Pouring plan creation device, pouring plan creation program, and pouring plan creation method

Abstract

To create a concrete pouring plan that is work-efficient.SOLUTION: Provided is a pouring plan creation device 100 that creates a pouring plan for pouring concrete. The pouring plan is a pouring order for each construction block in which an order for pouring concrete using one or more pouring ports is set for construction blocks obtained by dividing a construction object, and a sharing range indicating the range of the construction block to be poured is set in advance in correspondence with each of the pouring ports, and a pouring order creation unit 43 for each pouring port that creates a pouring order within the sharing range for each of the pouring ports is provided. The pouring order creation unit 43 determines a movement path that makes the movement distance of the pouring port shortest or quasi-shortest as the pouring order, and the movement path is a path connecting reference points set for the construction block.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a concrete pouring plan creation device, a concrete pouring plan creation program, and a concrete pouring plan creation method. [Background technology]

[0002] Typically, concrete workers create a pouring plan by hand and pour the concrete according to that plan. When the construction target is a tall component, the concrete is poured in several layers (for example, each layer is several tens of centimeters high), so the pouring plan is sometimes called a "pouring plan." In concrete construction, the time interval between pours of concrete (pouring time interval) is an important management item. If pouring takes too long, it can lead to initial defects such as cold joints, making it impossible to ensure the specified quality.

[0003] However, currently, driving plans are created based on the experience of on-site personnel, and there are cases where there is no objective proof as to whether the plan is optimal or not. Therefore, the applicant has proposed a concrete pouring plan creation device and a concrete pouring planning method that calculates the pouring sequence that minimizes the pouring time in a concrete pouring plan (Patent Documents 1 and 2).

[0004] Patent Document 1 discloses a system that includes a sequence setting unit that sets a provisional implantation sequence, a sequence update unit that repeatedly updates the implantation sequence, a sequence evaluation unit that evaluates the implantation sequence, and a sequence determination unit that determines a regular implantation sequence based on the evaluation. The sequence evaluation unit substitutes the implantation sequence into a preformulated energy function and calculates energy for evaluating the implantation sequence based on the implantation time interval when implantations are performed in that implantation sequence.

[0005] Patent document 2 includes a block group setting unit that sets a candidate block group, which is a group of construction blocks to be cast in succession, in sequence for a construction object, and an intra-group order determination unit that determines the order of casting within the candidate block group.The candidate block group is composed of cast-in-place blocks adjacent to a target block and extended blocks located in the periphery of the cast-in-place blocks, and the block group setting unit sets the candidate block group to a construction block that has been cast in and has the earliest casting completion time and has not yet been cast in the adjacent construction blocks, as the new target block. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2021-004474 A [Patent Document 2] JP 2021-188419 A Summary of the Invention [Problem to be solved by the invention]

[0007] According to the concrete pouring plan creation device and concrete pouring plan creation method described in Patent Documents 1 and 2, the concrete pouring sequence is determined so as to shorten the maximum time interval between pours, with a focus on ensuring the quality of concrete structures. However, when there is a margin of error in the time interval between repetitions, there is room for improvement in terms of work efficiency, such as the distance the nozzle of the pump vehicle moves. In other words, when there is a margin of error in the time interval between repetitions, focusing on the distance the nozzle moves may improve work efficiency.

[0008] From this perspective, the present invention provides a concrete pouring plan creation device, a concrete pouring plan creation program, and a concrete pouring plan creation method that are capable of creating a concrete pouring plan with high work efficiency. [Means for solving the problem]

[0009] The pouring plan creation device according to the present invention is a device for creating a pouring plan for pouring concrete. The pouring plan is a pouring sequence for each construction block, which sets the order in which concrete is poured into construction blocks divided from a construction object using one or more pouring ports. The assigned range indicating the range of the construction block to be poured is preset in correspondence with each of the pouring ports. This driving schedule creation device includes a driving-portion sequence creation unit that creates a driving sequence for each of the driving ports within the assigned range. The driving-portion sequence creation unit determines, as the driving sequence, a movement path that results in the shortest or quasi-shortest movement distance for the driving ports, and the movement path connects reference points set on the construction block.

[0010] The pouring plan creation device according to the present invention can create a concrete pouring plan that allows for efficient work.

[0011] The pouring plan is a pouring sequence for pouring concrete using two or more pouring ports, and at least one part of the allocation range may overlap with at least one other part of the allocation range. In that case, the apparatus includes an overlapping block correction unit that determines a pouring port for pouring the construction block for which the overlapping allocation range is set, and corrects the pouring sequence based on the determination. In this way, when there are multiple pouring openings, a concrete pouring plan with good work efficiency can be created even if overlapping allocation ranges are set. Therefore, there is no need to strictly set the allocation range of each pouring opening, and advance preparation is easy.

[0012] The entry-port sequence creation unit may obtain a movement path within the allocation range as a solution to a traveling salesman problem using a Hopfield neural network. In this case, it is preferable to obtain the shortest or quasi-shortest movement path by repeatedly calculating the movement path while changing a combination of a coefficient of a constraint term and a coefficient of a cost term of an energy function for solving the traveling salesman problem. In this way, it is possible to find the optimal travel route.

