Compaction state estimating device, compaction state estimating method, and program

Abstract

To provide technology that estimates an operation or non-operation state of a vibrator and an insertion state of the vibrator into concrete during operation in a comparatively simple configuration.SOLUTION: An acquisition unit 31 acquires waveform data from the outside of a compaction state estimating device 30. An estimation unit 32 estimates an operation or non-operation state of a vibrator V and an insertion state of the vibrator V into concrete G during operation on the basis of characteristics of the waveform data acquired by the acquisition unit 31. An output unit 33 outputs a result estimated by the estimation unit 32.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a technique for estimating the compaction state of poured concrete. [Background technology]

[0002] Compaction is a process of vibrating concrete poured in a formwork to distribute the concrete evenly and to prevent voids from occurring in the formwork. For example, Patent Document 1 discloses a method in which recognition objects i1 to i3 are attached to a vibration unit 21 of a vibrator 2 for compaction, three-dimensional coordinate values ​​of the recognition objects i1 to i3 are obtained from captured images of the compaction work, and the insertion depth and insertion period of the vibrator 2 are calculated based on the relationship between the coordinate values ​​of the concrete surface and the coordinate values ​​of the tip F of the vibrator 2. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6781439 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to estimate, with a relatively simple configuration, the operating or non-operating state of a vibrator, and the insertion state of the vibrator into concrete when in operation. [Means for solving the problem]

[0005] In order to solve the above problems, the compaction state estimation device of the present invention comprises an acquisition unit that acquires waveform data indicating at least one of the acceleration or rotational angular velocity of a vibrator that compacts poured concrete, an estimation unit that estimates the operating or non-operating state of the vibrator and the insertion state of the vibrator into the concrete when in operation based on characteristics of the acquired waveform data, and an output unit that outputs the estimated result.

[0006] The estimation unit may be configured to estimate whether the planar distance between the vibrator inserted in the concrete and the formwork is within a predetermined planar distance by using a threshold value that differs depending on the planar distance to a formwork provided in the area where the concrete is poured, in the amplitude or period of the waveform data acquired when it is estimated that the vibrator is inserted in the concrete.

[0007] The acquisition unit may acquire inclination angle data of the vibrator with respect to a reference direction, and the estimation unit may estimate whether or not the vibrator is inserted into the concrete based on the acquired inclination angle data.

[0008] The acquisition unit may acquire magnetic waveform data indicating the magnetism of the vibrator, and the estimation unit may estimate the operating or non-operating state of the vibrator based on the acquired waveform data as well as the magnetic waveform data.

[0009] The acquisition unit may acquire air pressure data at the position of the vibrator, and the estimation unit may estimate the vertical position of the vibrator using reference values ​​of air pressure at the top of a formwork provided in the area where the concrete is poured and at the bottom of the concrete to be poured, and the acquired air pressure data.

[0010] The acquisition unit may acquire position data measured by communication with a short-range communication device attached to the vibrator, and the estimation unit may estimate a position of the vibrator in a horizontal plane using a history of the acquired position data.

[0011] The position data may be corrected in accordance with a nearby interaction standard in UWB (Ultra-Wide Band).

[0012] The estimation unit may be configured to estimate the compaction time at each position within the concrete based on the operating or non-operating state of the vibrator, whether the vibrator is inserted into the concrete or not, and the position of the vibrator in the vertical and horizontal planes.

[0013] The estimation unit may perform the estimation by inputting the waveform data into a trained algorithm obtained by performing machine learning using teacher data in which the waveform data is an explanatory variable and whether or not the vibrator is inserted into the concrete is an objective variable.

[0014] The estimation unit may input the waveform data of the vibrator in the concrete to a trained algorithm obtained by performing machine learning using teacher data in which the waveform data of the vibrator in the concrete is an explanatory variable and the planar distance between the vibrator and a formwork installed in the area where the concrete is poured is an objective variable, and estimate whether the planar distance between the vibrator and the formwork is within a predetermined planar distance.

