Pouring state detection device, pouring state detection method, and pouring state detection program

Abstract

To provide a driving state detection device capable of accurately detecting the driving state of a driving object area.SOLUTION: A placing state detection device 20 for detecting a placing state of a cement kneaded body in a placing object area 30 includes an acquisition part for acquiring three dimensional point group data of the placing object area from an output of a distance measuring sensor 10 installed above the placing object area, and an acquisition part for acquiring, for divided areas obtained by dividing the placing object area into a plurality of areas in a planar manner: A calculator that obtains a height of each of the divided areas from two or more data points included in each of the divided areas among a plurality of data points constituting the point cloud data, and a detector that detects a deposition status of each of the divided areas at a specific time point based on a height obtained from data points of the point cloud data for the deposition target area before the start of the deposition and a height obtained from data points of the point cloud data for the deposition target area at the specific time point after the start of the deposition.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a pouring status detection device, a pouring status detection method, and a pouring status detection program. [Background technology]

[0002] Reducing the amount of unused concrete (remaining concrete and returned concrete) disposed of at construction sites is important not only for cost reduction but also from the perspective of reducing the environmental impact.

[0003] In this regard, the following Patent Documents 1 to 3 disclose technologies for detecting the pouring status of a cement mixture within a planned pouring area. The technologies in Patent Documents 1 to 3 detect the pouring status of the cement mixture by comparing virtual points set within the planned pouring area with measurement points actually measured by a depth camera. The technologies in Patent Documents 1 to 3 make it possible to estimate the amount of additional cement mixture required until pouring is complete, thereby reducing remaining concrete and returned concrete. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-117114 [Patent Document 2] Japanese Patent Application Publication No. 2023-117121 [Patent Document 3] Japanese Patent Application Publication No. 2023-117178 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above technology detects the pouring status of each virtual point using one piece of data (one pixel of data) from the depth camera, and is therefore susceptible to measurement errors from the depth camera.

[0006] Therefore, there is a need to develop technology that is less susceptible to measurement errors from depth cameras and can more accurately detect the pouring status of cement mixes.

[0007] The present invention has been made in consideration of the above-mentioned problems. Therefore, an object of the present invention is to provide a concrete pouring status detection device, a concrete pouring status detection method, and a concrete pouring status detection program that can accurately detect the concrete pouring status of a concrete pouring target area. [Means for solving the problem]

[0008] The above object of the present invention can be achieved by the following means.

[0009] (1) A pouring status detection device that detects the pouring status of a cement mixture within a pouring target area, comprising: an acquisition unit that obtains three-dimensional point cloud data of the pouring target area from the output of a ranging sensor installed above the pouring target area; a calculation unit that calculates the height of each divided area obtained by dividing the pouring target area into multiple areas in a plane from two or more data points included in each of the multiple data points that make up the point cloud data; and a detection unit that detects the pouring status of each divided area at a specific time based on the height calculated from the data points of the point cloud data for the pouring target area before the start of pouring and the height calculated from the data points of the point cloud data for the pouring target area at a specific time after the start of pouring.

[0010] (2) A pouring status detection device as described in (1) above, further comprising a calculation unit that calculates the amount of cement mixture required to complete pouring into the pouring target area from the pouring status of each divided area detected by the detection unit.

[0011] (3) A pouring status detection device as described in (1) or (2) above, wherein the height of each divided area is calculated by averaging the vertical values ​​of the two or more data points included in the divided area.

[0012] (4) A pouring status detection device as described in (1) or (2) above, in which the divided area is obtained by dividing a horizontal plane corresponding to the pouring target area into a grid pattern.

[0013] (5) The pouring status detection device described in (1) or (2) above, wherein the detection unit classifies the pouring status of each divided area into one of the pouring statuses selected from the group consisting of “impossible to measure,” “not poured,” “already poured,” and “obscured.”

[0014] (6) A pouring status detection method for detecting the pouring status of a cement mixture within a pouring target area, comprising: step (a) of obtaining three-dimensional point cloud data of the pouring target area before the start of pouring from the output of a ranging sensor installed above the pouring target area; step (b) of calculating the height of each divided area obtained by dividing the pouring target area into a plurality of divided areas in a plane from two or more data points included in each divided area among the plurality of data points constituting the point cloud data obtained in step (a); step (c) of obtaining three-dimensional point cloud data of the pouring target area at a specific time point after the start of pouring from the output of the ranging sensor at the said specific time point; step (d) of calculating the height of each divided area from two or more data points included in each divided area among the plurality of data points constituting the point cloud data obtained in step (c); and step (e) of detecting the pouring status of each divided area at the said specific time point based on the height obtained in step (b) and the height obtained in step (d).

[0015] (7) A pouring status detection method as described in (6) above, further comprising a step (f) of calculating the amount of cement mixture required to complete pouring into the pouring target area from the pouring status of each divided area detected in step (e).

[0016] (8) A pouring status detection program for detecting the pouring status of a cement mixture within a pouring target area, the pouring status detection program causing a computer to execute the following steps: (a) obtaining three-dimensional point cloud data of the pouring target area before the start of pouring from the output of a ranging sensor installed above the pouring target area; (b) calculating the height of each divided area obtained by dividing the pouring target area into a plurality of divided areas in a plane from two or more data points included in each divided area among the multiple data points that constitute the point cloud data obtained in (a); (c) obtaining three-dimensional point cloud data of the pouring target area at a specific time point after the start of pouring from the output of the ranging sensor at the specific time point; (d) calculating the height of each divided area from two or more data points included in each divided area among the multiple data points that constitute the point cloud data obtained in (c); and (e) detecting the pouring status of each divided area at the specific time point based on the height obtained in (b) and the height obtained in (d).

