraction unit 20E. The estimation unit 20F estimates a slump value as the workability of the concrete 99.

[0035] In detail, the estimation unit 20F calculates a variance value of the distance between the approximation line extracted by the approximation line extraction unit 20E and the point cloud 40. The estimation unit 20F calculates the estimated slump value based on the variance value and a predetermined correlation with the slump value. The predetermined correlation may be a relationship based on a coefficient indicating the predetermined correlation. In other words, the coefficient indicating the predetermined correlation is a value indicating the predetermined correlation with the slump value. The coefficient indicating the predetermined correlation may be a predetermined constant, or may be a variable. The coefficient indicating the predetermined correlation may be a variable corresponding to the environmental information of the construction site 90. The coefficient indicating the predetermined correlation may be a variable corresponding to the inclination angle of the chute surface 92A. The coefficient indicating the predetermined correlation may be a variable corresponding to the type of concrete 99. In this way, the estimation unit 20F may calculate the estimated slump value based on a multiplication result of the variance value and the coefficient indicating the predetermined correlation. The estimation unit 20F estimates that the slump is small when the surface unevenness of the concrete 99 is large, and estimates that the slump is large when the surface unevenness of the concrete 99 is small.

[0036] 4, as a specific example, the distance extraction unit 20D extracts the height of the unevenness in the point cloud 40 extracted by the measurement result acquisition unit 20A. Then, the approximation line extraction unit 20E extracts an approximation line 42 for the height of the unevenness in the point cloud 40 included in the straight line region 41 by the RANSAC method.

[0037] In detail, the approximation line extraction unit 20E extracts any two points from the point cloud 40 included in the straight line region 41. The approximation line extraction unit 20E calculates a straight line connecting the two extracted points. The approximation line extraction unit 20E acquires, as normal points, points whose distances between the calculated straight line and all points included in the point cloud 40 are equal to or less than a predetermined distance. The approximation line extraction unit 20E calculates the distances between all acquired normal points and the calculated straight line. The approximation line extraction unit 20E executes such processing a predetermined number of times, and acquires, as the approximation line 42, the straight line whose distances to all normal points are the smallest.

[0038] As shown in FIG. 5, in order to facilitate understanding of the invention, an example will be described using a first point 40A, a second point 40B, and a third point 40C included in the point cloud 40 as a representative. In this case, the estimation unit 20F calculates a slump value based on a variance value in the normal direction Z of the unevenness in the point cloud 40 based on the first distance d1, the second distance d2, and the third distance d3. The first distance d1 is the distance of a perpendicular line from the first point 40A to the approximation line 42. The second distance d2 is the distance of a perpendicular line from the second point 40B to the approximation line 42. The third distance d3 is the distance of a perpendicular line from the third point 40C to the approximation line 42.

[0039] The estimation unit 20F may extract the variance value using the following formula: 2 is the number of points n in the point group 40 and the distance d from each point in the point group 40 to the approximation line 42 i and the average distance value (average).

[0040]

number

[0041] <Workability evaluation process> Next, the workability evaluation process will be described with reference to Fig. 6. The workability evaluation process is executed by the control unit 20 when an instruction to start workability evaluation is input from the input unit 22.

[0042] 6, in step S10, the control unit 20 executes a start instruction process in the concrete management apparatus 11. In the start instruction process, the control unit 20 outputs an instruction to the measurement device 12 to start workability evaluation.

[0043] In the measurement device 12, in step S30, the measurement control unit 30 determines whether or not a start command has been input from the concrete management apparatus 11. If the measurement control unit 30 determines that a start command has not been input from the concrete management apparatus 11, it transitions processing to step S30 again. If the measurement control unit 30 determines that a start command has been input from the concrete management apparatus 11, it transitions processing to step S31. In this way, the measurement control unit 30 waits for a start command from the concrete management apparatus 11.

[0044] In step S31, the measurement control unit 30 executes a measurement process. In the measurement process, the measurement control unit 30 causes the measurement unit 32 to measure the unevenness of the surface of the concrete 99 flowing down. In detail, the measurement unit 32 irradiates the surface of the concrete 99 flowing down with laser light and receives the laser light reflected from the surface of the concrete 99 flowing down. In this way, the measurement unit 32 measures the unevenness of the surface of the concrete 99 flowing down. The measurement control unit 30 stores the measurement results measured by the measurement unit 32 in the measurement memory unit 31.