[0015] In addition, the compaction state estimation method of the present invention may be provided as a compaction state estimation method comprising an acquisition step of acquiring waveform data indicating at least one of the acceleration or rotational angular velocity when a vibrator that compacts poured concrete vibrates, an estimation step of estimating the operating or non-operating state of the vibrator and the insertion state of the vibrator into the concrete when operating based on characteristics of the acquired waveform data, and an output step of outputting the estimated result.

[0016] In addition, the program of the present invention may provide a program for causing a computer to function as an acquisition unit that acquires waveform data indicating at least one of the acceleration or rotational angular velocity during vibration of a vibrator that compacts poured concrete, an estimation unit that estimates the operating or non-operating state of the vibrator and the insertion state of the vibrator into the concrete when operating based on characteristics of the acquired waveform data, and an output unit that outputs the estimated results. Effect of the Invention

[0017] According to the present invention, it is possible to estimate, with a relatively simple configuration, the operating or non-operating state of a vibrator, and the insertion state and insertion position of the vibrator into concrete when in operation. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a block diagram showing an example of the overall configuration of a compaction management system 1 according to an embodiment of the present invention. [Diagram 2] 1 is a diagram showing a state in which a vibrator V is inserted into concrete G in the same embodiment. [Diagram 3] FIG. 2 is a block diagram showing an example of the hardware configuration of the compaction state estimation device 30 according to the embodiment. [Figure 4] FIG. 2 is a block diagram showing an example of a hardware configuration of a device terminal D1 according to the embodiment. [Diagram 5]FIG. 2 is a block diagram showing an example of the functional configuration of a compaction state estimation device 30 according to an embodiment. [Figure 6] 1 is a diagram illustrating an example of a state in which a vibrator V is inserted into concrete G. [Figure 7] 4 is a diagram illustrating an example of waveform data detected by the acceleration sensor 10a. [Figure 8] 4 is a flowchart showing the operation of the compaction state estimating device 30. [Figure 9] 1 is a diagram illustrating an example of a state in which a vibrator V is inserted into concrete G. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] An example of an embodiment of the present invention will be described. [composition] FIG. 1 is a diagram showing an example of the overall configuration of a compaction management system 1 according to an embodiment of the present invention. As shown in FIG. 1, the compaction management system 1 includes a device terminal D1 including at least an acceleration sensor 10a, a gyro sensor 10b, an atmospheric pressure sensor 10c, a magnetic sensor 10d, and a UWB (Ultra-Wide Band) communication device 10e, which is an example of a short-range communication device; a device terminal D2 including at least an atmospheric pressure sensor 10c'; a device terminal D2' including at least an atmospheric pressure sensor 10c", a device terminal D3 including at least a UWB communication device 10e'; a network 20 including a wireless communication network or a wired communication network; and a compaction state estimation device 30 connected to the network 20. The device terminals D1, D2, D2', and D3 are connected to the network 20 by wire or wireless. In this embodiment, the acceleration sensor 10a, the gyro sensor 10b, the atmospheric pressure sensor 10c, the magnetic sensor 10d, and the UWB communication device 10e are included as the device terminal D1. In this embodiment, a wristwatch-type device terminal is used in which the sensors 10a, 10b, 10c, 10d, and 10e are built into one housing, but the type and form of the terminal are not necessarily limited to this example. Also, the acceleration sensor 10a, the gyro sensor 10b, the atmospheric pressure sensor 10c, the magnetic sensor 10d, and the UWB communication device 10e may each be built into a different housing. Also, in this embodiment, a smartphone with an atmospheric pressure sensor 10'c built in is used as the device terminal D2, a smartphone with an atmospheric pressure sensor 10c" built in is used as the device terminal D2', and a smartphone with an UWB communication device 10e' built in is used as the device terminal D3, but the type and form of these terminals are not necessarily limited to this example.

[0020] 2 is a diagram showing a state when a vibrator V is inserted into concrete G. As shown in FIG. 2, the vibrator V of the compaction device R is inserted into concrete G poured into a formwork K at a predetermined distance interval for a predetermined period of time, and the vibrator V is operated to apply appropriate vibrations to the concrete G, thereby compacting the concrete G. This eliminates any voids in the formwork K that are not filled with concrete G, improving the quality of the concrete structure. In this embodiment, the compaction device R is a device that collectively refers to the vibrating vibrator V and the cord C extending from the vibrator V.