[0017] (9) A pouring status detection program as described in (8) above, which further causes the computer to execute step (f) of calculating the amount of cement mixture required to complete pouring into the pouring target area from the pouring status of each divided area detected in step (e). [Effects of the Invention]

[0018] According to the present invention, the height of each divided area is calculated based on two or more data points contained in the divided area, which reduces the effect of measurement errors of the distance measuring sensor and enables accurate detection of the concrete pouring status for each divided area. As a result, the concrete pouring status of the concrete pouring target area can be detected accurately. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing the general configuration of a pouring status detection system. [Figure 2] FIG. 2 is a block diagram showing the general configuration of a pouring status detection device. [Figure 3] A diagram showing the contents stored in the memory unit of the pouring status detection device. [Figure 4] FIG. 1 is a conceptual diagram for explaining a grid. [Figure 5] 10 is a flowchart showing a procedure for a reference height measurement process. [Figure 6] 10A and 10B are diagrams for explaining a process of extracting effective control point group data. [Figure 7] FIG. 10 is a diagram illustrating a grid. [Figure 8] FIG. 10 is a diagram for explaining a cell number. [Figure 9] 10 is a flowchart showing the steps of the pouring status detection process. [Figure 10A] FIG. 10 is a diagram for explaining the reference height of a cell. [Figure 10B] FIG. 10 is a diagram illustrating the height of the cell during casting. [Figure 11] 10A and 10B are diagrams for explaining a modified example of the process for calculating the amount of concrete. [Figure 12] A figure showing an example of a display screen displayed on the display unit of the pouring status detection device. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the dimensional proportions in the drawings may be exaggerated for the sake of explanation and may differ from the actual proportions.

[0021] 1 is a diagram showing a schematic configuration of a pouring status detection system 1 to which a pouring status detection device according to one embodiment of the present invention is applied. The following describes an example in which the pouring status detection system 1 detects the pouring status of concrete (cement mixture) in a pouring target area with a shallow pouring depth, such as a dirt floor or slab.

[0022] 1, the concrete pouring status detection system 1 includes a distance measurement sensor 10 and a concrete pouring status detection device 20. The distance measurement sensor 10 is installed above a concrete pouring target area 30, and the concrete pouring status detection device 20 is electrically connected to the distance measurement sensor 10.

[0023] 1, a coordinate system (world coordinate system) is set with the vertical direction as the Z axis and the X axis and Y axis perpendicular to each other in a horizontal plane perpendicular to the Z axis. In the world coordinate system, the vertical downward direction is set as the +Z direction, and the direction from left to right as viewed from the distance measuring sensor 10 side is set as the +X direction. The direction from the pouring target area 30 toward the distance measuring sensor 10 is set as the +Y direction.

[0024] <Distance sensor 10> The distance measurement sensor 10 is a depth camera capable of measuring the distance to an object. The distance measurement sensor 10 is positioned in front of and above the concrete pouring target area 30. The distance measurement sensor 10 is installed at a predetermined height facing diagonally downward so that the entire concrete pouring target area 30 fits within the angle of view (measurement range). The distance measurement sensor 10 measures the distance to the concrete pouring target area 30 and generates three-dimensional point cloud data (depth data) of the concrete pouring target area 30.

[0025] The distance measuring sensor 10 has a sensor coordinate system with the depth direction (optical axis direction) as the z-axis and the x-axis and y-axis perpendicular to each other in a plane perpendicular to the z-axis. The point cloud data obtained by measuring the concrete pouring target area 30 with the distance measuring sensor 10 is converted into point cloud data in the world coordinate system by multiplying it by a rotation matrix that converts the sensor coordinate system into the world coordinate system.

[0026] The attitude information of the ranging sensor 10 required for calculating the rotation matrix may be measured using a level, or may be inversely calculated by having the ranging sensor 10 measure a reference marker. Alternatively, the attitude information may be calculated by having the ranging sensor 10 measure a flat surface such as a floor and then fitting a plane to point cloud data of the flat surface. If the ranging sensor 10 has a built-in acceleration sensor, the attitude information may be calculated from the output of the acceleration sensor.

[0027] <Pouring status detection device 20> 2 is a block diagram showing a schematic configuration of the concrete pouring status detection device 20. The concrete pouring status detection device 20 is a so-called PC (Personal Computer).

[0028] As shown in FIG. 2, the pouring status detection device 20 includes a control unit 21, a memory unit 22, a communication unit 23, a display unit 24, and an input unit 25, which are interconnected by a bus.

[0029] The control unit 21 is configured with a CPU (Central Processing Unit) and memories such as RAM (Random Access Memory) and ROM (Read Only Memory), and controls the above-mentioned units and performs various arithmetic processing according to a program.

[0030] The storage unit 22 is configured by a hard disk drive (HDD) or a solid state drive (SSD), and stores various programs and various data.

[0031] The communication unit 23 is an interface for communicating with other devices, and may be a wired or wireless communication interface conforming to various standards. The communication unit 23 receives the output signal of the distance measuring sensor 10.

[0032] The display unit 24 is, for example, a liquid crystal display, and displays various information.

[0033] The input unit 25 includes a keyboard, a numeric keypad, a mouse, etc., and receives input of various instructions and information.

[0034] FIG. 3 is a diagram showing the contents stored in the memory unit 22 of the pouring status detection device 20. As shown in FIG.