[0045] In step S32, the measurement control unit 30 executes a measurement result output process. In the measurement result output process, the measurement control unit 30 outputs to the concrete management apparatus 11 the measurement results stored in the measurement storage unit 31 in step S31.

[0046] In step S33, the measurement control unit 30 judges whether or not an end instruction has been input from the concrete management apparatus 11. When the measurement control unit 30 judges that an end instruction has not been input from the concrete management apparatus 11, it shifts the process to step S31 again. When the measurement control unit 30 judges that an end instruction has been input from the concrete management apparatus 11, it shifts the process to step S34. In this way, the measurement control unit 30 waits for an end instruction from the concrete management apparatus 11 after starting measurement. That is, the measurement control unit 30 repeatedly executes steps S31 and S32 until an end instruction is input after input of a start instruction. In this way, the measurement control unit 30 outputs the measurement results measured by the measurement unit 32 to the concrete management apparatus 11 at predetermined intervals.

[0047] In step S34, the measurement control unit 30 executes a measurement end process. In the measurement end process, the measurement control unit 30 controls the measurement unit 32 to end the measurement. As a result, the measurement control unit 30 causes the measurement unit 32 to end the measurement.

[0048] In the concrete management device 11, in step S11, the control unit 20 executes a measurement result acquisition process. In the measurement result acquisition process, the control unit 20 stores the measurement results input from the measuring device 12 in the memory unit 21. As a result, the control unit 20 acquires the results measured by the measuring unit 32. In other words, the control unit 20 can acquire the measurement results measured by the measuring unit 32 at predetermined intervals. In particular, the control unit 20 acquires the measurement results obtained by measuring the unevenness on the surface of the flowing concrete 99 by irradiating it with laser light.

[0049] In step S12, the control unit 20 executes a point cloud extraction process. In the point cloud extraction process, the control unit 20 refers to the measurement results and extracts the positions of the point cloud 40 indicating the unevenness. In this way, the control unit 20 extracts the point cloud 40 indicating the unevenness of the surface of the flowing concrete 99 based on the measurement results acquired in step S11.

[0050] In step S13, the control unit 20 executes a straight line region identification process. In the straight line region identification process, the control unit 20 refers to the measurement results and extracts straight line regions 41 from positions of the point cloud 40 that indicate unevenness. In particular, the control unit 20 may refer to the measurement results and extract a plurality of straight line regions 41 from positions of the point cloud 40 that indicate unevenness. In this way, the control unit 20 identifies the straight line regions 41 of the extracted point cloud 40 based on the point cloud 40 extracted in step S12.

[0051] In step S14, the control unit 20 executes a distance acquisition process. In the distance acquisition process, the control unit 20 refers to the measurement results and acquires the distance between the point cloud 40 included in the identified straight line region 41 and the point cloud 40 indicating the unevenness. The control unit 20 may acquire the distance between the point cloud 40 included in the straight line region 41 and each of the identified multiple straight line regions 41. In this way, the control unit 20 extracts the height of the unevenness in the extracted point cloud 40 based on the acquired measurement results.

[0052] In step S15, the control unit 20 executes an approximation line acquisition process. In the approximation line acquisition process, the control unit 20 extracts an approximation line 42 for the height of the unevenness in the point cloud 40 by the RANSAC method, based on the distance from the point cloud 40 extracted in step S14.

[0053] In this way, based on the acquired measurement results, the control unit 20 extracts an approximation straight line 42 for the height of the unevenness in the extracted point cloud 40. In particular, based on the acquired measurement results, the control unit 20 extracts an approximation straight line 42 for the height of the unevenness in the point cloud 40 included in the straight line region 41 from among the extracted point cloud 40, by the RANSAC method.

[0054] In step S16, the control unit 20 executes an estimation process. In the estimation process, the control unit 20 estimates the slump value of the concrete 99 based on the distance to the point cloud 40 extracted in step S14, the approximation line 42 acquired in step S15, and a predetermined correlation. The control unit 20 estimates that the slump is small when the unevenness of the surface of the concrete 99 is large, and estimates that the slump is large when the unevenness of the surface of the concrete 99 is small. In this way, the control unit 20 estimates the workability of the concrete 99 based on the extracted approximation line 42.

