Material management system, method, and program

Abstract

To facilitate material control without operator's presence on the site regarding a material control technology for administering a residual amount of a material in a batcher plant, etc.SOLUTION: A material control system includes: rider sensors (residual amount sensors) 103 (#1, #2, #3) disposed respectively corresponding to aggregate bins 101 (#1, #2, #3) provided in a batcher plant 100 and capable of measuring a residual amount of aggregate stored in the respective aggregate bins; and a control computer 107 that notifies a terminal device such as a smartphone or a tablet terminal that is operated by a predetermined registered member, of the residual amount of aggregate in the aggregate bin measured using the rider sensor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a material management system, method, and program for managing remaining amounts of materials in a batcher plant or the like. [Background technology]

[0002] In a batcher plant, the fine and coarse aggregates that make up concrete are stored in aggregate bins at the bottom of the plant, then loaded onto a belt conveyor from an aggregate hopper at the top of the plant, and then passed through a weighing scale from the belt conveyor into a mixer where they are mixed with water, cement, fly ash, etc. Previously, aggregate was moved from the aggregate bin to the aggregate hopper by a worker using a clamshell bucket (grabbing device) suspended from an overhead crane operated by remote control to pick up the aggregate from the bin and drop it into the aggregate hopper. In addition, the replenishment of aggregates such as coarse aggregate and fine aggregate into the aggregate bin, and the replenishment of cement and fly ash into the silo were carried out by a person in charge who checked the remaining amounts and placed orders on a daily basis.

[0003] Conventionally, a technology has been proposed to facilitate the automatic operation of a crane apparatus, which includes a position information acquisition unit that acquires the position of a conveying unit relative to a predetermined reference position as position information in first and second directions that are perpendicular to each other, and a control unit that automatically operates the crane apparatus based on the acquired position information and a predetermined target position of the conveying unit (for example, Patent Document 1).

[0004] Furthermore, a technology has been proposed for a system for detecting the filling status of a container's contents, which includes a means for striking the wall of the container and a means for detecting the sound of the strike, making it possible to quickly and easily detect the filling status of the container's contents using a relatively simple system (for example, Patent Document 2). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-123464 [Patent Document 2] Japanese Patent Application Laid-Open No. 2001-221675 Summary of the Invention [Problem to be solved by the invention]

[0006] However, with conventional technology, even though it has become easier to automate crane operations and it has become possible to detect the filling status of containers such as cement silos and fly ash silos, manual work is still required. Also, it is not always possible for a person in charge of material replenishment to be stationed at the tunnel excavation site, and it has not always been possible to smoothly order materials such as aggregates for the batcher plant.

[0007] Furthermore, when it comes to material management, it is necessary to take into account the progress of construction work, predict the amount of materials to be used in the future, and then replenish materials accordingly. However, if this judgment is incorrect, there are problems such as ordering too much material and causing the aggregate bin to overflow, or incurring additional charges for having to take the materials back, or conversely, construction coming to a halt due to a lack of materials.

[0008] Therefore, an object of the present invention is to provide a material management system, method, and program that allows for easy material management. [Means for solving the problem]

[0009] A material management system according to a first aspect of the present invention comprises an aggregate bin remaining amount sensor that is installed in correspondence with an aggregate bin that stores aggregate in a batcher plant and is used to measure the amount of aggregate remaining in the aggregate bin, and a control computer that notifies a terminal device of a predetermined registered member of the amount of aggregate remaining in the aggregate bin measured using the aggregate bin remaining amount sensor. 、 The aggregate bin remaining amount sensor is an aggregate bin lidar sensor that is installed above the aggregate bin, measures scattered light in response to pulsed laser irradiation, and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate bin; The control computer calculates, as the remaining amount, the volume of the aggregate in the aggregate bin or a ratio of the volume to the aggregate capacity that the aggregate bin can store, based on the point cloud data acquired by the aggregate bin lidar sensor; A crane device that is installed within a batcher plant and is capable of moving and opening / closing a clamshell bucket to any three-dimensional coordinate position within a three-dimensional Cartesian coordinate system defined within the batcher plant; an aggregate hopper installed in the batcher plant for loading the aggregate onto a belt conveyor for transporting the aggregate; an aggregate hopper lidar sensor that is installed corresponding to the aggregate hopper as an aggregate hopper remaining amount sensor and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate hopper; Further provided with the aggregate hopper remaining amount sensor measures the remaining amount of the aggregate in the aggregate hopper; The control computer When it is determined based on the measurement of the aggregate hopper remaining amount sensor that the amount of aggregate remaining in the aggregate hopper is equal to or less than a threshold, the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate bin to pick up the aggregate stored in the aggregate bin, and then the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate hopper to drop the aggregate held by the clamshell bucket into the aggregate hopper; calculating a three-dimensional coordinate position where the height of the aggregate piled up is highest in the aggregate bin corresponding to the aggregate bin lidar sensor based on the point cloud data acquired by the aggregate bin lidar sensor; The picking up is performed at the three-dimensional coordinate position where the height is the highest, calculating a three-dimensional coordinate position where the height of the piled-up aggregates in the aggregate hopper corresponding to the aggregate hopper lidar sensor is the lowest based on the point cloud data acquired by the aggregate hopper lidar sensor; The dropping is performed at the three-dimensional coordinate position where the height is the lowest. .

[0013] Second Aspect In this material management system, when the control computer calculates that the amount of aggregate remaining in the aggregate hopper is equal to or less than a threshold value, if the aggregate is stored in a plurality of aggregate bins, it moves the clamshell bucket to one of the plurality of aggregate bins and performs the picking up operation until the amount of aggregate stored in that bin is equal to or less than a predetermined amount.

[0014] Third Aspect The material management system further comprises a plurality of remaining amount detection units installed at intervals in the vertical direction on the side of a silo storing materials to be mixed with the aggregate to manufacture concrete, each of which includes a hammering device that strikes the side wall of the silo where it is installed and a microphone that collects the hammering sounds of the hammering device, and the control computer detects the remaining amount of material in the silo based on changes in the hammering sounds collected by the microphone of each of the plurality of remaining amount detection units, and notifies the terminal device operated by the specified registered member of the detected remaining amount of material in the silo.