[0035] As shown in FIG. 3, the memory unit 22 of the pouring status detection device 20 stores programs corresponding to an acquisition unit 41, a calculation unit 42, a detection unit 43, and a calculation unit 44. The acquisition unit 41 obtains 3D point cloud data of the pouring target area 30 from the output of the distance measurement sensor 10. The calculation unit 42 calculates the height of each cell 50 (see FIG. 4), which is a divided area obtained by dividing the pouring target area 30, from two or more data points contained in each cell 50. The detection unit 43 detects the pouring status of each cell 50 at a specific time based on the height of each cell 50 before the start of pouring and the height of each cell 50 at a specific time after the start of pouring. The calculation unit 44 calculates the amount of concrete required to complete pouring into the pouring target area 30 from the pouring status of each cell 50. The functions of each of the above units are fulfilled by the control unit 21 executing the corresponding program.

[0036] The pouring status detection device 20 may include components other than those described above, or may not include some of the components described above.

[0037] In the concrete pouring status detection system 1 configured as described above, the pouring status detection device 20 detects the pouring status of the concrete pouring target area 30 at a specific time point after the start of pouring, and calculates the amount of concrete required to complete pouring into the concrete pouring target area 30. More specifically, as shown in FIG. 4 , a lattice-shaped grid 50A composed of a plurality of cells 50 is set for the concrete pouring target area 30, and the heights of each cell 50 before and after the start of pouring are determined from 3D point cloud data of the concrete pouring target area 30 obtained by the distance measurement sensor 10. Then, the pouring status of each cell 50 at a specific time point after the start of pouring is detected based on the heights of each cell 50 before and after the start of pouring, and the amount of concrete required to complete pouring into the concrete pouring target area 30 is calculated from the pouring status of each cell 50. The operation of the pouring status detection device 20 will be described in detail below with reference to FIGS. 5 to 10.

[0038] First, referring to Figure 5, we will explain the operation of the pouring status detection device 20, which sets a grid 50A consisting of multiple cells 50 in the pouring target area 30 and determines the height (reference height) of each cell 50 before pouring begins.

[0039] 5 is a flowchart showing the procedure of the reference height measurement process executed by the concrete pouring status detection device 20. The process shown in the flowchart of FIG. 5 is executed by the control unit 21 in accordance with a program stored in the memory unit 22 of the concrete pouring status detection device 20.

[0040] (Step S101) First, the control unit 21 acquires three-dimensional point cloud data of the pouring target area 30. More specifically, the control unit 21 acquires three-dimensional point cloud data in a sensor coordinate system obtained by measuring the pouring target area 30 using the distance measurement sensor 10 before the start of pouring. Then, the control unit 21 performs a matrix operation on the three-dimensional point cloud data in the sensor coordinate system to acquire three-dimensional point cloud data in a world coordinate system. Note that the technology for converting the sensor coordinate system to the world coordinate system is well known, and therefore a detailed description thereof will be omitted.

[0041] (Step S102) Subsequently, the control unit 21 extracts valid control point cloud data. More specifically, the control unit 21 deletes unnecessary data points from the multiple data points constituting the three-dimensional point cloud data acquired in the processing of step S101, and extracts valid control point cloud data.

[0042] In this embodiment, the control unit 21 deletes from the three-dimensional point cloud data any data point whose Z coordinate value is significantly different from the Z coordinate value of the bottom surface 30a (see FIG. 6) of the concrete pouring target area 30. For example, the control unit 21 deletes from the three-dimensional point cloud data any data point whose Z coordinate value "p_z" does not satisfy the following equations (1a) and (1b):

[0043]

number

[0044] Here, "sensor_z" indicates the Z coordinate value of the distance measurement sensor 10, and "depth" indicates the pouring depth of the concrete pouring area 30 (see FIG. 6). "sensor_h" indicates the distance from the distance measurement sensor 10 to the bottom surface 30a of the concrete pouring area 30, and "error_h" indicates the allowable error. The allowable error "error_h" is set to a value of, for example, about 0.2 m, taking into account the general size and position of obstacles 35 such as steel frames that may affect the measurement. With this configuration, as shown in FIG. 6, data point P1 that is blocked by obstacles 35 such as steel frames is deleted from the multiple data points P that make up the 3D point cloud data.

[0045] Unlike this embodiment, the control unit 21 may fit a plane to the three-dimensional point cloud data of the pouring target area 30 to detect the bottom surface 30a of the pouring target area 30, and delete data points located outside the bottom surface 30a of the pouring target area 30.

[0046] (Step S103) Next, the control unit 21 determines the starting point of the grid 50A. More specifically, the control unit 21 determines the X coordinate value "grid_x" and the Y coordinate value "grid_y" (see FIG. 7) of the starting point of the grid 50A set for the pouring target area 30.

[0047] In this embodiment, the control unit 21 first recognizes the minimum and maximum X coordinate values ​​"min_px" and "max_px," and the minimum and maximum Y coordinate values ​​"min_px" and "max_py," respectively, from the X and Y coordinate values ​​of all data points that make up the valid reference point cloud data. Then, the control unit 21 sets the X coordinate value "grid_x" and the Y coordinate value "grid_y" of the starting point to values ​​that satisfy the following equations (2a) and (2b).

[0048]

number

[0049] Note that, since the minimum X coordinate value "min_px" and the minimum Y coordinate value "min_py" usually have odd values ​​(for example, -0.315 m), the control unit 21 sets the X coordinate value "grid_x" and the Y coordinate value "grid_y" of the starting point to round values ​​(for example, -0.4 m).

[0050] (Step S104) Next, the control unit 21 determines the number of cells 50 that constitute the grid 50A. More specifically, the control unit 21 determines the number of cells 50 that constitute the grid 50A based on preset cell lengths "cell_length_x" and "cell_length_y" (see FIG. 7).