[0013] The overlapping block correction unit, for example, determines the driving port having the earliest driving start time of the construction block for which the overlapping distribution range is set as the driving port for driving the construction block. In this case, the overlapping block correction unit may correct the allocation range based on the determination, and calculate a new driving sequence based on the corrected allocation range. The construction blocks for which the allocation range is set overlappingly are deleted from the driving sequence of the driving openings other than the driving opening with the earliest driving start time. In this way, a concrete pouring plan can be created that allows for more efficient work.

[0014] The pouring plan creation program according to the present invention is a program for creating a pouring plan for pouring concrete. The pouring plan is a pouring sequence for each construction block, which sets the order in which concrete is poured into the construction blocks into which the construction object is divided, using one or more pouring ports. A range of concrete poured into each construction block is preset in correspondence with each pouring port. This driving plan creation program causes the computer to function as a driving-portion sequence creation unit. The driving-portion sequence creation unit creates a driving sequence within the assigned range for each of the driving ports. The driving-portion sequence creation unit determines, as the driving sequence, a movement path that results in the shortest or quasi-shortest movement distance for the driving ports, and the movement path connects reference points set on the construction block.

[0015] The pouring plan creation program according to the present invention can create a concrete pouring plan that allows for efficient work.

[0016] The pouring plan creation method according to the present invention is a method for creating a pouring plan for pouring concrete. The pouring plan is a pouring sequence for each construction block, which is a sequence for pouring concrete into construction blocks obtained by dividing a construction object using one or more pouring ports. A range of concrete to be poured into each construction block is preset in correspondence with each pouring port. This driving plan creation method includes a driving-portion sequence creation step, in which a driving-portion sequence is created within the assigned range for each driving port. In the driving-portion sequence creation step, a moving path that makes the driving port move a shortest or quasi-shortest distance is determined as the driving order, and the moving path is a path connecting reference points set on the construction block.

[0017] The pouring plan creation method according to the present invention makes it possible to create a concrete pouring plan with good work efficiency.

[0018] The pouring plan is a pouring sequence for pouring concrete using two or more pouring ports, and at least one part of the allocation range may overlap with at least one other part of the allocation range. In that case, the method includes a step of determining a pouring port for pouring the construction block for which the overlapping allocation range is set, and correcting the pouring sequence based on the determination. In this way, when there are multiple pouring openings, a concrete pouring plan with good work efficiency can be created even if overlapping allocation ranges are set. Therefore, there is no need to strictly set the allocation range of each pouring opening, and advance preparation is easy.

[0019] In the step of creating a sequence for each entry port, a moving route within the allocation range may be obtained as a solution to a traveling salesman problem using a Hopfield neural network. In this case, it is preferable to obtain a shortest or semi-shortest moving route by repeatedly calculating the moving route while changing a combination of a coefficient of a constraint term and a coefficient of a cost term of an energy function for solving the traveling salesman problem. In this way, it is possible to find the optimal travel route.

[0020] In the overlapping block correction step, for example, the driving port having the earliest driving start time of the construction block for which the overlapping distribution range is set is determined as the driving port for driving the construction block. In this case, in the overlapping block correction step, the allocation range may be corrected based on the determination, and a new driving sequence may be calculated based on the corrected allocation range. The construction blocks for which the allocation range is set overlappingly are deleted from the driving sequence of the driving openings other than the driving opening with the earliest driving start time. In this way, a concrete pouring plan can be created that allows for more efficient work. Effect of the Invention

[0021] According to the present invention, a concrete pouring plan can be created that allows for efficient work. [Brief description of the drawings]

[0022] [Figure 1] 1 is a schematic configuration diagram of a driving plan creation device according to an embodiment of the present invention. [Diagram 2] 1 is an example of a concrete structure that is a construction target. [Diagram 3] 1 is an example of a flowchart illustrating a method for creating a delivery plan according to an embodiment. [Figure 4] This is an image of a construction model that abstracts a concrete structure. [Diagram 5]This is an example of an expression of the typing sequence for solving the TSP (Traveling Salesman Problem). [Figure 6] FIG. 13 is a diagram for explaining an overview of a process for correcting overlapping shots according to an embodiment of the present invention. [Figure 7] 1 is an example flowchart illustrating a method for corrective processing of overlapping shots according to an embodiment of the present invention. [Figure 8] This is an example of a typing sequence calculated using the Traveling Salesman Problem (TSP). [Figure 9] This is a table that associates information such as the implantation sequence with block numbers. [Figure 10] 13 is an example of an inter-block distance. [Figure 11] 13 is an example of construction block information. [Figure 12] FIG. 13 is a diagram showing the order of implantation after correction processing for overlapping implantations. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, the embodiment of the present invention will be described in detail with reference to the drawings. Each drawing is merely a schematic illustration to allow a sufficient understanding of the present invention. Therefore, the present invention is not limited to the illustrated examples. In each drawing, common or similar components are denoted by the same reference numerals, and duplicated explanations thereof will be omitted.