[0016] Fourth AspectIn this material management method, a control computer measures the amount of aggregate remaining in an aggregate bin using an aggregate bin remaining amount sensor installed in correspondence with an aggregate bin that stores aggregate in a batcher plant, and notifies a terminal device of a predetermined registered member of the amount of aggregate remaining in the aggregate bin measured using the aggregate bin remaining amount sensor. death, The aggregate bin remaining amount sensor is an aggregate bin lidar sensor that is installed above the aggregate bin, measures scattered light in response to pulsed laser irradiation, and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate bin; The control computer calculates, as the remaining amount, the volume of the aggregate in the aggregate bin or a ratio of the volume to the aggregate capacity that the aggregate bin can store, based on the point cloud data acquired by the aggregate bin lidar sensor; A crane device that is installed within a batcher plant and is capable of moving and opening / closing a clamshell bucket to any three-dimensional coordinate position within a three-dimensional Cartesian coordinate system defined within the batcher plant; an aggregate hopper installed in the batcher plant for loading the aggregate onto a belt conveyor for transporting the aggregate; an aggregate hopper lidar sensor that is installed corresponding to the aggregate hopper as an aggregate hopper remaining amount sensor and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate hopper; Further provided with the aggregate hopper remaining amount sensor measures the remaining amount of the aggregate in the aggregate hopper; The control computer When it is determined based on the measurement of the aggregate hopper remaining amount sensor that the amount of aggregate remaining in the aggregate hopper is equal to or less than a threshold, the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate bin to pick up the aggregate stored in the aggregate bin, and then the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate hopper to drop the aggregate held by the clamshell bucket into the aggregate hopper; calculating a three-dimensional coordinate position where the height of the aggregate piled up is highest in the aggregate bin corresponding to the aggregate bin lidar sensor based on the point cloud data acquired by the aggregate bin lidar sensor; The picking up is performed at the three-dimensional coordinate position where the height is the highest, calculating a three-dimensional coordinate position where the height of the piled-up aggregates in the aggregate hopper corresponding to the aggregate hopper lidar sensor is the lowest based on the point cloud data acquired by the aggregate hopper lidar sensor; The dropping is performed at the three-dimensional coordinate position where the height is the lowest. .

[0017] Fifth Aspect The material management program causes the control computer to measure the amount of aggregate material in the aggregate bin using an aggregate bin remaining amount sensor installed in correspondence with the aggregate bin that stores the aggregate in the batcher plant, and notifies the terminal device of a predetermined registered member of the amount of aggregate remaining in the aggregate bin measured using the aggregate bin remaining amount sensor. Let, The aggregate bin remaining amount sensor is an aggregate bin lidar sensor that is installed above the aggregate bin, measures scattered light in response to pulsed laser irradiation, and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate bin; The control computer calculates, as the remaining amount, the volume of the aggregate in the aggregate bin or a ratio of the volume to the aggregate capacity that the aggregate bin can store, based on the point cloud data acquired by the aggregate bin lidar sensor; A crane device that is installed within a batcher plant and is capable of moving and opening / closing a clamshell bucket to any three-dimensional coordinate position within a three-dimensional Cartesian coordinate system defined within the batcher plant; an aggregate hopper installed in the batcher plant for loading the aggregate onto a belt conveyor for transporting the aggregate; an aggregate hopper lidar sensor that is installed corresponding to the aggregate hopper as an aggregate hopper remaining amount sensor and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate hopper; Further provided with the aggregate hopper remaining amount sensor measures the remaining amount of the aggregate in the aggregate hopper; The control computer When it is determined based on the measurement of the aggregate hopper remaining amount sensor that the amount of aggregate remaining in the aggregate hopper is equal to or less than a threshold, the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate bin to pick up the aggregate stored in the aggregate bin, and then the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate hopper to drop the aggregate held by the clamshell bucket into the aggregate hopper; calculating a three-dimensional coordinate position where the height of the aggregate piled up is highest in the aggregate bin corresponding to the aggregate bin lidar sensor based on the point cloud data acquired by the aggregate bin lidar sensor; The picking up is performed at the three-dimensional coordinate position where the height is the highest, calculating a three-dimensional coordinate position where the height of the piled-up aggregates in the aggregate hopper corresponding to the aggregate hopper lidar sensor is the lowest based on the point cloud data acquired by the aggregate hopper lidar sensor; The dropping is performed at the three-dimensional coordinate position with the lowest height. . [Effects of the Invention]

[0018] According to the first aspect of the present invention, it becomes possible to easily manage materials.

[0019] According to the second aspect of the present invention, the remaining amount of aggregate in an aggregate bin or aggregate hopper can be calculated as the volume of aggregate in the aggregate bin or as a ratio of the volume to the aggregate capacity that the aggregate bin can store, making it possible to accurately measure the remaining amount of aggregate and notify registered users.

[0020] According to the third aspect of the present invention, there is no need to operate a crane device.

[0021] According to the fourth aspect of the present invention, it is possible to maximize the amount of aggregate that can be picked up at one time by the clamshell bucket. Also, when dropping aggregate from the clamshell bucket into the aggregate hopper, it is possible to prevent the aggregate from spilling out of the aggregate hopper and into the surrounding area.

[0022] According to the fifth aspect of the present invention, it becomes easier to replenish aggregate into the aggregate bin.

[0023] According to the sixth aspect of the present invention, it becomes possible to easily manage materials stored in silos.

[0024] According to the seventh aspect of the present invention, it becomes possible to easily perform material management in accordance with the progress of work on site.

[0025] According to the eighth aspect of the present invention, it is possible to provide a material management method that can achieve the same functions as the material management system of the first aspect.

[0026] According to the ninth aspect of the present invention, it is possible to provide a material management program that can realize the same functions as the material management system of the first aspect. [Brief explanation of the drawings]

[0027] [Figure 1] FIG. 1 is a plan view of a first embodiment. [Figure 2] 2 is a side view of the first embodiment as viewed in the direction A (Y-axis direction) of FIG. 1. FIG. [Figure 3] 2 is a side view of the first embodiment as viewed in the direction B (X-axis direction) of FIG. 1. FIG. [Figure 4] FIG. 2 is a diagram showing an example of display of point cloud data of each aggregate bin acquired from a lidar sensor in the first embodiment. [Figure 5] FIG. 10 is a diagram showing an example of a screen displaying remaining amount information of each aggregate bin notified to a registered user in the first embodiment. [Figure 6] FIG. 2 is a partially enlarged side view showing an example of a remaining amount detection unit for a silo in the first embodiment. [Figure 7] FIG. 2 is a block diagram showing an example of the configuration of a control PC according to the first embodiment. [Figure 8] 1 is a flowchart (part 1) illustrating an example of a control processing program executed by a control PC in the first embodiment. [Figure 9] 10 is a flowchart (part 2) illustrating an example of a control processing program executed by the control PC in the first embodiment. [Figure 10] FIG. 10 is a diagram illustrating a second embodiment. [Figure 11] FIG. 10 is a diagram showing an example of a work process estimated in the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0028] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention (hereinafter referred to as "the present embodiment") will be described in detail with reference to the drawings. The first embodiment is a material management system in a system consisting of a batcher plant and a silo. FIG. 1 is a plan view of the first embodiment, FIG. 2 is a side view of the first embodiment as viewed in direction A of FIG. 1 (the Y-axis direction described later), and FIG. 3 is a side view of the first embodiment as viewed in direction B of FIG. 1 (the X-axis direction described later). In the following description, reference will be made to FIG. 1, FIG. 2, or FIG.