[0051] In this embodiment, the control unit 21 determines the number of cells in the X-axis direction "cell_count_x" and the number of cells in the Y-axis direction "cell_count_y" to be the smallest natural numbers that satisfy the following equations (3a) and (3b).

[0052]

number

[0053] Here, "cell_length_x" indicates the length of the cell in the X-axis direction, and "cell_length_y" indicates the length of the cell in the Y-axis direction. As mentioned above, "max_px" indicates the maximum X-coordinate value of all data points that make up the valid control point cloud data, and "max_py" indicates the maximum Y-coordinate value of all data points that make up the valid control point cloud data.

[0054] The cell lengths "cell_length_x" and "cell_length_y" are set to values ​​between 0.2 and 0.5 m, for example, resulting in a cell count of 400 or more. Note that the smaller the values ​​of the cell lengths "cell_length_x" and "cell_length_y", the better the resolution, but the greater the susceptibility to measurement errors of the distance measuring sensor 10.

[0055] As described above, according to the processing shown in steps S101 to S104 of Fig. 5, a grid 50A consisting of a plurality of cells 50 is set in the concrete pouring target area 30, as shown in Fig. 7. Each of the plurality of cells 50 is assigned a cell number (i, j) as identification information. The cell 50 with cell number (i, j) indicates the i-th cell 50 counting from the negative direction of the X axis and the j-th cell 50 counting from the negative direction of the Y axis, as shown in Fig. 8.

[0056] (Step S105) Next, the control unit 21 selects one cell 50. More specifically, the control unit 21 selects one cell 50 from among the plurality of cells 50 that form the grid 50A.

[0057] (Step S106) Next, the control unit 21 determines whether or not there are a predetermined number of data points or more in the cell 50. More specifically, the control unit 21 determines whether or not there are a predetermined number of data points or more in one cell 50 selected in the processing of step S105. The predetermined number is an integer of 2 or more, and is set appropriately based on the number of data points constituting the three-dimensional point cloud data, the target accuracy, etc.

[0058] In this embodiment, the control unit 21 recognizes a data point whose coordinate values ​​(x, y, z) satisfy the following formulas (4a) to (4d) as a data point included in the cell 50 with the cell number (i, j).

[0059]

number

[0060] It should be noted that for a data point located on the boundary between two adjacent cells 50, the control unit 21 determines that the data point is included in the cell 50 with the smaller cell number.

[0061] If it is determined that there are a predetermined number of data points or more in the cell 50 (step S106: YES), the control unit 21 proceeds to the processing of step S108. On the other hand, if it is determined that there are not a predetermined number of data points or more in the cell 50 (step S106: NO), the control unit 21 proceeds to the processing of step S107.

[0062] (Step S107) When it is determined that there are not a predetermined number of data points or more in the cell 50 (step S106: NO), the control unit 21 determines that the "reference height" of the cell 50 is "unmeasurable." More specifically, the control unit 21 determines that the "reference height" of one cell 50 selected in the processing of step S105 is "unmeasurable."

[0063] (Step S108) On the other hand, when it is determined that there are a predetermined number or more of data points in the cell 50 (step S106: YES), the control unit 21 calculates the "reference height" of the cell 50. More specifically, for one cell 50 selected in the processing of step S105, the control unit 21 calculates the "reference height" of the cell 50 by averaging the Z coordinate values ​​of all data points included in the cell 50.

[0064] (Step S109) Next, the control unit 21 determines whether or not the evaluation has been completed for all the cells 50. More specifically, the control unit 21 determines whether or not the processing from step S105 onwards has been completed for all the cells 50 that make up the grid 50A.

[0065] If it is determined that the evaluation of all the cells 50 has not been completed (step S109: NO), the control unit 21 returns to the process of step S105. Then, the processes of steps S105 to S109 are repeated until it is determined that the evaluation of all the cells 50 has been completed.

[0066] On the other hand, if it is determined that the evaluation of all the cells 50 has been completed (step S109: YES), the control unit 21 ends the process.

[0067] As described above, according to the processing shown in steps S105 to S109 of Fig. 5, for each of the multiple cells 50 constituting the grid 50A, the "reference height" of the cell 50 is calculated from a predetermined number or more of data points contained in each cell 50. Note that for a cell 50 that does not contain a predetermined number or more of data points, the "reference height" is determined to be "unmeasurable." The value of the "reference height" and information indicating that the "reference height" is "unmeasurable" are stored in the RAM of the control unit 21 in association with the cell number.

[0068] Next, with reference to FIG. 9, the operation of the concrete pouring status detection device 20 that detects the concrete pouring status of each cell 50 by determining the height of each cell 50 after the start of concrete pouring (height during concrete pouring) will be described.

[0069] Fig. 9 is a flowchart showing the procedure of the concrete pouring status detection process. The process shown in the flowchart of Fig. 9 is executed by the control unit 21 in accordance with a program stored in the memory unit 22 of the concrete pouring status detection device 20. The concrete pouring status detection process is executed, for example, at a specific time point after the start of concrete pouring.

[0070] (Step S201) First, the control unit 21 acquires three-dimensional point cloud data of the concrete pouring target area 30. More specifically, the control unit 21 acquires three-dimensional point cloud data in a sensor coordinate system obtained by measuring the concrete pouring target area 30 during pouring using the distance measurement sensor 10. Then, the control unit 21 performs a matrix operation on the point cloud data in the sensor coordinate system to acquire three-dimensional point cloud data in a world coordinate system.

[0071] (Step S202) Next, the control unit 21 extracts effective pouring point cloud data. More specifically, the control unit 21 deletes unnecessary data points from the multiple data points constituting the three-dimensional point cloud data acquired in the processing of step S201, and extracts effective pouring point cloud data.