[0024] <Configuration of the driving plan creation device according to the embodiment> The configuration of a pouring plan creation device 100 according to an embodiment will be described with reference to FIG. 1. FIG. 1 is a schematic diagram of the pouring plan creation device 100 according to an embodiment. The pouring plan creation device 100 is a device that creates a pouring plan for pouring concrete. The pouring plan creation device 100 can be used in various situations where concrete is poured, and is not particularly limited by the type, shape, or size of the construction object or the construction method for pouring the concrete. The pouring plan indicates the order in which concrete is poured, and, for example, corresponds information that identifies parts of the construction object (e.g., blocks) to the pouring order.

[0025] With reference to FIG. 2, the construction target for concrete work will be described. FIG. 2 is an example of a concrete structure A, which is a construction target. The concrete structure A is divided into a plurality of areas, and the smallest unit area divided into these areas will be called a "construction block B." The construction block B is the smallest unit area for managing construction. The construction block B may be an area in which the boundary between adjacent construction blocks B is physically determined by formwork, wire mesh, joint material, etc., or may be a virtual area in which the boundary between adjacent construction blocks B is not physically determined. The size of one construction block B can be determined, for example, by the construction conditions for pouring concrete (for example, the performance of a pump truck or an agitator truck used to pour concrete).

[0026] The concrete structure A shown in FIG. 2 has a wide width and a wide depth (multiple construction blocks B are arranged in the width and the depth), but multiple construction blocks B are not arranged in the height direction. In other words, the concrete structure A shown in FIG. 2 has a single-layer structure in the height direction, and the length in the width and the depth directions is excellent. In conventional concrete construction, when there is a sufficient time interval between pouring, layer-by-layer construction may be performed, and the concrete structure A assumes a specific layer in the case of constructing a three-dimensional concrete structure in layers in which the length in the three directions of width, depth, and height is excellent. The construction blocks B may be arranged regularly or may not be arranged regularly (i.e., the construction blocks B may be arranged irregularly). In addition, the concrete structure A may include construction blocks B of different sizes and shapes. In other words, the sizes and shapes of the construction blocks B do not all need to be the same.

[0027] Each of the construction blocks B is given identification information for identifying the construction block B. The method of giving the identification information to the construction block B is not particularly limited and can be given by any method. The identification information corresponding to the arrangement of the construction block B may be given, or it is possible to give identification information unrelated to the arrangement of the construction block B. For example, the former identification information is composed of a number (e.g., "x") indicating the order of the arrangement in one direction constituting the plane when the construction blocks B are arranged two-dimensionally on a plane, and a number (e.g., "y") indicating the order of the arrangement in the other direction. In addition, the latter identification information is composed of a number (e.g., "k") unrelated to the order of the arrangement when the construction blocks B are arranged two-dimensionally on a plane. The identification information "k" may be given according to some rule or may be given irregularly.

[0028] The pouring plan creation device 100 shown in Fig. 1 creates a pouring plan for a concrete structure A by simulation using a virtual three-dimensional space. In the pouring plan simulation, a pouring plan is created using a construction model C (see Fig. 1) that is an abstraction (model) of the concrete structure A. The construction model C is divided into construction blocks B in the same way as the concrete structure A.

[0029] As shown in Fig. 1, a concrete pouring plan creation device 100 according to the embodiment includes a storage unit 30 and a control unit 40. The concrete pouring plan creation device 100 is, for example, a personal computer (PC) operated by a person in charge of creating a concrete pouring plan (hereinafter referred to as a "creator") or an application server communicably connected to the personal computer. The creator here is, for example, a concrete construction worker.

[0030] The storage unit 30 is composed of storage media such as a RAM (Random Access Memory), a ROM (Read Only Memory), a HDD (Hard Disk Drive), a flash memory, etc. The control unit 40 is realized by a program execution process by a CPU (Central Processing Unit), a dedicated circuit, etc. When the control unit 40 is realized by a program execution process, a program (driving plan creation program) for realizing the functions of the control unit 40 is stored in the storage unit 30. Note that the driving plan creation device 100 may obtain the information stored in the storage unit 30 from an external storage means (not shown) as necessary.

[0031] The memory unit 30 stores information required for creating a pouring plan (here, pouring condition information 31 and construction model C are exemplified). The pouring condition information 31 includes information on the performance of the pump equipped in the concrete pump truck, the number of pouring ports into which the concrete is poured, the position where the concrete is poured, and information on the area covered by each pouring port (referred to as the "shared range"). An example of a pouring port is the tip (nozzle tip) of a hose connected to a concrete pump truck. The number of pouring ports is "1" or more, and in this embodiment, the case where the number of pouring ports is "2" is exemplified and described. The construction model C is an abstraction (modeling) of the construction object. The construction model C is divided corresponding to the construction block B in the same way as the construction object. The positional relationship and size of each construction block B are set in the construction model C.

[0032] The setting of the construction blocks B (also called "block division") is performed in advance by the creator. In other words, the block division is set as a given condition when creating the pouring plan. Note that the block division may be set automatically by a computer through calculations instead of a human being.