[0055] In step S17, the control unit 20 executes an estimated value notification process. In the estimated value notification process, the control unit 20 causes the notification unit 23 to notify the slump value estimated in step S16 as an estimated value. This allows the worker to grasp the workability of the concrete 99 estimated by the concrete management device 11.

[0056] In step S18, the control unit 20 determines whether the slump value as an estimated value is outside the allowable range. The allowable range is a range for determining whether the flowing concrete 99 has normal workability. If the control unit 20 determines that the estimated value is within the allowable range, the control unit 20 shifts the process to step S20. If the control unit 20 determines that the estimated value is outside the allowable range, the control unit 20 shifts the process to step S19.

[0057] In step S19, the control unit 20 executes a warning process. In the warning process, the control unit 20 causes the notification unit 23 to notify that the slump value is outside the allowable range. This allows the worker to understand that the workability of the concrete 99 estimated by the concrete management device 11 is outside the allowable range.

[0058] In step S20, the control unit 20 judges whether or not an instruction to end the workability evaluation has been input from the input unit 22. If the control unit 20 judges that an instruction to end the workability evaluation has not been input, the control unit 20 again shifts the process to step S11. If the control unit 20 judges that an instruction to end the workability evaluation has been input, the control unit 20 shifts the process to step S21.

[0059] In step S21, the control unit 20 executes an end instruction process. In the end instruction process, the control unit 20 outputs an instruction to end the workability evaluation to the measuring device 12. When the end instruction process is completed, the control unit 20 ends the workability evaluation process.

[0060] <First Example> Next, a first embodiment when the control unit 20 executes the workability evaluation process will be described with reference to FIG.

[0061] As shown in FIG. 7, in the first embodiment, the relationship between the converted slump value and the variance value was derived. The converted slump value is a slump value converted assuming a timing when a predetermined time has elapsed since an actual slump test was performed. The predetermined time is assumed to be the time until the concrete 99 flowing down the chute 92 is poured, and is assumed to be a time of, for example, 10 to 15 minutes. The variance value is the variance value when the control unit 20 executes the workability evaluation process. In this way, the relationship between the variance value and the converted slump value has a predetermined correlation. In other words, it is possible to estimate the slump value corresponding to the variance value.

[0062] <Actions and Effects of the First Embodiment> The operation and effects of the embodiment will be described. (1) The control unit 20 acquires the result of measuring the unevenness on the surface of the concrete 99 flowing down by irradiating the laser light. The control unit 20 extracts a point cloud 40 indicating the unevenness on the surface of the concrete 99 flowing down based on the acquired measurement result. The control unit 20 extracts an approximation line 42 for the height of the unevenness in the extracted point cloud 40 based on the acquired measurement result. The control unit 20 estimates the workability of the concrete 99 based on the extracted approximation line 42. Therefore, the control unit 20 can estimate the workability of the concrete 99 based on the result of measurement by irradiating the laser light, regardless of whether or not the environment is affected by external light. That is, the control unit 20 can appropriately estimate the workability of the concrete 99 in a situation that is less affected by external light. This can increase the accuracy of evaluation of the workability of the concrete 99. Therefore, the convenience of estimating the workability of the concrete 99 can be improved.

[0063] (2) The control unit 20 identifies a straight line region 41 of the extracted point cloud 40 based on the extracted point cloud 40. The control unit 20 extracts an approximation straight line 42 for the height of the unevenness in the point cloud 40 included in the identified straight line region 41 of the extracted point cloud 40. Therefore, when scanning in the width direction X, the control unit 20 can extract the approximation straight line 42 for the point cloud 40 included in the straight line region 41. This can reduce the control load related to the estimation of the workability of the concrete 99. Therefore, the convenience of estimating the workability of the concrete 99 can be improved.

[0064] (3) The control unit 20 extracts the height of the unevenness in the extracted point cloud 40 based on the acquired measurement results. The control unit 20 extracts an approximation line 42 for the height of the unevenness in the extracted point cloud 40 based on the extracted height of the unevenness. Therefore, the control unit 20 can extract the approximation line 42 taking into consideration the variance of the height of the unevenness in the extracted point cloud 40. This can improve the accuracy of evaluation of the workability of the concrete 99. Therefore, the convenience of estimating the workability of the concrete 99 can be improved.