[0029] Batcher plants are concrete manufacturing facilities installed at large-scale construction sites that require large amounts of concrete, such as dams and tunnels. Concrete is made from cement, fly ash (ash produced by burning coal), water, sand, gravel, and admixtures. Aggregate materials such as sand and gravel are stored in aggregate bins within the batcher plant, divided into fine aggregate (fine particle) and coarse aggregate (coarse particle). In Figures 1, 2, and 3, sand, which is a fine aggregate that is used in large quantities, is stored in the first aggregate bin 101 (#1) and the second aggregate bin 101 (#2). Gravel, which is a coarse aggregate, is stored in the third aggregate bin 101 (#3). In the following description, the first aggregate bin 101 (#1), the second aggregate bin 101 (#2), and the third aggregate bin 101 (#3) may be collectively referred to as aggregate bins 101 in some cases. Each aggregate bin 101 can be directly replenished with aggregate from a downpour truck or the like parked outside the batcher plant 100.

[0030] Fine aggregate (sand) stored in the first aggregate bin 101 (#1) or the second aggregate bin 101 (#2) is picked up by a clamshell bucket 201 suspended from a crane device described later and is replenished as needed into the first aggregate hopper 102 (#1) located above. Similarly, the coarse aggregate (gravel) stored in the third aggregate bin 101 (#3) is picked up by the clamshell bucket 201 and replenished into the second aggregate hopper 102 (#2) located above as needed.

[0031] In the following description, the first aggregate hopper 102 (#1) and the second aggregate hopper 102 (#2) may be collectively referred to as aggregate hoppers 102.

[0032] The fine aggregate (sand) in the first aggregate hopper 102 (#1) and the coarse aggregate (gravel) in the second aggregate hopper 102 (#2) are sequentially loaded onto the first belt conveyor 104 (#1) and the second belt conveyor 104 (#2), respectively, through holes at the bottom. The fine aggregate (sand) dropped onto the first belt conveyor 104 (#1) and the coarse aggregate (gravel) placed on the second belt conveyor 104 (#2) are transported to and dropped into the first weighing machine 105 (#1) and the second weighing machine 105 (#2), respectively, located above the building of the batcher plant 100. The first weighing machine 105 (#1) and the second weighing machine 105 (#2) measure predetermined amounts of fine aggregate (sand) and coarse aggregate (gravel), respectively, and charge them into the mixer 106.

[0033] The mixer 106 produces concrete by mixing and stirring fine aggregate (sand) fed from the first measuring device 105 (#1), coarse aggregate (gravel) fed from the second measuring device 105 (#2), cement separately fed through a pressure pipe 210 from a cement silo 108 installed next to the building of the batcher plant 100, fly ash separately fed through a pressure pipe 211 from a fly ash silo 109, and water or hot water (not shown). The produced concrete is loaded into a waiting vehicle (a ready-mix concrete truck or a mixer truck) through a hole in the bottom of the mixer 106. The concrete carried into this vehicle is transported to a nearby construction site and used in the construction work.

[0034] Within the building of the batcher plant 100, three-dimensional coordinates are defined, which are Cartesian coordinates consisting of mutually orthogonal X-axis, Y-axis, and Z-axis as shown in Figures 1, 2, and 3. The origin (0,0,0) of the three-dimensional coordinates is defined on the ground at the corner of the building of the batcher plant 100, below and to the left of the first aggregate bin 101 (#1) in the plan view (top view) of Figure 1, for example.

[0035] The following crane equipment is installed inside the building of the batcher plant 100.

[0036] First, as shown in Figures 2 and 3, a pair of traveling rails 205 (#1) and 205 (#2) extending in the Y-axis direction are installed on the upper parts of the left and right side walls 209 (#1) and 209 (#2) of the building of the batcher plant 100. The right side wall 209 (#2) has a wall only at its upper part, and its lower part is structured so that the first belt conveyor 104 (#1) and the second belt conveyor 104 (#2) can pass through from the side of the first aggregate hopper 102 (#1) and the side of the second aggregate hopper 102 (#2) to the side of the first weighing machine 105 (#1) and the side of the second weighing machine 105 (#2), respectively.

[0037] Next, as shown in Figures 2 and 3, saddles 207(#1) and 207(#2) that can run on running rails 205(#1) and 205(#2), respectively, and girder rails 206 that are connected to saddles 207(#1) and 207(#2) and extend in the X-axis direction are installed.

[0038] The saddles 207(#1) and 207(#2) and the girder rail 206 can move integrally in the Y-axis direction on the traveling rails 205(#1) and 205(#2).

[0039] Furthermore, a trolley 202 that can move along the girder rail 206 in the X-axis direction of Figure 2, a winch 203 provided on the trolley 202, and a clamshell bucket 201 suspended via a wire 204 that can be wound up by the winch 203 are installed.

[0040] In addition, one or both of the saddles 207(#1) and 207(#2) are equipped with a first drive mechanism (not shown) that, under control of the control PC (control computer) 107 of Figure 1, moves the integrated structure of the saddles 207(#1) and 207(#2) and the girder rail 206 on the running rails 205(#1) and 205(#2) to a Y coordinate position specified by the control PC 107 in the Y-axis direction of Figure 3.

[0041] Similarly, the trolley 202 is equipped with a second drive mechanism (not shown) that moves the trolley 202 on the girder rail 206 to an X-coordinate position specified by the control PC 107 in Figure 2 in the X-axis direction under control of the control PC 107 in Figure 1.

[0042] In addition, the winch 203 installed on the trolley 202 moves the clamshell bucket 201 to the Z coordinate position specified by the control PC 107 in the Z-axis direction in FIG. 2 or FIG. 3 by winding up or letting out the wire 204 under the control of the control PC 107 in FIG. 1.

[0043] In addition, the clamshell bucket 201 is provided with a third drive mechanism (not shown) that opens and closes the buckets 301(#1) and 301(#2) around the hinge shaft 212 shown in FIG. 3 under the control of the control PC 107 shown in FIG. 1.

[0044] Using a crane device having the above-described structure, the control PC 107 can specify any three-dimensional coordinate position to the crane device, thereby moving the clamshell bucket 201 to that three-dimensional coordinate position and opening and closing buckets 301(#1) and 301(#2) of the clamshell bucket 201 at that position.

