Object position determination system and object position determination program

Abstract

To provide an object position determination system and an object position determination program capable of specifying position information of an object even when a scaffold or the like interferes.SOLUTION: An object position determination system includes position acquisition means for acquiring position information indicating a position of an object on a parallel surface parallel to a form surface of concrete by using a position sensor, filling acquisition means for acquiring filling information indicating a filling situation of the concrete by using a filling sensor, and output means for outputting form information indicating the filling situation of the concrete with respect to a position of the form surface of the concrete on the basis of the position information acquired by the position acquisition means and the filling information acquired by the filling acquisition means. The position acquisition unit acquires the position information including a position of the filling sensor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an object position determination system and an object position determination program. [Background technology]

[0002] Traditionally, during concrete pouring, managing the concrete filling and compaction status has been important to prevent the occurrence of poorly filled areas such as beanbags. While internal vibrators are commonly used for concrete compaction, compaction work is also performed on the formwork surface in parallel. This involves applying vibrations by pressing an external vibrator against the formwork surface, thereby uniformly compacting the concrete poured into the formwork. Because vibrations are applied through the formwork during this compaction work, it is difficult to observe the concrete's flow and compaction status. Therefore, workers rely on the sound of the formwork vibration to determine whether the concrete has been placed and whether vibrations have been applied to the concrete for the specified period, and the work is performed based on their own sensory criteria. The primary objective of this work is to remove air bubbles and voids from the surface rather than to fill the concrete. Furthermore, to assess the quality of the concrete placement, it is common to tap the formwork from the outside with a hammer or other tool to monitor the concrete's filling status. However, because accurate detection of air bubbles and cavities depends largely on the skill of the worker, detection results vary depending on the worker. Furthermore, the noise generated by the vibrator during concrete pouring is quite loud, and using sound to determine whether the concrete has been filled reduces detection accuracy.

[0003] For this reason, Patent Document 1, for example, discloses a method using a non-destructive inspection technique other than sound to grasp the filling status of concrete behind the formwork.

[0004] Patent Document 1 discloses a method for detecting the filling status of concrete when pouring concrete inside a formwork, by detecting the difference in temperature between the concrete being poured and the temperature at a position where no concrete is present from outside the formwork using an infrared camera. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 11-183415 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the technology disclosed in Patent Document 1 does not anticipate using a sensor to separately measure the measurement position of the filling status measurement point and display the measurement results together. This is due to the poor environment for identifying the sensor's position, which is caused by the presence of scaffolding materials, formwork push-pull materials, etc., during typical formwork compaction work. For example, 3D scanners and UWB (Ultra Wide Band) are effective for grasping the measurement point in three dimensions, but the scaffolding and push-pull materials obstruct the view from a single perspective, necessitating the placement of multiple measuring devices in a larger area than the open space. This requires the laborious installation of equipment and excessive costs and specifications for information integration processing. Another possible method is to recognize the filling evaluation measuring device using surveying equipment such as an automatic tracking infrared laser or laser, but if the position information is interrupted by the scaffolding and push-pull materials, re-identification work is required, reducing work efficiency. Furthermore, self-position recognition using a two-dimensional barcode and a camera is conceivable, but in this case the two-dimensional barcode needs to be placed at a suitable location on the formwork surface and recognized by the camera, which poses problems such as reduced work efficiency due to the need to ensure the camera's viewing distance and recognition measurement.

[0007] Therefore, the present invention has been devised in consideration of the above-mentioned problems, and its purpose is to provide an object position determination system and an object position determination program that are capable of identifying the position information of an object even when scaffolding or the like interferes. [Means for solving the problem]

[0008] The object position determination system according to the first aspect of the present invention is characterized by including a position acquisition means that uses a position sensor to acquire position information indicating the position of an object on a parallel plane that is parallel to the concrete formwork surface.

[0009] The object position determination system of the second invention is characterized in that, in the first invention, it further comprises a filling acquisition means that uses a filling sensor to acquire filling information indicating the filling status of the concrete, and the position acquisition means acquires the position information including the position of the filling sensor.

[0010] The object position determination system of the third invention is characterized in that, in the second invention, it further comprises an output means for outputting formwork information indicating the filling status of the concrete relative to the position of the formwork surface of the concrete, based on the position information acquired by the position acquisition means and the filling information acquired by the filling acquisition means.

[0011] The object position determination system according to the fourth invention is characterized in that, in the second invention, the position acquisition means acquires point cloud information indicating the distance from the position of the position sensor to the object on the parallel plane, and acquires the position information based on the acquired point cloud information.