[0021] A device terminal D1 incorporating an acceleration sensor 10a, a gyro sensor 10b, an air pressure sensor 10c, a magnetic sensor 10d, and a UWB communication device 10e is attached to a position above and adjacent to the vibrator V in the code C. The acceleration sensor 10a, the gyro sensor 10b, the air pressure sensor 10c, and the magnetic sensor 10d incorporated in the device terminal D1 detect the acceleration, direction, air pressure, and magnetism at their attachment positions, respectively, and output waveform data indicating the detected values. Since the acceleration sensor 10a, the gyro sensor 10b, the air pressure sensor 10c, and the magnetic sensor 10d are attached to positions above and adjacent to the vibrator V in the code C, these detected values ​​can be considered to indicate the acceleration, direction, air pressure, and magnetism at the vibrator V.

[0022] In addition, device terminals D2, D2' incorporating air pressure sensors 10c', 10c" are attached to positions corresponding to the top of the formwork K and the bottom surface of the concrete G to be poured. These air pressure sensors 10c', 10c" detect the air pressure at their installation positions and output waveform data indicating the detected values.

[0023] Also, the device terminal D3 incorporating a UWB communication device 10e' is attached to an arbitrary position such as the top edge of the formwork K. The attachment position of the device terminal D3 is specified by three-dimensional coordinate values ​​after attachment. The UWB communication device 10e incorporated in the device terminal D1 performs short-range wireless communication with the UWB communication device 10e' incorporated in the device terminal D3, so that the position of the UWB communication device 10e in the device terminal D1 in the horizontal plane is measured by a well-known positioning method defined by the UWB communication standard. In this way, the UWB communication device 10e and the UWB communication device 10e' function as a positioning means for performing positioning of the UWB communication device 10e (i.e., the device terminal D1).

[0024] 3 is a diagram showing the hardware configuration of the compaction state estimation device 30. The compaction state estimation device 30 is physically configured as a computer device including a processor 3001, a memory 3002, a storage 3003, a communication device 3004, an input device 3005, an output device 3006, and a bus connecting these devices. Each of these devices operates using power supplied from a power source (not shown).

[0025] Each function of the compaction state estimation device 30 is realized by loading a specific software (program) onto hardware such as the processor 3001 and memory 3002, causing the processor 3001 to perform calculations, control communications via the communication device 3004, acquire data transmitted from other devices, and control at least one of the reading and writing of data in the memory 3002 and storage 3003.

[0026] The processor 3001 controls the entire computer by running, for example, an operating system. The processor 3001 may be configured with a central processing unit (CPU) including an interface with peripheral devices, a control device, an arithmetic unit, a register, and the like.

[0027] The processor 3001 reads out programs (program codes), software modules, data, etc. from at least one of the storage 3003 and the communication device 3004 into the memory 3002, and executes various processes according to the programs. As the programs, programs that cause a computer to execute at least a part of the operations described below are used.

[0028] The memory 3002 is a computer-readable recording medium, and may be composed of at least one of, for example, a Read Only Memory (ROM), an Erasable Programmable ROM (EPROM), an Electrically Erasable Programmable ROM (EEPROM), a Random Access Memory (RAM), etc. The memory 3002 may also be called a register, a cache, a main memory (primary storage device), etc. The memory 3002 can store a program (program code), a software module, etc. that can be executed to implement the method according to this embodiment.

[0029] The storage 3003 is a computer-readable recording medium, such as a hard disk drive or a flash memory.

[0030] The communication device 3004 is hardware (a transmitting / receiving device) for performing communication between computers via the network 20 .

[0031] The input device 3005 is an input device (for example, a keyboard, a mouse, a microphone, a switch, a button, etc.) that accepts input from the outside. The output device 3006 is an output device (for example, a display, a speaker, an LED lamp, etc.) that outputs to the outside.