[0045] Next, inside the building of the batcher plant 100, LiDAR (Light Detection and Ranging) sensors 103(#1), 103(#2), and 103(#3), which are remaining amount sensors, are installed on the side wall 302(#1) shown in Figure 3, above the first aggregate bin 101(#1), the second aggregate bin 101(#2), and the third aggregate bin 101(#3) on the beam 208(#1) installed in the X-axis direction as shown in Figure 2. Similarly, within the building of the batcher plant 100, lidar sensors 103 (#4) and 103 (#5), which are remaining amount sensors, are installed above the first aggregate hopper 102 (#1) and the second aggregate hopper 102 (#2), respectively, on the side wall 302 (#2) shown in Figure 3 and on the beam 208 (#2) installed in the X-axis direction as shown in Figure 2.

[0046] Lidar sensors 103(#1), 103(#2), and 103(#3) are sensors for measuring the remaining amount of aggregate in the first aggregate bin 101(#1), the second aggregate bin 101(#2), and the third aggregate bin 101(#3), respectively. They measure scattered light in response to pulsed laser irradiation emitted from above each aggregate bin 101, and obtain point cloud data indicating the distance to each of multiple points on the surface of the aggregate in each aggregate bin 101. Similarly, lidar sensors 103 (#4) and 103 (#5) are sensors for measuring the remaining amount of aggregate in the first aggregate hopper 102 (#1) and the second aggregate hopper 102 (#2), respectively, and measure scattered light in response to pulsed laser irradiation emitted from above each aggregate hopper 102, and obtain point cloud data indicating the distance to each of multiple points on the surface of each aggregate hopper 102. In the following description, the LIDAR sensors 103(#1), 103(#2), 103(#3), 103(#4), and 103(#5) may be collectively referred to as the LIDAR sensor 103.

[0047] The control PC 107 shown in Figure 1 or 3 calculates the volume of aggregate in the aggregate bin 101 or aggregate hopper 102, or the ratio of the volume to the aggregate capacity that each can store, as the remaining amount based on the point cloud data acquired by the lidar sensors 103 (#1) to 103 (#5).

[0048] Figures 4(a), (b), and (c) are figures showing examples of displaying the point cloud data of the first aggregate bin 101(#1), the second aggregate bin 101(#2), and the third aggregate bin 101(#3) obtained from the lidar sensors 103(#1), 103(#2), and 103(#3) on the display of the control PC 107 of Figure 1 or Figure 3, respectively. For example, the point cloud data in Figure 4(a) is data indicating the distance from the lidar sensor 103(#1) installed above the first aggregate bin 101(#1) to each position on the surface of the aggregate within the first aggregate bin 101(#1). Similarly, for example, the point cloud data in Figure 4(b) is data indicating the distance from the lidar sensor 103(#2) installed above the second aggregate bin 101(#2) to each position on the surface of the aggregate within the second aggregate bin 101(#2). Similarly, for example, the point cloud data in Figure 4(c) is data indicating the distance from the lidar sensor 103(#3) installed above the third aggregate bin 101(#3) to each position on the surface of the aggregate within the third aggregate bin 101(#3).

[0049] Based on these point cloud data, the control PC 107 calculates the remaining volume of aggregate in the first aggregate bin 101 (#1), the second aggregate bin 101 (#2), and the third aggregate bin 101 (#3) as a filling rate % (volume ÷ aggregate bin capacity × 100), and displays it on the display of the control PC 107, as shown in Figures 4(a), (b), and (c).

[0050] In the first embodiment, the control PC 107 executes the following first control process. In this first control process, the control PC 107 notifies a terminal device, such as a smartphone or tablet operated by a predetermined registered member, of the remaining amount of aggregate, such as the volume and filling rate, in the first aggregate bin 101(#1), the second aggregate bin 101(#2), and the third aggregate bin 101(#3), as measured by the lidar sensors 103(#1), 103(#2), and 103(#3), which are remaining amount sensors, using network software such as email, SNS, or business chat. The notification may be sent at predetermined time intervals or when the remaining amount falls below a predetermined threshold.

[0051] FIG. 5 shows the volume (m ) of the remaining amount information of the first aggregate bin 101 (#1) (shown as “Sand 1” in FIG. 5), the second aggregate bin 101 (#2) (shown as “Sand 2” in FIG. 5), and the third aggregate bin 101 (#3) (shown as “Gravel” in FIG. 5), which is notified to a registered user using, for example, a business chat in the first embodiment. 3 10A and 10B are diagrams showing examples of the display screen of a terminal device such as a registered user's smartphone or tablet terminal, showing the number of users (number of users) and the filling rate (%).

[0052] The first control process by the control PC 107 in the first embodiment described above makes it possible to easily grasp the remaining amount of aggregate in the aggregate bin 101.

[0053] Next, in the first embodiment, the control PC 107 executes the following second control process. In this second control process, the control PC 107 first moves the clamshell bucket 201 to the three-dimensional coordinate position of the first aggregate bin 101(#1) or the second aggregate bin 101(#2) when it determines that the remaining amount of aggregate in the first aggregate hopper 102(#1) is equal to or less than a threshold based on the measurement results of each point cloud data by the lidar sensors 103(#4) and 103(#5).

[0054] Specifically, when the control PC 107 determines that the remaining amount of fine aggregate (sand) in the first aggregate hopper 102 (#1) is below a threshold value, it moves the clamshell bucket 201 to the three-dimensional coordinate position of either the first aggregate bin 101 (#1) or the second aggregate bin 101 (#2). When the aggregate to be replenished to the first aggregate hopper 102 (#1) is stored in multiple aggregate bins, such as the first aggregate bin 101 (#1) and the second aggregate bin 101 (#2), it is preferable to replenish aggregate from one of the aggregate bins until the amount of aggregate stored in that bin falls below a certain level. This makes it easier to replenish aggregate to the aggregate bins. Furthermore, when the control PC 107 determines that the remaining amount of coarse aggregate (gravel) in the second aggregate hopper 102 (#2) has fallen below a threshold, it moves the clamshell bucket 201 to the three-dimensional coordinate position of the third aggregate bin 101 (#3).

[0055] It is preferable that the control PC 107 calculates, based on the point cloud data acquired by the lidar sensor 103 corresponding to the aggregate bin 101 determined as described above, the three-dimensional coordinate position at which the height of the aggregate piled up is the highest in the aggregate bin 101 corresponding to the lidar sensor 103, as the three-dimensional coordinate position of the aggregate bin. This makes it possible to maximize the amount of aggregate grabbed at one time by moving to the three-dimensional coordinate position where the pile height is the highest and grabbing the aggregate.

[0056] As a result of the above control processing, the clamshell bucket 201 of the crane device described above moves to the three-dimensional coordinate position of any one of the aggregate bins 101 specified by the control PC 107 as described above. Then, buckets 301(#1) and 301(#2) (see FIG. 3) of the clamshell bucket 201 open and then close, thereby picking up the aggregate piled up in the aggregate bin 101.