[0072] The process of step S202 is the same as the process of step S102 in Fig. 5, and therefore detailed description thereof will be omitted. In addition, in this embodiment, the control unit 21 also deletes data points whose XY coordinate values ​​are located outside the grid 50A.

[0073] (Step S203) Next, the control unit 21 selects one cell 50. More specifically, the control unit 21 selects one cell 50 from among the plurality of cells 50 that form the grid 50A.

[0074] (Step S204) Next, the control unit 21 determines whether the "reference height" of the cell 50 is "unmeasurable." More specifically, the control unit 21 determines whether the one cell 50 selected in the process of step S203 is the cell 50 whose "reference height" is determined to be "unmeasurable" in the process of step S107 in FIG. 5.

[0075] If the control unit 21 determines that the "reference height" of the cell 50 is not "unmeasurable" (step S204: NO), the control unit 21 proceeds to the process of step S206. On the other hand, if the control unit 21 determines that the "reference height" of the cell 50 is "unmeasurable" (step S204: YES), the control unit 21 proceeds to the process of step S205.

[0076] (Step S205) When it is determined that the "reference height" of cell 50 is "unmeasurable" (step S204: YES), the control unit 21 determines the pouring status of cell 50 to be "unmeasurable" and proceeds to processing of step S212. More specifically, the control unit 21 determines the pouring status of one cell 50 selected in the processing of step S203 to be "unmeasurable" and proceeds to processing of step S212. The pouring status "unmeasurable" means that the pouring status of cell 50 cannot be detected.

[0077] (Step S206) On the other hand, when it is determined that the "reference height" of the cell 50 is not "unmeasurable" (step S204: NO), the control unit 21 determines whether or not there are a predetermined number of data points or more in the cell 50. More specifically, the control unit 21 determines whether or not there are a predetermined number of data points or more in one cell 50 selected in the processing of step S203.

[0078] If it is determined that there are a predetermined number of data points or more in the cell 50 (step S206: YES), the control unit 21 proceeds to the processing of step S208. On the other hand, if it is determined that there are not a predetermined number of data points or more in the cell 50 (step S206: NO), the control unit 21 proceeds to the processing of step S207.

[0079] (Step S207) If it is determined that there are not a predetermined number of data points or more in the cell 50 (step S206: NO), the control unit 21 determines the pouring status of the cell 50 to be "obstructed" and proceeds to the processing of step S212. More specifically, the control unit 21 determines the pouring status of one cell 50 selected in the processing of step S203 to be "obstructed" and proceeds to the processing of step S212. The pouring status "obstructed" means that an obstructing object such as a worker or a concrete pump is temporarily present in the pouring target area 30, and the pouring status of the cell 50 is temporarily undetectable.

[0080] (Step S208) On the other hand, when it is determined that there are a predetermined number or more data points in the cell 50 (step S206: YES), the control unit 21 calculates the "height during pouring" of the cell 50. More specifically, for one cell 50 selected in the processing of step S203, the control unit 21 calculates the "height during pouring" of the cell 50 by averaging the Z coordinate values ​​of all data points included in the cell 50.

[0081] (Step S209) Next, the control unit 21 determines whether the "height during pouring" is equal to or greater than the sum of the "reference height" and a threshold value. More specifically, the control unit 21 determines whether the "height during pouring" calculated in the process of step S208 is equal to or greater than the sum of the "reference height" calculated in the process of step S108 of Fig. 5 and a predetermined threshold value.

[0082] Here, the threshold "threshold_depth" is set to a value (depth / 3 to depth / 2) that is one-third to one-half of the pouring depth "depth" of the pouring target area 30. With this configuration, pouring of concrete can be detected even if the distance measuring sensor 10 has an error of a few percent. If the distance measuring sensor 10 has no error, the difference between the "height during pouring" and the "reference height" will be equal to the pouring depth "depth".

[0083] If the control unit 21 determines that the "height during pouring" is equal to or greater than the sum of the "reference height" and the threshold value (step S209: YES), the control unit 21 proceeds to the processing of step S211. On the other hand, if the control unit 21 determines that the "height during pouring" is less than the sum of the "reference height" and the threshold value (step S209: NO), the control unit 21 proceeds to the processing of step S210.

[0084] (Step S210) If it is determined that the "height during pouring" is less than the sum of the "reference height" and the threshold value (step S209: NO), the control unit 21 determines the pouring status of the cell 50 to be "unpoured" and proceeds to the processing of step S212. More specifically, the control unit 21 determines the pouring status of one cell 50 selected in the processing of step S203 to be "unpoured" and proceeds to the processing of step S212. The pouring status "unpoured" means that concrete has not been poured into the cell 50.

[0085] (Step S211) On the other hand, if it is determined that the "height during pouring" is equal to or greater than the sum of the "reference height" and the threshold value (step S209: YES), the control unit 21 determines the pouring status of the cell 50 to be "pouring completed" and proceeds to the processing of step S212. More specifically, the control unit 21 determines the pouring status of one cell 50 selected in the processing of step S203 to be "pouring completed" and proceeds to the processing of step S212. The pouring status "pouring completed" means that pouring of concrete into the cell 50 has been completed.

[0086] (Step S212) Then, the control unit 21 determines whether or not the evaluation has been completed for all the cells 50. More specifically, the control unit 21 determines whether or not the processing from step S203 onwards has been completed for all the cells 50 that make up the grid 50A.

[0087] If it is determined that the evaluation of all the cells 50 has not been completed (step S212: NO), the control unit 21 returns to the process of step S203. Then, the processes of steps S203 to S212 are repeated until it is determined that the evaluation of all the cells 50 has been completed.