[0032] 4 is a diagram showing the hardware configuration of the device terminal D1. The device terminal D1 is physically configured as a computer device including a processor 101, a memory 102, a storage 103, a communication device 104, a sensor group 105, a UI device 106, a UWB communication device 10e, and a bus connecting these. Each function of the device terminal D1 is realized by loading a predetermined software (program) onto hardware such as the processor 101 and the memory 102, causing the processor 101 to perform calculations, control communication by the communication device 104, and control at least one of reading and writing data in the memory 102 and the storage 103. The processor 101, the memory 102, the storage 103, the communication device 104, and the bus connecting these are similar in terms of hardware to the processor 3001, the memory 3002, the storage 3003, the communication device 3004, and the bus connecting these described for the compaction state estimation device 30, and therefore the description thereof will be omitted. The sensor group 105 includes the acceleration sensor 10a, the gyro sensor 10b, the air pressure sensor 10c, and the magnetic sensor 10d described above. The UI device 106 includes keys, a microphone, a switch, a button, a speaker, an LED lamp, a display, and the like, and is used by the worker to operate the device terminal D1 and to view information displayed on the device terminal D1. When the acceleration sensor 10a, the gyro sensor 10b, the air pressure sensor 10c, the magnetic sensor 10d, and the UWB communication device 10e are built into different housings, a processor, a memory, a storage, a communication device, and the like are provided in each housing.

[0033] The device terminal D2 is physically configured as a computer device including a processor, memory, storage, a communication device, a group of sensors, a UI device, and a bus connecting these, but it is sufficient that the sensor group includes at least the air pressure sensor 10c'. Similarly, the device terminal D2' is physically configured as a computer device including a processor, memory, storage, a communication device, a group of sensors, a UI device, and a bus connecting these, but it is sufficient that the sensor group includes at least the air pressure sensor 10c". The device terminal D3 is physically configured as a computer device including a processor, memory, storage, a communication device, a UI device, a UWB communication device 10e', and a bus connecting these, etc.

[0034] 5 is a diagram showing an example of a functional configuration of the compaction state estimation device 30. The compaction state estimation device 30 realizes the functions of an acquisition unit 31, an estimation unit 32, and an output unit 33.

[0035] The acquisition unit 31 acquires various data from outside the compaction state estimation device 30. For example, the acquisition unit 31 acquires waveform data indicating the detection value detected by the acceleration sensor 10a, rotational angular velocity data indicating the detection value detected by the gyro sensor 10b, atmospheric pressure data indicating the detection value detected by the atmospheric pressure sensor 10c, and magnetic waveform data indicating the detection value detected by the magnetic sensor 10d from the device terminal D1 via the network 20. The acquisition unit 31 also acquires atmospheric pressure data indicating the detection value detected by the atmospheric pressure sensors 10' and 10c" built into the device terminals D2 and D2' via the network 20 from the device terminals D2 and D2'. The acquisition unit 31 also acquires position data in the horizontal plane of the UWB communication device 10e built into the device terminal D1, measured by the UWB communication device 10e' built into the device terminal D3, from the device terminal D3.

[0036] The estimation unit 32 performs various estimations based on the data acquired by the acquisition unit 31. For example, the estimation unit 32 estimates the operating or non-operating state of the vibrator V, the insertion state of the vibrator V into the concrete G during operation, and the compaction time based on the characteristics of each data from each sensor acquired by the acquisition unit 31. The estimation unit 32 performs these estimations by the following mechanism.

[0037] (Estimation regarding the operating or non-operating state of the vibrator V) The waveform data detected by the acceleration sensor 10a is used to estimate the operating or non-operating state of the vibrator V. Since vibrations occur when the vibrator V is operating, the characteristics (e.g., the amplitude, period, regularity, etc.) of the waveform data detected by the acceleration sensor 10a differ between the operating state and the non-operating state of the vibrator V. Therefore, the estimation unit 32 specifies and stores in advance, through experiments or simulations, thresholds for the amplitude, period, and regularity of the waveform data that can distinguish between the operating state and the non-operating state of the vibrator V, and estimates the operating or non-operating state of the vibrator V based on the stored contents and the waveform data acquired by the acquisition unit 31.