[0057] In the second control process, the control PC 107 then moves the clamshell bucket 201 that has picked up the aggregate to the three-dimensional coordinate position of the aggregate hopper 102 where the remaining amount shortage has been detected.

[0058] It is preferable that the control PC 107 calculates the three-dimensional coordinate position where the height of the aggregate piled up in the aggregate hopper 102 is lowest as the three-dimensional coordinate position of the aggregate hopper 102 based on the point cloud data acquired by the lidar sensor 103 corresponding to the aggregate hopper 102 that detected the remaining amount being insufficient. This makes it possible to prevent the aggregate from spilling out of the aggregate hopper 102 and onto its surroundings by moving to the three-dimensional coordinate position where the pile height is lowest and dropping the aggregate from the clamshell bucket 201 into the aggregate hopper 102.

[0059] As a result of the above control processing, the clamshell bucket 201 of the crane apparatus described above moves to the three-dimensional coordinate position of one of the aggregate hoppers 102 designated by the control PC 107 as described above. Then, buckets 301(#1) and 301(#2) (see FIG. 3) of the clamshell bucket 201 open, dropping aggregate into the aggregate hopper 102 to replenish it.

[0060] As described above, based on the remaining amount of aggregate in the aggregate bin and aggregate hopper measured by the lidar sensor 103, when the remaining amount of aggregate in the aggregate hopper 102 becomes low, the crane device can automatically move the aggregate in the aggregate bin 101 to the aggregate hopper 102 to replenish it.

[0061] In the first embodiment, as illustrated in FIG. 1 or 2, the cement silo 108 and the fly ash silo 109 respectively store fine aggregate (sand) and coarse aggregate (gravel) supplied from the first aggregate hopper 102 (#1) and the second aggregate hopper 102 (#2) in the batcher plant 100 via the first belt conveyor 104 (#1) and the second belt conveyor 104 (#2), respectively, and cement and fly ash to be mixed in the mixer 106.

[0062] In the first embodiment, the control PC 107 executes a third control process for detecting the remaining amount of cement or fly ash in the silo 108 or 109. FIG. 6 is a side view showing an example of a remaining amount detection unit for a silo in the first embodiment. As illustrated in FIG. 6, the cement silo 108 and the fly ash silo 109 have a plurality of remaining amount detection units 601(#1) to 601(#5) installed, for example, at equal intervals, on a side wall 605 in the height direction of the silo 108 or 109. In the following description, the remaining amount detection units 601(#1) to 601(#5) may be collectively referred to as remaining amount detection units 601.

[0063] 6, the remaining amount detection unit 601 includes magnets 604 at a plurality of locations for magnetically mounting on a side wall 605 of the silo 108 or 109. Note that the mounting method is not limited to magnetic mounting. The remaining amount detection unit 601 includes a hammering device 602 that strikes the side wall 605 of the silo where the unit is installed, for example, by the force of an electromagnet, and a microphone 603 that collects the hammering sound of the hammering device 602.

[0064] In the third control process, the control PC 107 of FIG. 1 or 3 captures each sound collected by the microphones 603 in the remaining amount detection units 601(#1) to 601(#5), and detects the remaining position 606 of cement or fly ash in the silo 108 or 109 based on the changes in the sounds.

[0065] Next, the control PC 107 executes a fourth control process to notify a terminal device such as a smartphone or tablet operated by a predetermined registered member of the remaining amount of cement or fly ash in the silo 108 or 109 detected by the third control process. The notification may be performed at predetermined time intervals or when the remaining amount falls below a predetermined threshold.

[0066] By the third and fourth control processes described above, the remaining amount of materials such as cement and fly ash in the silo 108 or 109 operating together with the batcher plant 100 is notified to a terminal device such as a smartphone or tablet operated by a designated registered member at predetermined time intervals, similar to the remaining amount of aggregate in the aggregate bin 101, thereby making it possible to easily manage materials in the silos 108 and 109 even if the member is not at the site.

[0067] Fig. 7 is a block diagram showing an example of the configuration of the control PC 107 shown in Fig. 1 or 3 in the first embodiment. The control PC 107 includes a CPU (Central Processing Unit) 701, a ROM (Read Only Memory) 702, a RAM (Random Access Memory) 703, an external storage device 704, an input unit 705, a display unit 706, an interface unit 707, and a network communication unit 708, all of which are interconnected by a system bus 709.

[0068] The CPU 701 loads a control processing program stored in the ROM 702 into the RAM 703 and executes it. By executing this program, the first to fourth control processes by the control PC 107 in the first embodiment described above are realized.

[0069] The ROM 702 is a non-volatile memory that stores the control processing program.

[0070] The RAM 703 is a randomly accessible memory. When executing a control processing program, the CPU 701 loads program data from the ROM 702 into the RAM 703 and executes the program. The RAM 703 is also used as a work memory when executing the control processing program.

[0071] The external storage device 704 is, for example, an SSD (solid state drive) or a hard disk, and stores data input from the lidar sensor 103 and remaining amount detection units 601(#1) to 601(#5), data to be sent to registered users, etc.

[0072] The input unit 705 is, for example, a keyboard or mouse input device, and is used to input data, parameters, etc. that need to be input when the control processing program is executed.

[0073] The display unit 706 is a display device such as an LCD (Liquid Crystal Display), an organic EL (Electro Luminescence) panel, or an LED (Light Emitting Diode), and displays information such as point cloud data acquired from the lidar sensor 103 illustrated in Figure 4, the volume and filling rate of the aggregate, etc.

[0074] The interface unit 707 converts the point cloud data from the lidar sensor 103 from analog data to digital data using an A / D converter (not shown) and stores the digital data in the external storage device 704 (which may be the RAM 703). The interface unit 707 also outputs tapping instruction data to the tapping device 602 in the remaining amount detection unit 601 described in FIG. 6, converts the audio signal collected by the microphone 603 in the remaining amount detection unit 601 from an analog audio signal to a digital audio signal using an A / D converter (not shown), and stores the digital audio signal in the external storage device 704 (which may be the RAM 703).

[0075] The network communication unit 708 transmits data such as information on the remaining amount of aggregate (volume, filling rate) and information on the remaining amount of cement or fly ash to a block network or the Internet (not shown) to be sent to a terminal device such as a smartphone or tablet terminal (not shown) of a registered user that is capable of communicating via the Internet (not shown).

[0076] 8 and 9 are flowcharts showing an example of a control processing program executed by the control PC 107 in the first embodiment. This control processing program starts to be executed when the batcher plant 100 starts to operate.

[0077] First, the CPU 701 resets a notification timer, which is a variable in the RAM 703 that counts the time interval for notifying registered users, to, for example, a value of 0 (step S801 in FIG. 8). The value of this notification timer is automatically timed out as time passes by a timer interrupt process (not shown).