[0033] The control unit 40 mainly comprises a condition setting unit 41, a drive sequence creation unit 42, and a drive sequence evaluation unit 45. Note that the functions of the control unit 40 shown in Fig. 1 are divided for the sake of convenience, and this division of the functions is merely one example of the present invention. Here, an overview of each function will be described, and the details of the processing of each function will be described later.

[0034] The condition setting unit 41 accepts the registration of the driving condition information 31 and the construction model C, and stores this information in the storage unit 30. For example, the creator inputs information on the number of driving openings, the driving positions where each construction block B is driven, the distance between the driving positions (sometimes called "distance between blocks"), the driving speed, and the first construction block B (sometimes called "start block") from which driving begins, to the driving plan creation device 100. The creator also determines the allocation range for each driving opening, and inputs the information on the allocation range to the driving plan creation device 100. The allocation range can be set in an overlapping manner, and for example, the same construction block B can be registered in the allocation range of the first driving opening and the allocation range of the second driving opening. The creator also inputs the initial values ​​of variables and coefficients used in calculating the driving order to the driving plan creation device 100. The condition setting unit 41 registers the input information in the storage unit 30.

[0035] The driving sequence creation unit 42 creates a driving plan using the construction model C. The driving sequence creation unit 42 includes a driving port sequence creation unit 43 and an overlapping block correction unit 44.

[0036] The drive-in sequence creation unit 43 creates a drive-in sequence for each drive-in. The drive-in sequence creation unit 43 uses a neural network to calculate a drive-in sequence that results in the shortest or quasi-shortest drive-in distance for the construction block B within the allocation range set for the drive-in. The quasi-shortest drive-in sequence is a drive-in sequence close to the shortest (for example, the second shortest drive-in sequence). The drive-in sequence creation unit 43 obtains a drive-in sequence within the allocation range as a solution to the TSP (Traveling Salesman Problem) by, for example, an HPN (Hopfield Neural Network). The movement path is a connection between reference points set in the construction block B. In this embodiment, the drive-in position in each construction block B is assumed as the reference point, but a position that can be calculated from the shape and size of the construction block B, such as the center of the construction block B, may be used as the reference point.

[0037] The overlapping block correction unit 44 determines which of the driving openings will be in charge of the construction block B whose driving order is set in an overlapping manner, and corrects the driving order based on the decision. For example, the overlapping block correction unit 44 determines that the driving opening with the earliest driving start time of the construction block B whose allocation range is set in an overlapping manner will drive the construction block B. For example, the overlapping block correction unit 44 corrects the allocation range based on the decision, and calculates a new driving order based on the corrected allocation range. In other words, for the construction block B whose allocation range overlaps, the driving opening with the earliest driving start time is used, and the construction block B is deleted from the driving order of the other driving openings. Note that when the number of driving openings is "1", the allocation range is not set in an overlapping manner, so the function of the overlapping block correction unit 44 is unnecessary.

[0038] Instead of correcting the drive-in sequence by itself, the overlapping block correction unit 44 may request another function (for example, the drive-in sequence creation unit 43) to correct the drive-in sequence. In this case, the drive-in sequence creation unit 43 calculates a new drive-in sequence based on the corrected allocation range, and the overlapping block correction unit 44 receives the calculation result as a response. In other words, the correction of the drive-in sequence by the overlapping block correction unit 44 includes obtaining the drive-in sequence corrected by the other function as a response.

[0039] The placing sequence evaluation unit 45 evaluates the placing sequence created by the placing sequence creation unit 42. The method of evaluating the placing sequence is not particularly limited, and various methods can be used. In this embodiment, a specific layer is assumed when a three-dimensional concrete structure is constructed in layers, but for example, after determining the placing sequence in all layers, the maximum placing time interval for the entire concrete structure is calculated. Then, the placing sequence evaluation unit 45 confirms that the maximum placing time interval does not exceed the allowable placing time interval. The allowable placing time interval is described in the "Standard Specifications for Concrete" issued by the Japan Society of Civil Engineers, and for example, in the case of placing in an environment exceeding 25°C, the allowable placing time interval is "2.0 hours". In addition, the placing sequence evaluation unit 45 may evaluate the placing sequence created by the placing sequence creation unit 42 by, for example, comparing it with a placing sequence based on a conventional placing time.

[0040] <Method of creating a driving plan according to an embodiment of the present invention> A method for creating a pouring plan using the pouring plan creation device 100 according to the embodiment will be described with reference to Fig. 3 (and Fig. 1 and Fig. 2 as appropriate). Fig. 3 is an example of a flowchart showing the method for creating a pouring plan according to the embodiment. The pouring plan is, for example, a pouring sequence for each construction block B, which sets the order in which concrete is poured into the construction blocks B obtained by dividing the construction object.

[0041] First, the creator sets pouring conditions, initial values, a construction model C (see FIG. 4) that is an abstraction of the concrete structure A, and the like in the pouring plan creation device 100 via the condition setting unit 41 (step S10). Note that the condition setting unit 41 may calculate these pieces of information without input operations by the creator or from other information input by the creator.