[0038] Regarding the estimation of the operating or non-operating state of the vibrator V, a method using magnetic waveform data, which is waveform data detected by the magnetic sensor 10d, may be used in addition to the above, or may be performed separately from the above. When the vibrator V is operating, the motor is driven to rotate by magnetism, so the characteristics (e.g., amplitude and period of the waveform) of the magnetic waveform data indicating the magnetism generated from the vibrator V differ between the operating state and the non-operating state of the vibrator V. Therefore, the estimation unit 32 specifies and stores in advance, by experiment or simulation, threshold values ​​of the amplitude and period of the magnetic waveform data that can distinguish between the operating state and the non-operating state of the vibrator V, and estimates the operating or non-operating state of the vibrator V based on the stored contents and the magnetic waveform data acquired by the acquisition unit 31.

[0039] (Estimation as to whether or not the vibrator V is inserted into the concrete G) Fig. 6 is a diagram illustrating an example of a state in which the vibrator V is inserted into the concrete G. In particular, Fig. 6(a) shows a state in which the vibrator V is not inserted into the concrete G, Fig. 6(b) shows a state in which a part of the vibrator V is inserted into the concrete G, and Fig. 6(c) shows a state in which almost the entire vibrator V is inserted into the concrete G.

[0040] Here, Fig. 7 is a diagram illustrating waveform data detected by the acceleration sensor 10a. In particular, Fig. 7(a) shows waveform data in a state in which the vibrator V is not inserted into the concrete G in Fig. 6(a), Fig. 7(b) shows waveform data in a state in which a part of the vibrator V is inserted into the concrete G in Fig. 6(b), and Fig. 7(c) shows waveform data in a state in which almost the entire vibrator V is inserted into the concrete G in Fig. 6(c). Thus, the characteristics (amplitude and period) of the waveform data detected by the acceleration sensor 10a are different in each state. The estimation unit 32 specifies and stores the characteristics (range of amplitude and period) of the waveform data in each state in advance by experiments or simulations, and estimates the insertion state of the vibrator V into the concrete G based on the stored contents and the characteristics of the waveform data acquired by the acquisition unit 31. In addition, when performing the above estimation, the estimation unit 32 may input the waveform data acquired by the acquisition unit 31 into a learned algorithm obtained by machine learning using teacher data in which the waveform data is an explanatory variable and whether or not the vibrator V is inserted into the concrete G is an objective variable, to perform the estimation.

[0041] Regarding the estimation of whether the vibrator V is inserted into the concrete G, the following method may be used in addition to or separately from the above. The "Concrete Specifications, Construction Edition," which specifies the procedure for compacting concrete, states that the vibrator should be inserted vertically and slowly into the concrete. In other words, according to this standard, when the vibrator V is inserted into the concrete G by the worker for compaction, the longitudinal direction of the vibrator V is approximately parallel to the vertical direction, and when the vibrator V is not inserted into the concrete G, the longitudinal direction of the vibrator V forms a certain angle with the vertical direction. Therefore, the acquisition unit 31 acquires tilt angle data of the vibrator V with respect to a certain reference direction (for example, the vertical direction), and the estimation unit 32 estimates that the vibrator V is inserted into the concrete G if the angle between the longitudinal direction of the vibrator V and the vertical direction is less than a threshold based on the acquired tilt angle data, and estimates that the vibrator V is not inserted into the concrete G if the angle between the longitudinal direction of the vibrator V and the vertical direction is equal to or greater than the threshold. Note that the tilt angle data of the vibrator V with respect to a certain reference direction is obtained by integrating the rotational angular velocity data detected by the gyro sensor 10b, but it is preferable to use both the waveform data detected by the acceleration sensor 10a and the rotational angular velocity data detected by the gyro sensor 10b to calculate the attitude angle more accurately. In addition, if the device terminal D1 is equipped with a geomagnetic sensor, the geomagnetic data detected by the geomagnetic sensor may be used in combination.