[0078] Next, in step S802 of FIG. 8, the CPU 701 initializes the value of the variable i in the RAM 703 to 1, and then in step S807 of FIG. 8, sequentially increments the value of the variable i by +1, and repeatedly executes the processes of steps S803 to S807 until it is determined in step S806 of FIG. 8 that the value is equal to 3.

[0079] In this series of processes, first, the CPU 701 acquires point cloud data of the i=1-th first aggregate bin 101(#1) from the lidar sensor 103(#1) (step S803 in FIG. 8).

[0080] Next, the CPU 701 calculates the volume and filling rate of the remaining aggregate in the i=1th first aggregate bin 101 (#1) based on the point cloud data acquired in step S803 (step S804 in FIG. 8).

[0081] Furthermore, the CPU 701 calculates the three-dimensional coordinate position where the piled height of the aggregate in the i=1th first aggregate bin 101 (#1) is the highest (step S805 in FIG. 8).

[0082] Thereafter, the CPU 701 determines whether the value of the variable i is equal to 3 (step S806 in FIG. 8).

[0083] If the determination in step S806 is NO, the CPU 701 increments the value of the variable i by +1 (step S807 in FIG. 8), and returns to the processing in step S803 in FIG.

[0084] In this way, point cloud data is acquired from the lidar sensors 103(#1), 103(#2), and 103(#3) for each of the first aggregate bin 101(#1), the second aggregate bin 101(#2), and the third aggregate bin 101(#3), the volume and filling rate of the remaining aggregate in each aggregate bin 101 are calculated, and the three-dimensional coordinate position where each aggregate is piled up to the highest height is calculated.

[0085] Next, in step S808 of FIG. 8, the CPU 701 initializes the value of variable j in RAM 703 to 1, and then in step S813 of FIG. 8, sequentially increments the value of variable j by +1, and repeatedly executes the processes of steps S809 to S813 until it is determined in step S812 of FIG. 8 that the value is equal to 2.

[0086] In this series of processes, first, the CPU 701 acquires point cloud data of the j=1-th first aggregate hopper 102 (#1) from the lidar sensor 103 (#5) (step S809 in FIG. 8).

[0087] Next, the CPU 701 calculates the volume of the remaining amount of aggregate in the j=1-th first aggregate hopper 102 (#1) based on the point cloud data acquired in step S809 (step S810 in FIG. 8).

[0088] Furthermore, the CPU 701 calculates the three-dimensional coordinate position where the piled height of the aggregate in the j=1-th first aggregate hopper 102 (#1) is the lowest (step S811 in FIG. 8).

[0089] Thereafter, the CPU 701 determines whether the value of the variable j is equal to 2 (step S812 in FIG. 8).

[0090] If the determination in step S806 is NO, the CPU 701 increments the value of the variable j by +1 (step S813 in FIG. 8), and returns to the processing of step S808 in FIG. In the second loop, point cloud data is acquired from the lidar sensor 103 (#5).

[0091] In this way, point cloud data is obtained from the lidar sensors 103 (#4) and 103 (#5) for each of the first aggregate hopper 102 (#1) and the second aggregate hopper 102 (#2), the volume of the remaining aggregate in each aggregate hopper 102 is calculated, and the three-dimensional coordinate position where each aggregate has the lowest pile height is calculated.

[0092] Next, in step S814 of FIG. 9, the CPU 701 resets the value of variable j in RAM 703 to 1, and then in step S823 of FIG. 9, sequentially increments the value of variable j by +1, repeatedly executing the processes of steps S815 to S823 until it is determined in step S822 of FIG. 9 that the value is equal to 2.

[0093] In this series of processes, the CPU 701 first determines whether the volume of the remaining amount in the j=1-th first aggregate hopper 102 (#1), calculated in step S810 of Figure 8 when variable j=1, is smaller than a predetermined threshold value (step S815 of Figure 9).

[0094] If the determination in step S815 is NO, the CPU 701 skips steps S816 to S821 and proceeds to step S822.

[0095] If the determination in step S815 is YES, the j-th aggregate hopper 102 needs to be replenished. In this case, the CPU 701 first determines whether the value of the variable j is 1 (step S816 in FIG. 9).

[0096] If the determination in step S816 is YES, the first aggregate hopper 102 (#1) needs to be replenished, and since there are two corresponding aggregate bins 101, the first aggregate bin 101 (#1) and the second aggregate bin 101 (#2), one of them must be selected as the source of replenishment. Therefore, the CPU 701 sets the three-dimensional coordinate position of the first aggregate bin 101 (#1) or the second aggregate bin 101 (#2), whichever has the larger volume of remaining aggregate calculated in step S804 of Figure 8, as the replenishment source coordinate position (step S817 of Figure 9).

[0097] On the other hand, if the determination in step S816 is NO, the second aggregate hopper 102 (#2) needs to be replenished, and there is only one corresponding aggregate bin 101, the third aggregate bin 101 (#3). Therefore, the CPU 701 sets the three-dimensional coordinate position of the third aggregate bin 101 (#3) to the replenishment source coordinate position (step S818 in FIG. 9).

[0098] After processing step S817 or S818, the CPU 701 moves the clamshell bucket 201 to the replenishment source coordinate position set in step S817 or S818. Then, the CPU 701 opens and then closes buckets 301(#1) and 301(#2) (see FIG. 3) of the clamshell bucket 201 toward the highest point of the aggregate in the aggregate bin 101, thereby picking up the aggregate (this is step S819 in FIG. 9).

[0099] Next, the CPU 701 sets the three-dimensional coordinate position calculated in step S811 of Figure 8 of the jth aggregate hopper 102 in which a remaining amount shortage was detected in step S815 as the replenishment destination coordinate position of the clamshell bucket 201 that has picked up the aggregate (step S820 of Figure 9).

[0100] The CPU 701 moves the clamshell bucket 201 to the complementary source coordinate position set in step S820. Then, the CPU 701 executes an operation to open buckets 301(#1) and 301(#2) (see FIG. 3) of the clamshell bucket 201, thereby dropping and replenishing aggregates aimed at the lowest position in the aggregate hopper 102 (step S821 in FIG. 9).

[0101] Thereafter, the CPU 701 determines whether the value of the variable j is equal to 2 (step S822 in FIG. 9).

[0102] If the determination in step S822 is NO, the CPU 701 increments the value of the variable j by +1 (step S823 in FIG. 9), and returns to the processing of step S815 in FIG.

[0103] In this way, it is determined whether there is a shortage of aggregate in each of the first aggregate hopper 102 (#1) and the second aggregate hopper 102 (#2), and the shortage is automatically replenished from the aggregate bin 101.