[0042] The creator places the construction block B created using, for example, 2D data or 3D data in a two-dimensional or three-dimensional virtual space. The creator also sets a reference point (one example is a driving position) in the construction block B. Specifically, the reference point of the construction block B is set as a coordinate value of an orthogonal coordinate system set in the two-dimensional or three-dimensional virtual space. As a result, the relative positional relationship of the reference point of the construction block B is reproduced in the two-dimensional or three-dimensional virtual space by the set coordinate value. The construction model C shown in FIG. 4 is composed of eight construction blocks B (construction blocks B1 to B8). Reference points P1 to P8 are set in the construction blocks B1 to B8.

[0043] In addition, the creator sets, for example, the number of pouring ports for pouring concrete (corresponding to the number of pump trucks when pouring concrete using pump trucks), and further sets the area (shared range M) for which each pouring port is responsible for pouring. In FIG. 4, it is assumed that two pouring ports are used, and a shared range M1 for the first pouring port and a shared range M2 for the second pouring port are set. The shared range M1 includes five construction blocks B1 to B4, B6, and these construction blocks B are poured at the first pouring port. The shared range M2 includes five construction blocks B4 to B8, and these construction blocks B are poured at the second pouring port. Note that the shared ranges M of the construction blocks B4 and B6 overlap, but the shared ranges M may overlap in the initial state.

[0044] The creator also sets, for example, the pouring speed at which concrete is poured. The pouring speed may be set in association with the pouring opening or in association with the construction block B. Also, instead of or together with the pouring speed, the time required to create one construction block B (i.e., the time required to pour one construction block B) may be set. This time may be calculated, for example, from the size of the construction block B or the pump performance.

[0045] The creator also sets, for example, the first construction block B (start block) from which driving will begin. The creator sets a start block for each driving opening (i.e., sets start blocks according to the number of driving openings). For example, the creator arbitrarily sets one of the construction blocks B included in the allocation range M as the start block. For example, construction block B2 is set as the start block for the first driving opening, and construction block B5 is set as the start block for the second driving opening.

[0046] Next, the creator instructs the driving plan creation device 100 to start calculating the driving sequence. As a result, the driving plan creation device 100 executes the processes from step S20 onwards. Note that the driving plan creation device 100 may start calculating the driving sequence as soon as the setting in step S10 is completed.

[0047] In step S20, the drive sequence that provides the shortest or quasi-shortest drive sequence is calculated for each drive slot. Steps S22 to S27 in FIG. 3 are the process of calculating the drive sequence for each drive slot. In step S21, one drive slot is selected, and the drive sequence for the selected drive slot is calculated in the following steps S22 to S27. When the calculation for one drive slot is completed, in step S28, it is determined whether the calculation of the drive sequence for all drive slots is completed, and if all calculations are not completed, the process returns to step S21. Then, in step S21, a new drive slot is selected, and the drive sequence for the selected drive slot is calculated in the following steps S22 to S27. In other words, the process from step S21 to step S28 is repeatedly performed for each drive slot to search (calculate) the drive sequence for all drive slots. When the calculation of the drive sequence for all drive slots is completed, the process proceeds to step S30.

[0048] The calculation of the drive sequence from step S22 to step S27 can be performed using, for example, a calculation method using a neural network, and in this embodiment, it is assumed that the drive sequence is calculated by applying an HPN (Hopfield Neural Network). Conventionally, the TSP (Traveling Salesman Problem) using an HPN (Hopfield Neural Network) has been frequently studied, and the case where the drive sequence is calculated as a TSP will be described. For example, the following document explains a solution method for the TSP using an HPN. Toshio Tanaka, Tetsuya Higuchi, and Tatsumi Furuya, "Efficient Solution of Optimization Problems Using Hopfield-Type Neural Networks," IEICE Transactions on Computer Science, Vol. J77-D-II, No. 6, pp. 1157-1166, June 1994.

[0049] Generally, to solve a combinatorial optimization problem using the Hopfield method, an energy function is designed so that the state with the lowest energy is the solution to the problem. Then, by setting an appropriate initial state (for example, setting all neuron outputs to "1") and then repeatedly changing the neuron output, an equilibrium state is eventually reached where the energy no longer decreases, and the optimization problem can be solved. The neuron output is changed by changing the output of the selected neuron based on state transition rules, and changing the output state always reduces the energy of the network.

[0050] Next, the design of the energy function for solving the TSP will be described. To solve an optimization problem, an energy function is set so that the state with the lowest energy is the solution to the problem. In this embodiment, the following formula (1) is used as the energy function for solving the TSP. The first term in formula (1) is a constraint term, the second term is a cost term, and the third term is a self-join removal term.

number

[0051] When the connection weights and biases are calculated from the TSP energy function in equation (1) and a Hopfield network is constructed, the sum of the inputs in the xth row and ith column is expressed by equation (2).

number

[0052] Using equation (2), the process from step S22 to step S27 in FIG. 3 is executed to obtain a movement path (driving sequence). Conventionally, the coefficient α of the constraint term and the coefficient β of the cost term were given as given conditions. However, since the method of determining the coefficient α of the constraint term and the coefficient β of the cost term was not clear, practical calculation was difficult. In this embodiment, the coefficient α of the constraint term and the coefficient β of the cost term are not given as given conditions, but the problem is considered to be the determination of the coefficients α and β, and an optimal movement path (driving sequence) is obtained.