[0042] (Estimation of the position of the vibrator V in the horizontal plane) As described above, the position of the vibrator V in the horizontal plane is estimated using position data measured by communication between the UWB communication devices 10e and 10e'. That is, the acquisition unit 31 acquires the position data of the UWB communication device 10 of the device terminal D1 attached to the vibrator V from the device terminal D3, and the estimation unit 32 estimates the position of the vibrator V in the horizontal plane using the history of the acquired position data. At this time, it is preferable that the estimation unit 32 corrects the position data in accordance with the nearby interaction standard in UWB.

[0043] (Estimation of the vertical position of the vibrator V) The air pressure data detected by the air pressure sensors 10c, 10c', and 10c" is used to estimate the vertical position of the vibrator V. In this case, the air pressure at the top of the formwork K provided in the area where the concrete G is poured (i.e., the value measured by the air pressure sensor 10c' of the device terminal D2) and the air pressure at the bottom of the poured concrete G (i.e., the value measured by the air pressure sensor 10c" of the device terminal D2') are used as reference values. Specifically, the air pressure difference per unit length during pouring is calculated from the distance between the top of the formwork K and the bottom of the concrete G and the difference in air pressure at the top of the formwork K and the bottom of the concrete G. Furthermore, the distance from the top of the formwork K or the bottom of the concrete G to the position of the vibrator V is calculated from the difference between the air pressure at the top of the formwork K or the bottom of the concrete G and the air pressure at the position of the vibrator V, taking into account the linear relationship between the vertical distance and air pressure. In other words, the acquisition unit 31 acquires air pressure data at the position of the vibrator V, and the estimation unit 32 estimates the vertical position of the vibrator V using the air pressure data acquired by the acquisition unit 31 and a reference value of the air pressure at the time of pouring at the top end of the formwork K provided in the area where the concrete G is poured and at the bottom surface of the poured concrete G.

[0044] (Estimation of compaction time at each position in concrete G) Furthermore, the estimation unit 32 estimates the compaction time at each position in the concrete G based on the operating or non-operating state of the vibrator V as described above, whether the vibrator V is inserted into the concrete G, and the vertical and horizontal positions of the vibrator V. In other words, the estimation unit 32 estimates the time that the vibrator V is operating and inserted into the concrete G at each position in the vertical and horizontal directions of the vibrator V as the compaction time at that position.

[0045] The output unit 33 outputs the result estimated by the estimation unit 32. Possible methods of outputting the result include outputting and displaying the result on another mobile terminal or smartphone carried by the worker, or on a specified personal computer, outputting and storing the result in a specified storage device, or outputting and printing the result on a printer.

[0046] [Operation] Next, the operation of this embodiment will be described. In FIG. 8, the acquisition unit 31 acquires various data from outside the compaction state estimation device 30 during a period during which compaction work is performed at a concrete pouring site (step S11). Specifically, the acquisition unit 31 acquires, from the device terminal D1, waveform data indicating the detection value detected by the acceleration sensor 10a, angular velocity data indicating the detection value detected by the gyro sensor 10b, atmospheric pressure data indicating the detection value detected by the atmospheric pressure sensor 10c, and magnetic waveform data indicating the detection value detected by the magnetic sensor 10d. The acquisition unit 31 also acquires, from the device terminals D2 and D2', atmospheric pressure data indicating the detection values ​​detected by the atmospheric pressure sensors 10c' and 10c'', respectively. The acquisition unit 31 also acquires, from the device terminal D3, position data in the horizontal plane of the UWB communication device 10e built into the device terminal D1, measured by the UWB communication device 10e' built into the device terminal D3.

[0047] The estimation unit 32 performs various estimations based on the data acquired by the acquisition unit 31 (step S12). Specifically, the estimation unit 32 performs estimation regarding the operating or non-operating state of the vibrator V, estimation regarding whether the vibrator V is inserted into the concrete G, estimation regarding the position of the vibrator V in the horizontal plane, estimation regarding the position of the vibrator V in the vertical direction, and estimation regarding the compaction time at each position in the concrete G.