[0012] The object position determination system of the fifth invention is characterized in that, in the fourth invention, the position acquisition means acquires the position information based on prior point cloud information, which is point cloud information acquired in advance, and sensor point cloud information including a point cloud indicating the distance from the position of the position sensor to the filling sensor.

[0013] The object position determination system according to the sixth invention is characterized in that, in the second invention, the filling acquisition means acquires the filling information using the filling sensor that measures the electrostatic capacitance of the concrete.

[0014] The object position determination program according to the seventh aspect of the present invention is characterized in that it causes a computer to execute a position acquisition step of using a position sensor to acquire position information indicating the position of an object on a parallel plane parallel to the concrete formwork surface. [Effects of the Invention]

[0015] According to the first to seventh inventions, position information is acquired using a position sensor. This allows the position sensor to detect a plane parallel to the concrete formwork surface and acquire the position information of the object. Therefore, even if scaffolding or the like interferes, it is possible to identify the position information of the object.

[0016] In particular, according to the second aspect of the present invention, position information indicating the position of the filling sensor is acquired, which makes it possible to acquire position information of the filling sensor that detects the filling status of concrete.

[0017] In particular, according to the third aspect of the present invention, formwork information is output based on position information and filling information, which makes it possible to grasp the filling status for each position on the concrete, and to take appropriate measures for each position.

[0018] In particular, according to the fourth aspect of the present invention, position information is acquired based on point cloud information. This makes it possible to acquire the position information of the filling sensor from point cloud information that indicates the planar shape of the filling sensor, for example. Therefore, even when scaffolding or the like interferes, it is possible to identify the position information of the filling sensor with higher accuracy.

[0019] In particular, according to the fifth aspect of the present invention, position information is acquired based on the preliminary point cloud information and the sensor point cloud information. This allows point cloud information of obstacles such as scaffolding on a plane to be acquired as the preliminary point cloud information, and a point cloud representing the filling sensor to be extracted from the difference between the preliminary point cloud information and the sensor point cloud information. Therefore, even when scaffolding or the like interferes, it becomes possible to identify the position information of the filling sensor with higher accuracy.

[0020] In particular, according to the sixth aspect of the present invention, filling information is acquired using a filling sensor that measures the capacitance of the concrete. This makes it possible to calculate the concrete filling status from the capacitance of the concrete. Therefore, it is possible to acquire concrete filling information non-destructively. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of an object position determination system according to this embodiment. [Figure 2] FIG. 2 is a top view showing the object position determination system according to this embodiment. [Figure 3] FIG. 3 is a schematic diagram showing the surface of a concrete form in this embodiment. [Figure 4] Fig. 4(a) is a block diagram showing an example of the configuration of a determination device according to this embodiment, and Fig. 4(b) is a block diagram showing an example of the functions of the determination device according to this embodiment. [Figure 5] FIG. 5 is a flowchart showing the operation of the object position determination system in this embodiment. [Figure 6] FIG. 6 is a schematic diagram showing an example of point cloud information in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, an object position determination system to which the present invention is applied will be described in detail with reference to the drawings.

[0023] FIG. 1 is a schematic diagram showing the overall configuration of an object position determination system 100 to which the present invention is applied. FIG. 2 is a top view showing the object position determination system 100 according to this embodiment. In FIG. 1, the horizontal direction of a formwork surface 5a of the concrete 4 is defined as the horizontal direction x, the direction perpendicular to the formwork surface 5a of the concrete 4 is defined as the orthogonal direction y, and the direction perpendicular to the horizontal direction x and the orthogonal direction y is defined as the height direction z. The object position determination system 100 acquires position information indicating the position of an object on a parallel plane A parallel to the formwork surface 5a of the formwork 5 for the concrete 4. The object position determination system 100 includes a position sensor 2 that detects an object on the parallel plane A parallel to the formwork surface 5a of the formwork 5 for the concrete 4, a filling sensor 3 that detects filling information indicating the filling status of the concrete 4, and a determination device 1 connected to the position sensor 2 and the filling sensor 3. 2, the object position determination system 100 may include a plurality of position sensors 2a, 2b that respectively detect objects on parallel planes A and B that are parallel to a formwork surface 5a of a formwork 5 for concrete 4. In such a case, the parallel planes A and B may be different planes.