[0088] On the other hand, if it is determined that the evaluation of all the cells 50 has been completed (step S212: YES), the control unit 21 proceeds to the process of step S213.

[0089] (Step S213) When it is determined that the evaluation of all the cells 50 has been completed (step S212: YES), the control unit 21 calculates the amount of concrete required and ends the process. More specifically, the control unit 21 calculates the amount of concrete required to complete pouring into the pouring target area 30 based on the pouring status of all the cells 50, and ends the process.

[0090] In this embodiment, the control unit 21 first calculates the amount of concrete "v_cell" required to cast one cell 50 according to the following formula (5).

[0091]

number

[0092] In addition, the control unit 21 calculates the number of cells in which concrete is estimated not to have been poured, "unplaced_cell_count", as the sum of the number of cells in the pouring status "unplaced" and the number of cells in the pouring status "shielded".

[0093] Then, the control unit 21 calculates the amount of concrete required to complete pouring into the pouring target area 30, "v_total," by multiplying the amount of concrete required to pour one cell 50, "v_cell," by the number of cells in which concrete is estimated not to have been poured, "unplaced_cell_count," as shown in the following equation (6), and terminates the processing.

[0094]

number

[0095] 9, the height of each cell 50 at a specific time point (height during pouring) is determined from the output of the distance measurement sensor 10 at the specific time point after pouring begins. Then, the pouring status of each cell 50 is detected from the height of the cell 50 before pouring begins (reference height) and the height of the cell 50 after pouring begins (height during pouring), and the amount of concrete required to complete pouring into the pouring target area 30 is calculated from the pouring status of each cell 50.

[0096] Hereinafter, the pouring situation detection process of this embodiment will be described in more detail with reference to FIGS. 10A and 10B.

[0097] Figure 10A is a diagram for explaining the height (reference height) of cell 50 before pouring begins, and Figure 10B is a diagram for explaining the height (height during pouring) of cell 50 at a specific point in time after pouring begins.

[0098] In the concrete pouring status detection process of this embodiment, as shown in Fig. 10A, before the process starts, three-dimensional point cloud data of the concrete pouring target area 30 before the start of pouring is acquired, and the "reference height" of the cell 50 is calculated from the Z coordinate values ​​of two or more data points P included in each cell 50. Then, as shown in Fig. 10B, three-dimensional point cloud data of the concrete pouring target area 30 at a specific time point after the start of pouring is acquired, and the "height during pouring" of the cell 50 is calculated from the Z coordinate values ​​of two or more data points P included in each cell 50.

[0099] Then, the "reference height" and "height during pouring" of each cell 50 are compared, and the cells 50 whose "height during pouring" is higher than the "reference height" (the two cells 50 on the right side of Figure 10B) are determined to be in a pouring state of "already poured." Also, the cells 50 whose "reference height" and "height during pouring" are the same (the two cells 50 on the left side of Figure 10B) are determined to be in a pouring state of "not poured."

[0100] According to this configuration, the height of the cell 50 is calculated based on the Z coordinate values ​​of two or more data points P included in the cell 50, which reduces the effect of measurement errors of the distance measuring sensor 10 and enables accurate detection of the concrete pouring status of the cell 50. As a result, the concrete pouring status of the concrete pouring target area 30 can be accurately detected.

[0101] In addition, according to the pouring status detection process of this embodiment, the pouring status of cell 50 is set to "obstructed," so that it can also handle cases where a worker temporarily enters the pouring target area 30 while pouring concrete in the pouring target area 30, or where a concrete pump used for pouring temporarily blocks the measurement area of ​​the distance measuring sensor 10.

[0102] (Variation) A modification of this embodiment will now be described.

[0103] <Variation 1> In the above-described embodiment, when calculating the amount of concrete required until the completion of pouring in the process of step S213 in Fig. 9, the sum of the number of cells in the pouring status "not poured" and the number of cells in the pouring status "obstructed" is calculated from the viewpoint of overestimating the amount of concrete, and the amount of concrete required is calculated based on this sum. However, the process of calculating the amount of concrete required is not limited to the above-described embodiment.

[0104] In this modified example, for cells 50 other than those with a pouring status of "impossible to measure," a "degree to which it is estimated that concrete has not been poured" (probability) is set. More specifically, for cells 50 with a pouring status of "not poured," "probability" = 1 is set, and for cells 50 with a pouring status of "already poured," "probability" = 0 is set. Then, for cells 50 with a pouring status of "obscured," a decimal value is calculated according to the pouring status of the other adjacent cells 50.

[0105] Fig. 11 is a diagram illustrating a modified example of the process for calculating the required amount of concrete. In Fig. 11, of nine cells 50 arranged in a 3x3 matrix, the casting status of the central cell 50 to be evaluated is determined to be "obstructed." Of the eight cells 50 surrounding the cell 50 to be evaluated, the casting status of two cells 50 is determined to be "cast" and the casting status of three cells 50 is determined to be "not cast" or "obstructed."

[0106] In this case, of the eight cells 50, the six cells 50 whose pouring status is "not poured" or "shielded" are considered to be cells that have not been poured or cells that may not have been poured. Therefore, for the central cell 50 to be evaluated, 6 / 8 = 0.75 is calculated as the "degree to which it is estimated that concrete has not been poured" (probability).

[0107] The amount of concrete required to complete pouring is calculated using the following formula (7).

[0108]

number

[0109] Here, "Σ (probability)" indicates the sum of the "degree to which it is estimated that concrete has not been poured" for all cells 50.

[0110] <Variation 2> In the above-described embodiment, the concrete pouring status detection process shown in Fig. 9 is executed only once at a specific time point after the start of concrete pouring. However, the concrete pouring status detection process may be executed repeatedly at a predetermined time interval T (for example, every one minute).