[0104] Thereafter, the CPU 701 determines whether the value of the notification timer, which is a variable on the RAM 703, has timed out (becomes equal to or greater than a predetermined upper limit) due to the passage of a predetermined time since the previous notification time (step S824 in FIG. 9).

[0105] If the determination in step S824 is NO, the CPU 701 does not execute the notification operation from step S825 onwards, but returns to the processing of step S802 in FIG. 8, and repeatedly executes the operation of measuring the remaining amounts of the aggregate bin 101 and the aggregate hopper 102.

[0106] When the notification timer times out and the determination in step S824 becomes YES, the CPU 701 transmits display data such as that illustrated in FIG. 5, which summarizes the remaining volume and filling rate of each aggregate in the first aggregate bin 101 (#1), the second aggregate bin 101 (#2), and the third aggregate bin 101 (#3) calculated by the repeated processing of step S804 in FIG. 8, to the terminal device of a registered member who has been separately registered in advance, via the network communication unit 708 (step S825 in FIG. 9).

[0107] Next, the CPU 701 calculates the remaining positions of cement and fly ash for the cement silo 108 and the fly ash silo 109, respectively (step S826 in FIG. 9). Specifically, in step S826, the CPU 701 first sequentially causes the hammering devices 602 of the remaining amount detection units 601(#1) to 601(#5) provided on the side wall 605 of the cement silo 108 to operate, and as a result, captures the hammering sounds collected by the microphones 603 of the remaining amount detection units 601(#1) to 601(#5) into the external storage device 704 (which may be RAM 703) via the interface unit 707. Next, in step S826, the CPU 701 performs frequency analysis (for example, fast Fourier calculation) on each of the hitting sounds captured by each of the remaining amount detection units 601(#1) to 601(#5), and detects the peak frequency of the hitting sound at which the frequency power is the largest. Then, in step S826, the CPU 701 determines the peak frequency of the impact sound detected for each of the remaining amount detection units 601 (#1) to 601 (#5) in order, starting from the remaining amount detection unit 601 #1, which corresponds to the lowest position in the cement silo 108, and detects the height of the side wall 605 on which the remaining amount detection unit 601 immediately preceding the remaining amount detection unit 601 whose frequency has changed is located as the remaining amount position 606 in the cement silo 108 (see Figure 6).

[0108] In step S826, the CPU 701 also performs the same process as in the case of the cement silo 108 for the remaining amount detection units 601(#1) to 601(#5) provided on the side wall 605 of the fly ash silo 109. As a result, in step S826, the CPU 701 detects the remaining amount position 606 of the fly ash silo 109.

[0109] Next, the CPU 701 transmits the remaining amounts of cement and fly ash in the cement silo 108 and the fly ash silo 109 calculated in step S826 of FIG. 9 to the terminal devices of the registered members in the same manner as in step S825 of FIG. 9 (step S827 of FIG. 9).

[0110] Finally, the CPU 701 resets the value of the notification timer, which is a variable on the RAM 703, to 0 (step S828 in FIG. 9). Thereafter, the CPU 701 returns to the process of step S802 in FIG. 8, and repeatedly executes the operation of measuring the remaining amounts of the aggregate bin 101 and the aggregate hopper 102.

[0111] Fig. 10 is a diagram illustrating the second embodiment. The second embodiment includes a network camera (photographing device) 1001, for example, that automatically captures work video within a construction work site, for example, a tunnel excavation work site 1002 as shown in Fig. 10.

[0112] Then, a control computer similar to the control PC 107 in the first embodiment, or a control computer which is a server computer prepared on the Internet cloud, uses a work process determination model that has been machine-learned from work footage previously taken at, for example, a tunnel excavation work site, to infer the work process based on the work footage newly taken by the network camera 1001.

[0113] Fig. 11 is a diagram showing an example of work processes estimated in the second embodiment. In Fig. 11, work times for work processes such as drilling and charging work, blasting work, debris removal work, and spraying work are estimated for one day.

[0114] After predicting the work process in this way, the control computer executes a fifth control process that predicts the timing of using the concrete produced in the batcher plant and predicts the amount of materials such as aggregate and cement to be used.

[0115] Furthermore, the control computer executes a sixth control process that notifies a terminal device, such as a smartphone or tablet terminal operated by a specified registered member, of the amount of material required for the spraying work predicted by the fifth control process at a specified time interval.

[0116] According to the second embodiment described above, it becomes possible to easily perform material management in accordance with the progress of work on site. [Explanation of symbols]

[0117] 100 Batcher Plant 101 Aggregate Bin 101(#1) 1st Aggregate Bin 101(#2) 2nd aggregate bin 101(#3) 3rd aggregate bin 102 Aggregate Hopper 102(#1) First aggregate hopper 102(#2) Second aggregate hopper 103, 103(#1), 103(#2), 103(#3), 103(#4), 103(#5) Lidar sensor 104(#1) First Belt Conveyor 104(#2) Second Belt Conveyor 105(#1) 1st measuring instrument 105(#2) Second measuring instrument 106 Mixer 107 Control PC 108 Cement Silo 109 Fly Ash Silo 201 Clamshell Bucket 202 Trolley 203 Winch 204 Wire 205(#1), 205(#2) running rail 206 Girder Rail 207(#1), 207(#2) saddle 208(#1), 208(#2) Beam 209(#1), 209(#2) Left and right side walls 210, 211 Pressure pipe 212 Hinge shaft 301(#1), 301(#2) Bucket 302(#1), 302(#1) side wall 601, 601(#1), 601(#2), 601(#3), 601(#4), 601(#5) Remaining amount detection unit 602 hammering device 603 Mike 604 Magnet 605 Side wall 606 Remaining amount position 701 CPU 702 ROM 703 RAM 704 External storage device 705 Input section 706 Display section 707 Interface Section 708 Network Communications Department 709 System Bus 1001 Network Camera 1002 Tunnel excavation work site