[0024] The concrete 4 is concrete that is surrounded by and filled with formwork 5. The concrete 4 may be, for example, a bridge, an overpass, a building, or a part of any of these. As shown in FIG. 3, the concrete 4 may have steel pipes 51 provided on the formwork surface 5a of the formwork 5. Furthermore, the concrete 4 may have obstacles such as crosspieces, scaffolding, or push-pull materials (not shown) provided near the formwork surface 5a of the formwork 5.

[0025] The position sensor 2 is, for example, a laser sensor such as an RGB-D sensor that detects an object on a parallel plane A parallel to the formwork surface 5a of the formwork 5 for the concrete 4. However, this is not limited to this, and any sensor capable of detecting the distance and angle to the object or the coordinates of the object may be used. Multiple position sensors 2 may be provided. For example, multiple position sensors 2 may be provided at different positions in the height direction z or the perpendicular direction y, at both ends of the formwork surface 5a for the concrete 4. This allows any one of the position sensors 2 to detect the object without being affected by obstacles such as crosspieces, scaffolding, or push-pull materials (not shown) installed near the formwork surface 5a of the formwork 5. The installation positions of the position sensors 2 may be preset. The position sensors 2 may also be connected to the determination device 1 via a wireless communication network such as the Internet (not shown).

[0026] The filling sensor 3 is a sensor capable of detecting the filling status of the concrete 4. The filling sensor 3 may be any sensor capable of non-destructive testing, such as a high-frequency capacitance sensor. A high-frequency capacitance sensor applies an AC voltage to a location where the sensor is pressed and detects changes in capacitance in the high-frequency range. Because the water content varies depending on the filling status of the formwork surface 5 of the concrete 4, the change in capacitance also varies depending on the filling status. Therefore, the high-frequency capacitance sensor enables non-destructive testing of the filling status of the formwork surface 5 of the concrete 4. The filling sensor 3 is an object whose position information is detected by the position sensor 2. The filling sensor 3 includes a detection unit 31 that detects the filling status of the concrete 4 and a jig 32 attached to the detection unit 31 and extending in one direction. The jig 32 intersects with the parallel plane A when the detection unit 31 detects the filling status of the concrete 4. The cross section of the jig 32 on the parallel plane A may be circular, rectangular, pentagonal, or other shapes. The jig 32 is formed so that the cross section on the parallel plane A has a different shape from the cross sections on the parallel plane A of the steel pipe 51 and obstacles such as crosspieces, scaffolding materials, and push-pull materials.

[0027] The determination device 1 is configured with an electronic device such as a PC (personal computer), a smartphone, a tablet terminal, a wearable terminal, etc. The determination device 1 performs various processes based on information output from the position sensor 2 and the filling sensor 3.

[0028] 4(a), the determination device 1 includes a housing 10, a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a storage unit 104, and I / Fs 105 to 107. The CPU 101, ROM 102, RAM 103, storage unit 104, and I / Fs 105 to 107 are connected by an internal bus 110.

[0029] The CPU 101 controls the entire determination device 1. The ROM 102 stores operation code for the CPU 101. The RAM 103 is a working area used when the CPU 101 is operating. The storage unit 104 stores various information. The storage unit 104 may be, for example, a data storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), an SD card, or a miniSD card. Note that the determination device 1 may also have a GPU (Graphics Processing Unit), not shown, for example.

[0030] The I / F 105 is an interface for transmitting and receiving various types of information to and from the position sensor 2, the filling sensor 3, etc. The I / F 106 is an interface for transmitting and receiving information to and from the input unit 108. For example, a keyboard is used as the input unit 108, and a user or the like who uses the determination device 1 inputs various types of information or control commands for the determination device 1 via the input unit 108. The I / F 107 is an interface for transmitting and receiving various types of information to and from the display unit 109. The display unit 109 outputs various types of information stored in the storage unit 104, or the processing status of the determination device 1, etc. A display is used as the display unit 109, and may be, for example, a touch panel type.

[0031] Fig. 4(b) is a schematic diagram showing an example of the functions of the determination device 1. The determination device 1 includes an acquisition unit 11, a processing unit 12, a calculation unit 13, a storage unit 14, and an output unit 15. The acquisition unit 11, processing unit 12, calculation unit 13, storage unit 14, and output unit 15 shown in Fig. 4(b) are realized by the CPU 101 using the RAM 103 as a working area to execute a program stored in the storage unit 104 or the like, and may be controlled by, for example, artificial intelligence.