[0111] In this case, in the process of calculating the required amount of concrete, for cells with a pouring status of "shielded," cells are determined to be those in which concrete is not poured, based on the assumption that the pouring status immediately before the shielding is maintained. Specifically, for example, cells with a pouring status of "not poured" and cells in the pouring status of "shielded" and whose pouring status before the shielding was "not poured" are determined to be those in which concrete is not poured.

[0112] Alternatively, taking into account that the pouring status of "Poured" will never revert to "Not poured," a cell that has never been determined to have a pouring status of "Poured" in any previous pouring status detection process may be determined to be a cell in which concrete is estimated not to have been poured.

[0113] <Other variations> In the above-described embodiment, a depth camera is used as the distance measurement sensor 10. However, the distance measurement sensor is not limited to a depth camera, and may be a rotary laser distance sensor or a three-dimensional laser scanner. When a three-dimensional laser scanner is used as the distance measurement sensor 10, the three-dimensional laser scanner can acquire data in the entire sphere, but since the area to be poured is not located above the sensor, for example, data points whose Z coordinate value in the world coordinate system is smaller than the Z coordinate value of the distance measurement sensor may be deleted from the three-dimensional point cloud data.

[0114] In the above-described embodiment, the concrete pouring area 30 is divided into a plurality of rectangular cells 50. However, the shape of the cells 50 is not limited to a rectangular shape, and may be, for example, a parallelogram or a hexagon.

[0115] Furthermore, in the above-described embodiment, the height of cell 50 is calculated when there are a predetermined number of data points or more within cell 50. However, the condition for calculating the height of cell 50 is not limited to simply having a predetermined number of data points or more within the cell. For example, the cell 50 may be further divided into a plurality of small regions, and the height of cell 50 may be calculated when there are data points in all of the small regions.

[0116] In the above-described embodiment, an example has been described in which the distance measurement sensor 10 is installed above the pouring target area 30 so that the entire pouring target area 30 fits within the angle of view of the distance measurement sensor 10. However, the entire pouring target area 30 does not necessarily need to fit within the angle of view of the distance measurement sensor 10. Considering that the required amount of concrete becomes particularly important at the end of pouring, the distance measurement sensor 10 may be installed so that the area to be poured at the end of the pouring plan is selectively included within the angle of view. In practice, the distance measurement sensor 10 is installed relative to the pouring target area 30 so that the number of cells 50 is 400 or more.

[0117] Furthermore, in the above-described embodiment, the average value of the Z coordinate values ​​of all data points included in cell 50 is calculated as the height of cell 50. However, for example, of all data points included in cell 50, excluding 10% of the data points with the highest Z coordinate values ​​and 10% of the data points with the lowest Z coordinate values, the average value of the Z coordinate values ​​of the remaining 80% of the data points may be calculated as the height of cell 50. Alternatively, a Z coordinate value that is greater than the Z coordinate value of 30% of the data points may be found, and this Z coordinate value may be used as the height of cell 50. With this configuration, the height of cell 50 can be appropriately calculated even when many data points are located above the bottom of the poured concrete, such as when the rebar density is high.

[0118] In the above-described embodiment, the pouring depth is constant throughout the entire pouring target area 30. However, the pouring depth of the pouring target area 30 is not necessarily constant, and in reality, even for floor concrete, the pouring depth may vary depending on the location due to differences in the bottom surface, etc. In this case, for example, the values ​​of parameters such as the pouring depth "depth" and the concrete volume "v_cell" are changed depending on the position of the cell 50.

[0119] In the above-described embodiment, the concrete pouring target area 30 has been described as an example of an area with a shallow pouring depth, such as a dirt floor or a slab (an area with a pouring depth of approximately 0.05 m to 0.3 m). However, the concrete pouring target area is not limited to an area with a shallow pouring depth, and may be an area with a deep pouring depth (an area with a pouring depth of more than 0.3 m). In this case, for example, a plurality of thresholds "threshold_depth" used to determine the pouring status of each cell 50 are set. Then, three or more pouring statuses, such as "not poured," "concrete poured," and "more than 50% poured," are set as pouring statuses other than "obstructed" and "impossible to measure," and the pouring status of each cell 50 is detected.

[0120] In the above-described embodiment, an example has been described in which the distance measuring sensor 10 measures the distance to the concrete pouring area 30 while being fixed above the concrete pouring area 30. However, the distance measuring sensor 10 does not necessarily have to be fixed above the concrete pouring area 30; for example, a photographer may measure the distance to the concrete pouring area 30 while holding the distance measuring sensor 10 in his / her hand. In this case, for example, a correction process is performed to correct a deviation between the position and attitude of the distance measuring sensor 10 at the time of measurement before concrete pouring starts and the position and attitude of the distance measuring sensor 10 at the time of measurement after concrete pouring starts.

[0121] <Visualization of pouring status> Finally, the process of visualizing the concrete pouring situation will be described with reference to FIG.

[0122] FIG. 12 is a diagram showing an example of a display screen 100 displayed on the display unit 24 of the pouring status detection device 20. As shown in FIG.

[0123] 12, the display screen 100 displays a captured image 110 of the concrete pouring target area 30 and a concrete pouring situation visualization image 120. The concrete pouring situation visualization image 120 includes images of a plurality of cells 50 arranged in a grid pattern, and the image of each cell 50 is assigned a color according to the concrete pouring situation. With this configuration, by referring to the display screen 100, it is possible to visually grasp the concrete pouring situation of the concrete pouring target area 30.