Claims

1. an aggregate bin remaining amount sensor that is installed in correspondence with an aggregate bin that stores aggregate in the batcher plant and is used to measure the amount of aggregate remaining in the aggregate bin; a control computer that notifies a terminal device of a predetermined registered member of the amount of aggregate remaining in the aggregate bin measured using the aggregate bin amount sensor; Equipped with The aggregate bin remaining amount sensor is an aggregate bin lidar sensor that is installed above the aggregate bin, measures scattered light in response to pulsed laser irradiation, and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate bin; The control computer calculates, as the remaining amount, the volume of the aggregate in the aggregate bin or a ratio of the volume to the aggregate capacity that the aggregate bin can store, based on the point cloud data acquired by the aggregate bin lidar sensor; a crane device that is installed within a batcher plant and is capable of moving and opening / closing a clamshell bucket to any three-dimensional coordinate position within a three-dimensional Cartesian coordinate system defined within the batcher plant; an aggregate hopper installed in the batcher plant for loading the aggregate onto a belt conveyor for transporting the aggregate; an aggregate hopper lidar sensor that is installed corresponding to the aggregate hopper as an aggregate hopper remaining amount sensor and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate hopper; Further provided with the aggregate hopper remaining amount sensor measures the remaining amount of the aggregate in the aggregate hopper; The control computer When it is determined that the amount of aggregate remaining in the aggregate hopper is equal to or less than a threshold based on the measurement by the aggregate hopper remaining amount sensor, the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate bin to pick up the aggregate stored in the aggregate bin, and then the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate hopper to drop the aggregate held by the clamshell bucket into the aggregate hopper; calculating a three-dimensional coordinate position where the height of the aggregate piled up is highest in the aggregate bin corresponding to the aggregate bin lidar sensor based on the point cloud data acquired by the aggregate bin lidar sensor; The picking up is performed at the three-dimensional coordinate position where the height is the highest, calculating a three-dimensional coordinate position where the height of the piled-up aggregates in the aggregate hopper corresponding to the aggregate hopper lidar sensor is the lowest based on the point cloud data acquired by the aggregate hopper lidar sensor; A material management system in which the dropping is performed at the three-dimensional coordinate position where the height is the lowest.

2. The control computer When the aggregate is stored in a plurality of aggregate bins, when it is calculated that the amount of the aggregate remaining in the aggregate hopper is equal to or less than a threshold value, the clamshell bucket is moved to any one of the plurality of aggregate bins and the picking-up operation is performed until the amount of aggregate stored in that one aggregate bin becomes equal to or less than a predetermined amount. The material management system of claim 1 .

3. a plurality of remaining amount detection units are installed at intervals in the vertical direction on a side surface of a silo that stores material to be mixed with the aggregate to produce concrete, each of the remaining amount detection units including a hammering device that strikes the side wall of the silo where the hammering device is installed, and a microphone that collects hammering sounds from the hammering device; The control computer detecting the amount of material remaining in the silo based on a change in the hammering sounds collected by the microphones in each of the plurality of remaining amount detection units; notifying the detected remaining amount of material in the silo to a terminal device operated by the predetermined registered member; The material management system of claim 1 .

4. The control computer measuring the amount of aggregate remaining in an aggregate bin using an aggregate bin remaining amount sensor installed corresponding to the aggregate bin for storing aggregate in the batcher plant; notifying a terminal device of a predetermined registered member of the amount of aggregate remaining in the aggregate bin measured using the aggregate bin amount sensor; The aggregate bin remaining amount sensor is an aggregate bin lidar sensor that is installed above the aggregate bin, measures scattered light in response to pulsed laser irradiation, and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate bin; The control computer calculates, as the remaining amount, the volume of the aggregate in the aggregate bin or a ratio of the volume to the aggregate capacity that the aggregate bin can store, based on the point cloud data acquired by the aggregate bin lidar sensor; a crane device that is installed within a batcher plant and is capable of moving and opening / closing a clamshell bucket to any three-dimensional coordinate position within a three-dimensional Cartesian coordinate system defined within the batcher plant; an aggregate hopper installed in the batcher plant for loading the aggregate onto a belt conveyor for transporting the aggregate; an aggregate hopper lidar sensor that is installed corresponding to the aggregate hopper as an aggregate hopper remaining amount sensor and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate hopper; Further provided with the aggregate hopper remaining amount sensor measures the remaining amount of the aggregate in the aggregate hopper; The control computer When it is determined that the amount of aggregate remaining in the aggregate hopper is equal to or less than a threshold based on the measurement by the aggregate hopper remaining amount sensor, the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate bin to pick up the aggregate stored in the aggregate bin, and then the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate hopper to drop the aggregate held by the clamshell bucket into the aggregate hopper; calculating a three-dimensional coordinate position where the height of the aggregate piled up is highest in the aggregate bin corresponding to the aggregate bin lidar sensor based on the point cloud data acquired by the aggregate bin lidar sensor; The picking up is performed at the three-dimensional coordinate position where the height is the highest, calculating a three-dimensional coordinate position where the height of the piled-up aggregates in the aggregate hopper corresponding to the aggregate hopper lidar sensor is the lowest based on the point cloud data acquired by the aggregate hopper lidar sensor; The material management method includes dropping the material at the three-dimensional coordinate position where the height is the lowest.

5. The control computer measuring the amount of aggregate material in the aggregate bin using an aggregate bin remaining amount sensor installed corresponding to the aggregate bin for storing the aggregate in the batcher plant; notifying a terminal device of a predetermined registered member of the amount of aggregate remaining in the aggregate bin measured using the aggregate bin amount sensor; The aggregate bin remaining amount sensor is an aggregate bin lidar sensor that is installed above the aggregate bin, measures scattered light in response to pulsed laser irradiation, and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate bin; The control computer calculates, as the remaining amount, the volume of the aggregate in the aggregate bin or a ratio of the volume to the aggregate capacity that the aggregate bin can store, based on the point cloud data acquired by the aggregate bin lidar sensor; a crane device that is installed within a batcher plant and is capable of moving and opening / closing a clamshell bucket to any three-dimensional coordinate position within a three-dimensional Cartesian coordinate system defined within the batcher plant; an aggregate hopper installed in the batcher plant for loading the aggregate onto a belt conveyor for transporting the aggregate; an aggregate hopper lidar sensor that is installed corresponding to the aggregate hopper as an aggregate hopper remaining amount sensor and acquires point cloud data indicating distances to each of a plurality of points on the surface of the aggregate in the aggregate hopper; Further provided with the aggregate hopper remaining amount sensor measures the remaining amount of the aggregate in the aggregate hopper; The control computer When it is determined that the amount of aggregate remaining in the aggregate hopper is equal to or less than a threshold based on the measurement by the aggregate hopper remaining amount sensor, the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate bin to pick up the aggregate stored in the aggregate bin, and then the clamshell bucket is moved to a three-dimensional coordinate position of the aggregate hopper to drop the aggregate held by the clamshell bucket into the aggregate hopper; calculating a three-dimensional coordinate position where the height of the aggregate piled up is highest in the aggregate bin corresponding to the aggregate bin lidar sensor based on the point cloud data acquired by the aggregate bin lidar sensor; The picking up is performed at the three-dimensional coordinate position where the height is the highest, calculating a three-dimensional coordinate position where the height of the piled-up aggregates in the aggregate hopper corresponding to the aggregate hopper lidar sensor is the lowest based on the point cloud data acquired by the aggregate hopper lidar sensor; A program that executes a process in which the dropping is performed at the three-dimensional coordinate position with the lowest height.

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