[0032] The acquisition unit 11 acquires various types of information. The acquisition unit 11 may acquire the various types of information from the position sensor 2 or the filling sensor 3. The frequency and cycle at which the acquisition unit 11 acquires the various types of information are arbitrary.

[0033] The processing unit 12 calculates the position information and the filling information based on the information acquired by the acquisition unit 11, for example.

[0034] The calculation unit 13 calculates formwork information indicating the filling status of the concrete 4 relative to the position of the formwork surface 5a of the concrete 4, based on the position information and filling information acquired by the acquisition unit 11, for example.

[0035] The memory unit 14 retrieves, as necessary, various pieces of information stored in the storage unit 104. The memory unit 14 stores, in the storage unit 104, various pieces of information acquired or output by the acquisition unit 11, the processing unit 12, and the calculation unit 13.

[0036] The output unit 15 outputs various types of information and transmits the various types of information to the display unit 109 via the I / F 107.

[0037] The operation of the object position determination system 100 configured as described above will be described with reference to Fig. 5. The detailed processing at each step in Fig. 5 will be described below.

[0038] First, in step S11, the acquisition unit 11 acquires prior point cloud information. As shown in FIG. 6, the prior point cloud information is point cloud information acquired in advance, and is point cloud information that does not include a point cloud 6 that indicates an object such as the filling sensor 3. The point cloud information is information made up of a point cloud 6 that indicates the distance from the position sensor 2 to the object. For example, the point cloud information is information on a point cloud 6 that indicates the distance from the position sensor 2 to an object on a parallel plane A that is parallel to the form surface 5a of the formwork 5 for the concrete 4. The point cloud information may be information that indicates the coordinates of an object on a plane or in space, for example, as shown in FIG. 6.

[0039] In step S11, as preprocessing for acquiring position information of an object using the object position determination system 100, the acquisition unit 11 acquires preliminary point cloud information using the position sensor 2a in a state in which the object is not included in the parallel plane A. As a result, the preliminary point cloud information does not include a point cloud 6 indicating an object such as the filling sensor 3, but includes a point cloud 6 of an obstacle other than the object such as the steel pipe 51. Also, in step S11, the acquisition unit 11 may acquire preliminary point cloud information of the parallel plane B using the position sensor 2b, as in the case of the parallel plane A.

[0040] Next, in step S12, the acquisition unit 11 acquires filling information. The filling information is information indicating the filling status of the concrete 4. The filling information may be, for example, information indicating the filling rate of the concrete 4. The filling information may be, for example, information indicating air bubbles contained in the concrete 4. In step S12, the acquisition unit 11 may acquire filling information detected by the filling sensor 3 and processed by the processing unit 12. In such a case, if a high-frequency capacitance sensor is used as the filling sensor 3, the acquisition unit 11 may acquire the calculated filling information by referring to the correspondence between the capacitance and the filling information based on information indicating the capacitance detected by the filling sensor. Also, in step S12, the acquisition unit 11 uses the filling sensor 3 to detect filling information over the entire form surface 5a of the concrete 4. Also, as shown in FIG. 3, the acquisition unit 11 may divide the parallel plane A into multiple parallel planes C and detect the filling status of each parallel plane C.

[0041] Next, in step S13, the acquisition unit 11 acquires sensor point cloud information. The sensor point cloud information is point cloud information including a point cloud 6 on a parallel plane including the filling sensor 3. In this case, for example, in step S12, the acquisition unit 11 may acquire point cloud information of the parallel plane A detected using the position sensor 2a while detecting filling information using the filling sensor 3 as the sensor point cloud information. The acquisition unit 11 may also acquire point cloud information of the parallel plane B detected using the position sensor 2b, similar to the parallel plane A, as the sensor point cloud information. In addition, in step S13, the acquisition unit 11 may acquire sensor point cloud information indicating a time change in the point cloud 6 on the parallel plane including the filling sensor 3.