[0053] Specifically, a combination of coefficients α and β (for example, the first combination is set to "0" for both coefficients α and β) is set in step S22, and a moving path (casting order) is calculated in steps S23 to S26 using the set combination of coefficients α and β. When the calculation of one combination is completed, it is determined in step S27 whether the calculation of all combinations is completed, and if all calculations are not completed, the process returns to step S22. Then, a new combination of coefficients α and β is set in step S22, and a moving path (casting order) is calculated in steps S23 to S26 using the newly set combination. That is, the process from step S22 to step S27 is repeatedly performed with different combinations of coefficients α and β to search (calculate) the casting order for all combinations. For example, the coefficients α and β are set to values ​​in the range of "0 to 1" in increments of "0.01" or "0.02" to search (calculate) the casting order for all combinations. When the calculation of the casting order for all combinations is completed, the process proceeds to step S28.

[0054] In step S23, the sum of the inputs of each unit is calculated using equation (2). Then, in step S24, state change processing is executed based on the state transition rules. Specifically, among the units whose output is "1", one unit with the smallest sum of the inputs is selected, and the output of the selected unit is corrected to "0". In addition, among the units whose output is "0", all the units with the largest sum of the inputs are selected, and the output of the selected unit is corrected to "1". Then, in step S25, it is determined whether the state change has ended.

[0055] With reference to FIG. 5, the expression of the solution of the TSP will be described. The solution of the TSP can be expressed by the state of the neurons using "N×N" neurons. FIG. 5 shows an example of the expression of the driving sequence for solving the TSP. In FIG. 5, each construction block B corresponds to a row, and the driving sequence corresponds to a column, and the state where there is only one "1" in each row and column represents the solution. In the example of FIG. 5, the driving sequence is "construction block B2 → B3 → B1 → B5 → B4". As shown in FIG. 5, when there is only one "1" in each row and column, the processing of the state change is completed, and the processing proceeds to step S26. When the processing of the state change is completed, a moving path (driving sequence) based on the combination of the coefficients α and β set in step S22 is obtained. On the other hand, when there is not only one "1" in each row and column, the processing returns to step S23, and the processing of the state change is continued.

[0056] In step S26, if the total movement distance calculated so far is the shortest, the values ​​of the coefficients α and β, the driving sequence, the total movement distance, etc. are stored in the memory unit 30. That is, the coefficients α and β are set to values ​​in increments of, for example, "0.01" or "0.02", and the driving sequences are calculated one after another, and the movement path (driving sequence) calculated up to that point with the optimal combination of coefficients α and β is stored. Then, the process proceeds to step S27. When the calculations for all driving openings and combinations of coefficients α and β have been completed, the optimal movement path (driving sequence) for each driving opening under the set driving conditions is stored in the memory unit 30.

[0057] Following step S20, a correction process for overlapping driving is executed (step S30). In the correction process for overlapping driving, when an overlap occurs in the allocation range M, the driving opening for driving the overlapping construction block B is determined, and a new allocation range M is set based on the determination, for example. Then, using the newly set allocation range M, the driving order for each driving opening is searched (calculated) again. Figure 6 shows an overview of the correction process for overlapping driving. Figure 6(a) shows the result of searching for the driving order for the first driving opening with the allocation range M1 (see Figure 4) set. Figure 6(b) shows the result of searching for the driving order for the second driving opening with the allocation range M2 (see Figure 4) set. Figure 6(c) shows the result of searching for the driving order for the first driving opening and the second driving opening after the correction process for overlapping driving is executed.

[0058] The symbol J1 in Fig. 6(a) indicates the movement path of the first pouring opening. The movement path J1 is created, for example, by connecting the reference points P1-P4, P6 (see Fig. 4) set on each of the construction blocks B1-B4, B6 with straight lines. The movement path J1 starts from the construction block B2, passes through the construction blocks B3, B6, B4, and reaches the construction block B1. In other words, Fig. 6(a) indicates that the first pouring opening pours concrete into the construction blocks B2, B3, B6, B4, and B1 in that order.

[0059] The symbol J2 in Fig. 6(b) indicates the movement path of the second pouring opening. The movement path J2 is created, for example, by connecting the reference points P4 to P8 (see Fig. 4) set on each of the construction blocks B4 to B8 with straight lines. The movement path J2 starts from the construction block B6, passes through the construction blocks B8, B7, and B4, and reaches the construction block B5. In other words, Fig. 6(b) indicates that the second pouring opening pours concrete into the construction blocks B5, B4, B7, B8, and B6 in that order.