[0124] The color assigned to the image of cell 50 is not limited to a color corresponding to the pouring situation; for example, in the process of calculating the amount of concrete required, a specific color may be assigned to a cell 50 in which it is estimated that concrete has not been poured.

[0125] Figure 12 shows an image obtained by detecting the pouring status of a pouring target area with a pouring depth of 0.18 m using a depth camera (Intel RealSense D455) equipped with a depth sensor and an RGB sensor. The threshold value "threshold_depth" was set to 0.05 m, and the allowable error "error_h" was set to 0.2 m. The lengths of cell 50 in the X and Y directions were both set to 0.2 m, resulting in 44 cells for an X direction of 8.6 m and 33 cells for an Y direction of 6.4 m. The required amount of concrete is calculated as follows: (Number of cells with a pouring status of "not poured" + Number of cells with a pouring status of "obscured") x Amount of concrete per cell = (545 + 182) x (0.2 x 0.2 x 0.18) = 5.23 (m 3 ) was calculated.

[0126] The means and methods for performing various processes in the pouring status detection device 20 according to the above-described embodiment can be realized by either a dedicated hardware circuit or a programmed computer. The program may be provided by a computer-readable recording medium such as a USB (Universal Serial Bus) memory or a DVD (Digital Versatile Disc)-ROM, or may be provided online via a network such as the Internet. In this case, the program recorded on the computer-readable recording medium is typically transferred to and stored in a storage unit such as a hard disk drive. The program may also be provided as standalone application software, or may be incorporated into the software of the pouring status detection device 20 as a function of that device.

[0127] As described above, the pouring status detection device, pouring status detection method, and pouring status detection program of the present invention have been described in the embodiments and modifications. However, it goes without saying that those skilled in the art can appropriately add, modify, and omit the present invention within the scope of the technical concept thereof. [Explanation of symbols]

[0128] 1. Pouring status detection system, 10 ranging sensors, 20. Pouring status detection device, 21 control section, 22 Memory section, 23 Communications Department, 24 Display section, 25 input section, 30 Pouring target area, 50 cells, 100 display screens.

Claims

1. A pouring status detection device that detects the pouring status of a cement mixture in a pouring target area, An acquisition unit that obtains three-dimensional point cloud data of the concrete pouring target area from the output of a ranging sensor installed above the concrete pouring target area; A calculation unit that calculates the height of each divided area from two or more data points included in each divided area among the multiple data points that constitute the point cloud data for the divided areas obtained by dividing the pouring target area into multiple areas in a plane; A detection unit that detects the pouring status of each divided area at a specific time based on the height obtained from the data points of the point cloud data for the pouring target area before the start of pouring and the height obtained from the data points of the point cloud data for the pouring target area at a specific time after the start of pouring; A pouring status detection device having the same.

2. A pouring status detection device as described in claim 1, further comprising a calculation unit that calculates the amount of cement mixture required to complete pouring into the pouring target area from the pouring status of each divided area detected by the detection unit.

3. The pouring status detection device according to claim 1 or 2, wherein the height of each divided area is calculated by averaging the vertical values ​​of the two or more data points included in the divided area.

4. The pouring status detection device according to claim 1 or 2, wherein the divided areas are obtained by dividing a horizontal plane corresponding to the pouring target area into a grid.

5. The pouring status detection device described in claim 1 or 2, wherein the detection unit classifies the pouring status of each divided area into one pouring status selected from the group consisting of ``unmeasurable,'' ``unpouring,'' ``pouring,'' and ``obstructed.''

6. A pouring status detection method for detecting the pouring status of a cement mixture in a pouring target area, Step (a) of obtaining three-dimensional point cloud data of the concrete pouring target area before the start of pouring from the output of a ranging sensor installed above the concrete pouring target area; For the divided areas obtained by dividing the pouring target area into a plurality of planes, a step (b) of calculating the height of each divided area from two or more data points included in each divided area among the plurality of data points constituting the point cloud data obtained in the step (a); Step (c) of obtaining three-dimensional point cloud data of the concrete pouring target area at a specific time from the output of the ranging sensor at the specific time after the start of pouring; a step (d) of calculating a height of each of the divided regions from two or more data points included in each of the divided regions among the plurality of data points constituting the point cloud data obtained in the step (c); Step (e) of detecting the pouring status of each divided area at the specific time based on the height obtained in step (b) and the height obtained in step (d); A pouring status detection method having the above.

7. A pouring status detection method as described in claim 6, further comprising a step (f) of calculating the amount of cement mixture required to complete pouring into the pouring target area from the pouring status of each divided area detected in step (e).

8. A pouring status detection program for detecting the pouring status of a cement mixture in a pouring target area, Step (a) of obtaining three-dimensional point cloud data of the concrete pouring target area before the start of pouring from the output of a ranging sensor installed above the concrete pouring target area; For the divided areas obtained by dividing the pouring target area into a plurality of planes, a step (b) of calculating the height of each divided area from two or more data points included in each divided area among the plurality of data points constituting the point cloud data obtained in the step (a); Step (c) of obtaining three-dimensional point cloud data of the concrete pouring target area at a specific time from the output of the ranging sensor at the specific time after the start of pouring; a step (d) of calculating a height of each of the divided regions from two or more data points included in each of the divided regions among a plurality of data points constituting the point cloud data obtained in the step (c); (e) detecting the pouring status of each divided area at the specific time based on the height obtained in the step (b) and the height obtained in the step (d); A pouring status detection program that causes a computer to execute the following.

9. The pouring status detection program of claim 8 further causes the computer to execute step (f) of calculating the amount of cement mixture required to complete pouring into the pouring target area from the pouring status of each divided area detected in step (e).

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