[0048] The output unit 33 outputs the result of the estimation by the estimation unit 32 (step S13).

[0049] According to the above-described embodiment, it is possible to estimate, with a relatively simple configuration, the operating or non-operating state of the vibrator, the insertion state of the vibrator into the concrete when in operation, and the compaction time.

[0050] [Variations] The above-described embodiment may be modified as follows.

[0051] [Variation 1] In the above-mentioned embodiment, the operating or non-operating state of the vibrator V is estimated using the waveform data indicating the acceleration of the vibrator V acquired by the acquisition unit 31 and / or the magnetic waveform data detected by the magnetic sensor 10d. Instead of or in addition to this, the waveform data indicating the rotational angular velocity of the vibrator V measured by the gyro sensor 10b may be used. Specifically, when the vibrator V is operating, the motor is driven to rotate by magnetism, so that the characteristics (e.g., the amplitude and period of the waveform) of the magnetic waveform data indicating the magnetic field generated from the vibrator V differ between the operating state and the non-operating state of the vibrator V. Therefore, the estimation unit 32 specifies and stores in advance, by experiment or simulation, the threshold values ​​of the amplitude and period of the magnetic waveform data that can distinguish the operating state and the non-operating state of the vibrator V, and estimates the operating or non-operating state of the vibrator V based on the stored contents and the magnetic waveform data acquired by the acquisition unit 31. In other words, the estimation may be performed by acquiring waveform data indicating at least one of the waveform data indicating the acceleration or the rotational angular velocity of the vibrator V.

[0052] [Variation 2] 9 is a diagram illustrating an example of a state in which the vibrator V is inserted into the concrete G. In FIG. 9, a position P1 closest to the formwork K, a position P2 next closest to the formwork K, and a position P3 farthest from the formwork K are illustrated. At each of the positions P1, P2, and P3, the characteristics (amplitude and period) of the waveform data detected by the acceleration sensor 10a or the gyro sensor 10b during operation of the vibrator V are different. Therefore, the estimation unit 32 may specify and store in advance by experiment or simulation a threshold value that differs according to the planar distance to the formwork K in the amplitude or period of the waveform data at the planar distance to the formwork K, and may estimate whether the planar distance between the vibrator V inserted into the concrete and the formwork K is within a predetermined planar distance using the stored contents and the waveform data acquired by the acquisition unit 31. In this case, the estimation unit 32 may input the same waveform data as the training data of the vibrator V acquired during concrete pouring into a learned algorithm obtained by performing machine learning using training data in which waveform data of the acceleration or rotational angular velocity of the vibrator V in the concrete G acquired when it is estimated that the vibrator V is inserted into the concrete G is used as an explanatory variable, and the planar distance from the vibrator V to the formwork K is used as the objective variable, and estimate whether the planar distance from the vibrator V to the formwork K is within a predetermined planar distance.

[0053] [Variation 3] The present invention may also be implemented as a compaction state estimation method including an acquisition step of acquiring waveform data indicating at least one of acceleration or rotational angular velocity during vibration of a compaction device that compacts poured concrete, an estimation step of estimating an operating or non-operating state of the compaction device and an insertion state of the compaction device relative to the concrete during operation based on characteristics of the acquired waveform data, and an output step of outputting the estimated result. The present invention may also be implemented as a program for causing a computer to function as an acquisition unit that acquires waveform data indicating at least one of acceleration or rotational angular velocity during vibration of a compaction device that compacts poured concrete, an estimation unit that estimates an operating or non-operating state of the compaction device and an insertion state of the compaction device relative to the concrete during operation based on characteristics of the acquired waveform data, and an output unit that outputs the estimated result. [Explanation of symbols]

[0054] 1: Compaction management system, 10a: Acceleration sensor, 10b: Gyro sensor, 10c, 10c', 10c": Barometric pressure sensor, 10d: Magnetic sensor, 10e, 10e': UWB communication device, 101: Processor, 102: Memory, 103: Storage, 104: Communication device, 105: Sensor group, 106: UI device, 20: Network, 30: Compaction state estimation device, 3001: Processor, 3002: Memory, 3003: Storage, 3004: Communication device, 3005: Input device, 3006: Output device, 31: Acquisition unit, 32: Estimation unit, 33: Output unit, R: Compaction device, V: Vibrator, C: Code, D1, D2, D2', D3: Device terminal.