[0065] (4) The control unit 20 acquires the measurement results measured by the measuring unit 32 at predetermined intervals from when a start command is input from the input unit 22 until an end command is input. Therefore, once a worker inputs a start command, the worker can repeatedly acquire measurement results at predetermined intervals until an end command is input. This allows the worker to sequentially check the estimated workability of the concrete 99. Therefore, the convenience of estimating the workability of the concrete 99 can be improved.

[0066] (5) When the estimated workability of the concrete 99 is outside the allowable range, the control unit 20 causes the notification unit 23 to notify that the workability of the estimated concrete 99 is outside the allowable range. Therefore, even if the worker does not constantly check the workability of the estimated concrete 99, the worker can confirm that the workability of the estimated concrete 99 is outside the allowable range. Therefore, the convenience of estimating the workability of the concrete 99 can be improved.

[0067] [Second embodiment] Next, a second embodiment will be described. In the following description, the same configuration as in the embodiment already described will be omitted or simplified, and the configuration different from the embodiment already described will be mainly described.

[0068] In the second embodiment, in step S15 of Fig. 6, the control unit 20 may extract, by the least squares method, an approximate quadratic curve for the height of unevenness in the point cloud 40 included in the straight line region 41 from the extracted point cloud 40 based on the acquired measurement results. Then, in step S16 of Fig. 6, the control unit 20 may estimate the workability of the concrete 99 based on the approximate quadratic curve acquired in step S15.

[0069] 8, as a specific example, the approximation line extraction unit 20E extracts an approximation quadratic curve 43 for the height of unevenness in the point cloud 40 by the least squares method. The estimation unit 20F calculates an absolute average value for the quadratic coefficient of the approximation quadratic curve 43 based on the extracted approximation quadratic curve 43, and estimates the workability of the concrete 99 based on the calculation result.

[0070] The estimation unit 20F may extract the numerical value L using the following formula. Then, the estimation unit 20F may calculate the numerical values ​​a, b, and c that minimize the numerical value L, and extract the absolute value of the numerical value a. The numerical value a is a quadratic coefficient of the approximate quadratic curve 43. The numerical value b is a linear coefficient of the approximate quadratic curve 43.

[0071]

number

[0072] <Second Example> Next, a second embodiment when the control unit 20 executes the workability evaluation process will be described with reference to FIG.

[0073] As shown in Fig. 9, in the second embodiment, the relationship between the converted slump value and the absolute value of the numerical value a was derived. In this way, the relationship between the converted slump value and the absolute value of the numerical value a has a predetermined correlation. In other words, the slump value corresponding to the absolute value of the numerical value a can be estimated.

[0074] [Example of change] This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.

[0075] The control unit 20 may cause the notification unit 23 to notify at least one of the workability of the concrete 99 and the fact that the workability of the concrete 99 is outside the allowable range.

[0076] The control unit 20 does not have to output an input instruction and an end instruction to the measuring device 12. In this case, the measuring device 12 may determine to start measurement when an input instruction is input to the measurement input unit by an operator's operation. The measuring device 12 may determine to end measurement when an end instruction is input to the measurement input unit by an operator's operation. It is sufficient for the control unit 20 to acquire the measurement result by the measuring unit 32 when an input instruction is input from the input unit 22.

[0077] The control unit 20 may estimate the workability of the concrete 99 based on the point cloud 40 in at least one straight line region 41 out of the identified straight line regions 41. It is sufficient for the control unit 20 to be able to identify at least one straight line region 41 out of the identified straight line regions 41.

[0078] The control unit 20 may estimate the workability of the concrete 99 based on the unevenness on the surface of the concrete 99 measured by irradiating it with laser light and a captured image of the surface of the concrete 99 .

[0079] The control unit 20 may calculate the variance of the distance between the approximate quadratic curve extracted by the least squares method and the point cloud, and estimate the workability of the concrete based on the calculation result. In other words, the control unit 20 may calculate the variance of the distance between the extracted approximate line and the point cloud, and estimate the workability of the concrete based on the calculation result.

[0080] The control unit 20 may perform control to combine the first embodiment and the second embodiment to estimate the workability of the concrete 99. That is, the control unit 20 may estimate the workability of the concrete 99 based on a combination of an approximate straight line 42 extracted by the RANSAC method and an approximate quadratic curve 43 extracted by the least squares method.