[0060] The symbols K1 and K2 in FIG. 6(c) indicate the movement paths of the first and second casting openings after the overlapping casting correction process. As shown in FIG. 4, the shared range M of the construction blocks B4 and B6 overlap. In the overlapping casting correction process, it is determined which casting opening will be used to cast the concrete for the construction block B with the overlapping shared range M. In this embodiment, the casting opening that starts casting the concrete for the construction block B (construction blocks B4 and B6 in FIG. 4) with the overlapping shared range M is determined to be used to cast the concrete for the construction block B. Here, it is assumed that the first casting opening reaches the construction block B6 before the second casting opening and starts casting, and that the second casting opening reaches the construction block B4 before the first casting opening and starts casting.

[0061] Therefore, the second casting opening removes the construction block B6 from the distribution range M2 (see FIG. 4), and the first casting opening removes the construction block B4 from the distribution range M1 (see FIG. 4). As a result, the movement path J1 (see FIG. 6(a)) of the first casting opening is corrected to the movement path K1 shown in FIG. 6(c). The movement path J2 (see FIG. 6(b)) of the second casting opening is corrected to the movement path K2 shown in FIG. 6(c). The corrected movement path K1 indicates that the first casting opening pours concrete into the construction blocks B2, B3, B6, and B1 in that order. The corrected movement path K2 indicates that the second casting opening pours concrete into the construction blocks B5, B4, B7, and B8 in that order.

[0062] The overlapping implantation correction process will be described with reference to Fig. 7 (and Fig. 1 to Fig. 6 as appropriate). Fig. 7 is an example of a flowchart showing a method of overlapping implantation correction process according to an embodiment. As a prerequisite for starting the overlapping implantation correction process, it is necessary to search (calculate) the implantation order of the allocation range M for each implantation port (step S20).

[0063] For example, the solution shown in FIG. 8 is created as a result of searching (calculating) the pouring sequence using the calculation method by TSP. FIG. 8 is an example of the pouring sequence calculated by TSP, where each construction block B corresponds to a row and the pouring sequence corresponds to a column. The symbol k in FIG. 8 is the "block number." FIG. 8(a) corresponds to the pouring sequence of the first pouring opening (see FIG. 6(a)), and shows that concrete is poured in the order of construction blocks B2, B3, B6, B4, and B1. FIG. 8(b) corresponds to the pouring sequence of the second pouring opening (see FIG. 6(b)), and shows that concrete is poured in the order of construction blocks B5, B4, B7, B8, and B6.

[0064] In the process of correcting overlapping placing, first, the placing start time of each construction block B is calculated for each placing opening (step S31). The placing start time is calculated, for example, based on the volume and placing speed of the construction block B. The calculated placing start time is associated with the construction block B and summarized in FIG. 9. FIG. 9 is a table that associates the placing order with information such as the block number. FIG. 9(a) is for the first placing opening, and FIG. 9(b) is for the second placing opening. In FIG. 9, "j" is the placing order, "k" is the block number, "ts" is the placing start time, "te" is the placing completion time, and "tse" is the placing completion time. The contents shown in FIG. 9 are calculated based on the information shown in FIG. 10 and FIG. 11. FIG. 10 is an example of the distance between blocks. FIG. 11 is an example of the information of the construction block B.

[0065] Following step S31, all the drive sequences determined for each drive slot are collected and rearranged in order of earliest drive start time (step S32). Specifically, the rows are rearranged based on the drive start time ts in Fig. 9. As a result, the rows are arranged in the following order: L11, L21, L22, L12, L13, L23, L24, L14, L25, L15.

[0066] Next, the start time of the overlapping construction block B is compared, and it is determined that the overlapping construction block B is driven at the drive opening with the earlier drive start time. For example, when the overlapping construction block B6 is focused on, the drive start time ts of the first drive opening shown in row L13 of FIG. 9 is "19.7", whereas the drive start time ts of the second drive opening shown in row L25 is "31.5". Therefore, it is determined that the construction block B6 is driven at the first drive opening with the earlier drive start time ts. Similarly, when the overlapping construction block B4 is focused on, the drive start time ts of the first drive opening shown in row L14 of FIG. 9 is "30.3", whereas the drive start time ts of the second drive opening shown in row L22 is "7.9". Therefore, it is determined that the construction block B4 is driven at the second drive opening with the earlier drive start time ts. Incidentally, if it is possible to compare the driving start times ts of overlapping construction blocks B without arranging all the driving orders in step S31, the process of step S31 does not need to be performed.

[0067] FIG. 12 shows the result of rearranging the overall driving sequence based on the decision in step S33. FIG. 12 is a diagram summarizing the driving sequence after the correction process for the overlapping driving. "h" in FIG. 12 is the number of the driving port. Specifically, the allocation range M1 of the first driving port and the allocation range M2 of the second driving port are corrected based on the decision in step S33, and the driving sequence for each driving port is recalculated in the corrected allocation range M. The recalculation of the driving sequence can be performed using the same calculation method as before the correction, for example, the process shown in step S20 in FIG. 3 is performed. As a result, a driving sequence in which there are no overlapping construction blocks B and the driving port travel distance is the shortest or quasi-shortest is obtained.