[0042] Next, in step S14, the processing unit 12 calculates position information based on the prior point cloud information and the sensor point cloud information acquired in steps S11 and S13. In this case, the processing unit 12 calculates position information based on the difference between the point clouds 6 indicated by the sensor point cloud information and the prior point cloud information. The processing unit 12 extracts the point cloud 6 indicating the object, such as the filling sensor 3, by, for example, subtracting the point cloud 6 indicated by the prior point cloud information from the point cloud 6 indicated by the sensor point cloud information. The processing unit 12 calculates position information of the object based on the extracted point cloud 6. The processing unit 12 may also calculate position information based on the shape 61 of the point cloud 6 obtained by subtracting the point cloud 6 indicated by the prior point cloud information from the point cloud 6 indicated by the sensor point cloud information. In this case, the shape 61 of the point cloud 6 is based on the cross-sectional shape of the jig 32 of the filling sensor 3 on the parallel plane A. For this reason, the shape 61 of the point cloud 6 is set in advance, and if the shape 61 of the point cloud 6 obtained by subtracting the point cloud 6 indicated by the preliminary point cloud information from the point cloud 6 indicated by the sensor point cloud information according to the cross-sectional shape of the jig 32 of the filling sensor 3 matches or is similar to the shape 61 of the point cloud 6 set in advance, this point cloud 6 is determined to be the point cloud 6 of the object, thereby making it possible to automatically extract the point cloud 6 of the filling sensor 3. The shapes 61 of the point clouds 6 may be treated as similar shapes 61 even if they have the same shape but different sizes.

[0043] In step S14, the processing unit 12 may acquire position information indicating a change in the position of the object over time. In this case, among the point clouds included in the sensor point cloud information, the point cloud 6 whose position changes over time may be determined to be the point cloud 6 of the object. In addition, the processing unit 12 may perform correction depending on the installation position of the position sensor 2.

[0044] Next, in step S15, the calculation unit 13 calculates formwork information indicating the filling status of the concrete 4 relative to the position of the formwork surface 5a of the concrete 4 based on the filling information and position information acquired in steps S12 and S14. The formwork information may be, for example, information indicating the filling status of each divided parallel surface C obtained by dividing the parallel surface A into a plurality of parallel surfaces C. The formwork information may also be information in which the coordinates of the formwork surface 5a are linked to the filling status. In step S15, the calculation unit 13 calculates formwork information indicating the filling status of each divided parallel surface C, for example, as shown in FIG. 3. In such a case, the formwork information may be calculated by linking the formwork information to the position information of the filling sensor 3 at the time the filling information was acquired in step S12.

[0045] Next, in step S16, the output unit 15 outputs the formwork information. The output unit 15 may display the formwork information to the user using, for example, AR (Augmented Reality) or VR (Virtual Reality), but is not limited to this and any other method may be used. The formwork information may also be presented to the user in real time.

[0046] By performing each of the above steps, the operation of the object position determination system 100 is completed. As a result, the position sensor 2 can detect a plane parallel to the formwork surface 5a of the concrete 4, and obtain the position information of the object. Therefore, even if scaffolding or the like interferes, it is possible to identify the position information of the object.

[0047] Although the embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the inventions and their equivalents as defined in the claims. [Explanation of symbols]

[0048] 1: Judgment device 2: Position sensor 3: Filling sensor 4: Concrete 5: Formwork 6: Point cloud 10: Housing 11: Acquisition part 12: Processing section 13: Calculation section 14: Storage section 15: Output section 31: Detection unit 32: Jig 51: Steel pipe 61 :Shape 100: Object position determination system 101: CPU 102:ROM 103:RAM 104: Preservation Department 105: Interface 106: Interface 107: Interface 108: Input section 109:Display section 110: Internal bus

Claims

1. The position acquisition means acquires position information indicating the position of an object on a plane parallel to the concrete formwork surface using a position sensor. An object position determination system characterized by:

2. Further, a filling acquisition means is provided for acquiring filling information indicating the filling status of the concrete using a filling sensor, The position acquisition means acquires the position information including the position of the filling sensor.

2. The object position determination system according to claim 1, wherein:

3. The system further includes an output unit that outputs formwork information indicating the filling status of the concrete relative to the position of the formwork surface of the concrete, based on the position information acquired by the position acquisition unit and the filling information acquired by the filling acquisition unit.

3. The object position determination system according to claim 2, wherein:

4. The position acquisition means acquires point cloud information indicating a distance from a position of the position sensor to the object on the parallel plane, and acquires the position information based on the acquired point cloud information.

3. The object position determination system according to claim 2, wherein:

5. The position acquisition means acquires the position information based on prior point cloud information, which is point cloud information acquired in advance, and sensor point cloud information including a point cloud indicating a distance from the position of the position sensor to the filling sensor.

5. The object position determination system according to claim 4, wherein:

6. The filling acquisition means acquires the filling information using the filling sensor that measures the capacitance of the concrete.

3. The object position determination system according to claim 2, wherein:

7. a position acquiring step of acquiring position information indicating the position of an object on a plane parallel to the concrete formwork surface using a position sensor by a computer; An object position determination program characterized by:

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