[0081] The term "at least any" as used herein means one or more of the desired options. As an example, the term "at least any" as used herein means only one option or both options if the number of options is two. As another example, the term "at least any" as used herein means only one option or any combination of two or more options if the number of options is three or more. [Explanation of symbols]

[0082] 10...concrete management system, 11...concrete management device, 12...measuring device, 20...control unit, 20A...measurement result acquisition unit, 20B...point cloud extraction unit, 20C...area identification unit, 20D...distance extraction unit, 20E...approximation line extraction unit, 20F...estimation unit, 32...measurement unit, 40...point cloud, 41...straight line area, 42...approximation line, 43...approximation quadratic curve, 92...chute, 92A...chute surface, 99...concrete.

Claims

1. a measurement result acquisition unit that acquires results of measurement of unevenness on the surface of the flowing concrete by irradiating the laser light; a point cloud extraction unit that extracts a point cloud indicating unevenness of a surface of the concrete flowing down based on the measurement results acquired by the measurement result acquisition unit; an approximation line extraction unit that extracts an approximation line for heights of projections and recesses in the point cloud extracted by the point cloud extraction unit based on the measurement results acquired by the measurement result acquisition unit; A concrete management device comprising: an estimation unit that estimates the workability of concrete based on the approximation line extracted by the approximation line extraction unit.

2. In the concrete management device according to claim 1, a region specifying unit that specifies a straight line region of the point cloud extracted by the point cloud extraction unit based on the point cloud extracted by the point cloud extraction unit, The approximation line extraction unit extracts an approximation line for the height of unevenness in the point cloud included in the straight line region identified by the region identification unit from the point cloud extracted by the point cloud extraction unit, in the concrete management device.

3. The concrete management device according to claim 1 or 2, a distance extraction unit that extracts heights of projections and recesses in the point cloud extracted by the point cloud extraction unit based on the measurement results acquired by the measurement result acquisition unit, The approximation line extraction unit extracts an approximation line for the height of unevenness in the point cloud extracted by the point cloud extraction unit based on the height of unevenness extracted by the distance extraction unit.

4. The concrete management device according to claim 1 or 2, The estimation unit calculates a variance value of a distance between the approximation line extracted by the approximation line extraction unit and the point cloud, and estimates workability of concrete based on a calculation result. Concrete management equipment.

5. The concrete management device according to claim 1 or 2, the approximation line extraction unit extracts an approximation quadratic curve for heights of projections and recesses in the point cloud extracted by the point cloud extraction unit by a least squares method based on the measurement results acquired by the measurement result acquisition unit; The estimation unit calculates an absolute average value for the quadratic coefficient of the approximate quadratic curve extracted by the approximation line extraction unit, and estimates the workability of concrete based on the calculation result. Concrete management equipment.

6. a measuring unit that measures unevenness on the surface of the flowing concrete by irradiating it with a laser light; a measurement result acquisition unit that acquires the results measured by the measurement unit; a point cloud extraction unit that extracts a point cloud indicating unevenness of a surface of the concrete flowing down based on the measurement results acquired by the measurement result acquisition unit; an approximation line extraction unit that extracts an approximation line for heights of projections and recesses in the point cloud extracted by the point cloud extraction unit based on the measurement results acquired by the measurement result acquisition unit; An estimation unit that estimates the workability of concrete based on the approximation line extracted by the approximation line extraction unit.

7. One or more computers Obtaining a result of measuring unevenness on the surface of the flowing concrete by irradiating it with a laser light; Extracting a point cloud indicating the unevenness of the surface of the flowing concrete based on the acquired measurement results; Extracting an approximation line for the height of the unevenness in the extracted point cloud based on the acquired measurement results; and estimating the workability of the concrete based on the extracted approximation line.

8. On one or more computers, Obtaining a result of measuring unevenness on the surface of the flowing concrete by irradiating it with a laser light; Extracting a point cloud indicating the unevenness of the surface of the flowing concrete based on the acquired measurement results; Extracting an approximation line for the height of the unevenness in the extracted point cloud based on the acquired measurement results; and estimating the workability of the concrete based on the extracted approximation line.

Images