[0068] As described above, the pouring plan creation device 100 according to the embodiment can create a concrete pouring plan with good work efficiency. In addition, when there are multiple pouring ports, a concrete pouring plan with good work efficiency can be created even if the assigned ranges M are set overlappingly, so there is no need to strictly set the assigned ranges M for each pouring port, and advance preparation is easy.

[0069] Although the embodiment of the present invention has been described above, the present invention is not limited to this, and can be practiced within the scope of the claims. [Explanation of symbols]

[0070] 100 Driving plan creation device 30 Storage section 31 Hitting Condition Information 40 Control section 41 Condition setting section 42 Strike Order Creation Section 43 Insertion port sequence creation section 44 Duplicate Block Correction Section 45 Entry sequence evaluation section A Concrete structure (construction object) B Construction block C Construction model

Claims

1. A pouring plan creation device for creating a pouring plan for concrete pouring, The pouring plan is a pouring sequence for each construction block, which sets the order in which concrete is poured into the construction blocks into which the construction object is divided, using one or more pouring ports; A sharing range indicating the range of the construction block to be driven is set in advance in correspondence with each of the driving holes, a placement port sequence creation unit that creates a placement sequence within the allocation range for each placement port; The drive-in port sequence creation unit determines, as a drive-in port sequence, a movement path that has a shortest or quasi-shortest movement distance for the drive-in port, and The moving path connects reference points set on the construction block, A driving plan creation device characterized by the above.

2. The pouring plan is a pouring sequence for pouring concrete using two or more pouring ports, At least one portion of the allocation range overlaps with at least one other portion of the allocation range, An overlapping block correction unit is provided for determining a driving port for driving the construction block in which the overlapping distribution range is set, and correcting the driving order based on the determination.

2. The driving plan creating device according to claim 1 .

3. the entry-port sequence creation unit determines a movement path within the allocation range as a solution to a traveling salesman problem using a Hopfield neural network; determining a shortest or quasi-shortest travel route by repeatedly calculating a travel route while changing a combination of a coefficient of a constraint term and a coefficient of a cost term of an energy function for solving the traveling salesman problem; 2. The driving plan creating device according to claim 1 .

4. The overlapping block correction unit determines the driving start time of the construction block having the overlapping distribution range set earlier as the driving start time for driving the construction block.

3. The driving plan creating device according to claim 2.

5. the overlapping block correction unit corrects the allocation range based on the determination, and calculates a new implantation sequence based on the corrected allocation range; From the driving order of the driving openings other than the driving opening with the earlier driving start time, the construction blocks for which the allocation range is set in a duplicated manner are deleted.

5. The driving plan creating device according to claim 4.

6. A pouring plan creation program for creating a pouring plan for concrete pouring, The pouring plan is a pouring sequence for each construction block, which sets the order in which concrete is poured into the construction blocks into which the construction object is divided, using one or more pouring ports; A sharing range indicating the range of the construction block to be driven is set in advance in correspondence with each of the driving holes, Computer, functioning as an implantation port sequence creation unit that creates an implantation sequence within the allocation range for each of the implantation ports; The drive-in port sequence creation unit determines, as a drive-in port sequence, a movement path that has a shortest or quasi-shortest movement distance for the drive-in port, and The moving path connects reference points set on the construction block, A driving plan creation program characterized by:

7. A method for creating a pouring plan for pouring concrete, comprising: The pouring plan is a pouring sequence for each construction block, which sets the order in which concrete is poured into the construction blocks into which the construction object is divided, using one or more pouring ports; A sharing range indicating the range of the construction block to be driven is set in advance in correspondence with each of the driving holes, a step of creating an implantation sequence for each of the implantations within the assigned range for each of the implantations; In the step of creating a sequence for each implantation port, a movement path that has a shortest or second shortest movement distance for the implantation port is obtained as the implantation sequence; The moving path connects reference points set on the construction block, A method for creating a driving plan.

8. The pouring plan is a pouring sequence for pouring concrete using two or more pouring ports, At least one portion of the allocation range overlaps with at least one other portion of the allocation range, An overlapping block correction step is provided for determining a driving port for driving the construction block in which the overlapping distribution range is set, and correcting the driving order based on the determination.

8. The method for creating a driving plan according to claim 7.

9. In the step of creating a sequence for each entry port, a moving path within the assigned range is obtained as a solution to a traveling salesman problem using a Hopfield neural network; determining a shortest or quasi-shortest travel route by repeatedly calculating a travel route while changing a combination of a coefficient of a constraint term and a coefficient of a cost term of an energy function for solving the traveling salesman problem; 8. The method for creating a driving plan according to claim 7.

10. In the overlapping block correction step, the driving port having the earliest driving start time of the construction block in which the overlapping distribution range is set is determined as the driving port for driving the construction block.

9. The method for creating a driving schedule according to claim 8.

11. The overlapping block modifying step modifies the allocation range based on the determination, and calculates a new implantation sequence based on the modified allocation range; From the driving order of the driving openings other than the driving opening with the earlier driving start time, the construction blocks for which the allocation range is set in a duplicated manner are deleted.

11. The method for creating a firing plan according to claim 10.

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