Claims

1. An acquisition unit that acquires waveform data indicating at least one of an acceleration or a rotational angular velocity of a vibrator that compacts the poured concrete; an estimation unit that estimates an operating or non-operating state of the vibrator and an insertion state of the vibrator into the concrete when the vibrator is operating based on characteristics of the acquired waveform data; An output section that outputs the estimated results; A compaction state estimation device comprising:

2. The estimation unit estimates whether or not the planar distance between the vibrator inserted in the concrete and the formwork is within a predetermined planar distance by using a threshold value that varies depending on the planar distance to a formwork provided in an area where the concrete is poured, in the amplitude or period of the waveform data acquired when it is estimated that the vibrator is inserted in the concrete. The compaction state estimating device according to claim 1.

3. The acquisition unit acquires tilt angle data of the vibrator with respect to a reference direction, The estimation unit estimates whether the vibrator is inserted into the concrete based on the acquired tilt angle data. The compaction state estimating device according to claim 1.

4. The acquisition unit acquires magnetic waveform data indicating magnetism of the vibrator, The estimation unit estimates an operating or non-operating state of the vibrator based on the acquired waveform data and the magnetic waveform data. The compaction state estimating device according to claim 1 .

5. The acquisition unit acquires air pressure data at a position of the vibrator, The estimation unit estimates the vertical position of the vibrator using reference values ​​of air pressure at the top end of a formwork provided in an area where the concrete is poured and at the bottom surface of the poured concrete, and the acquired air pressure data. The compaction state estimating device according to claim 2 or 3.

6. The acquisition unit acquires position data measured by communication with a short-range communication device attached to the vibrator, The estimation unit estimates a position of the vibrator in a horizontal plane using a history of the acquired position data. The compaction state estimating device according to claim 5.

7. The position data is corrected according to the standard for nearby interaction in UWB (Ultra-Wide Band). The compaction state estimating device according to claim 6.

8. The estimation unit is an operating or non-operating state of the vibrator; Whether the vibrator is inserted into the concrete; and the position of the vibrator in the vertical and horizontal planes; Based on the above, the compaction time at each position in the concrete is estimated. The compaction state estimating device according to claim 7.

9. The estimation unit performs the estimation by inputting the waveform data to a trained algorithm obtained by performing machine learning using teacher data in which the waveform data is an explanatory variable and whether or not the vibrator is inserted into the concrete is an objective variable. The compaction state estimating device according to claim 1.

10. The estimation unit inputs the waveform data of the vibrator in the concrete to a trained algorithm obtained by performing machine learning using teacher data in which the waveform data of the vibrator in the concrete is an explanatory variable and the planar distance between the vibrator and a formwork provided in an area where the concrete is poured is an objective variable, and estimates whether the planar distance between the vibrator and the formwork is within a predetermined planar distance. The compaction state estimating device according to claim 1 .

11. An acquisition step of acquiring waveform data indicating at least one of an acceleration or a rotational angular velocity during vibration of a vibrator that compacts poured concrete; an estimation step of estimating an operating or non-operating state of the vibrator and an insertion state of the vibrator into the concrete when the vibrator is operating based on characteristics of the acquired waveform data; An output step that outputs the estimated results; A method for estimating a compaction state comprising:

12. Computer, An acquisition unit that acquires waveform data indicating at least one of an acceleration and a rotational angular velocity during vibration of a vibrator that compacts poured concrete; an estimation unit that estimates an operating or non-operating state of the vibrator and an insertion state of the vibrator into the concrete when the vibrator is operating based on characteristics of the acquired waveform data; An output section that outputs the estimated results; A program to make it function as such.

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