Compaction Evaluation System

Abstract

To provide a compaction evaluation system capable of improving the accuracy of quantitative evaluation of concrete compaction with a simple configuration.SOLUTION: The compaction evaluation system 100 includes: multiple vibrators 21 that are inserted in concrete C of a concrete placing area; and an arithmetic unit 1. The arithmetic unit 1 includes: a position acquisition unit 11 that acquires the position of each vibrator 21; a calculation unit 12 that calculates an integrated value of compaction energy in each subrange of the concrete placing area based on the distance from the axis of the vibrator 21 and vibration time; and a display control unit 13 that is configured to display the compaction evaluation result on a display 4 by using the calculated integrated value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a compaction evaluation system. [Background technology]

[0002] In recent years, technological developments related to concrete pouring for dams have been active, particularly in compaction control. Conventionally, the completion of compaction within a preset range is determined by measuring the vibration time of a vibrator and determining whether a predetermined time has been reached. However, such determinations are intended for construction management purposes and do not capture the compaction phenomenon. To address this need, quantitative evaluation of the compaction state within concrete has been desired, and inventions have been developed. For example, Patent Document 1 discloses a concrete compaction control method that objectively and quantitatively evaluates the degree of compaction of the entire concrete compaction area and determines the extent of compaction completion without using complex equipment. The control method of Patent Document 1 evaluates the degree of concrete compaction based on changes in the hydraulic pressure of a hydraulic vibrator over time. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-159939 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the vibrator's hydraulic pressure is used as an evaluation index for compaction, although the evaluation of the compaction state inside the concrete becomes quantitative, there are problems such as the need for hydraulic sensors, etc., which makes the system configuration for appropriate evaluation complicated and limits the improvement of the accuracy of the evaluation.

[0005] From this perspective, an object of the present invention is to propose a compaction evaluation system that has a simple configuration and improves the accuracy of quantitative evaluation of concrete compaction. [Means for solving the problem]

[0006] The present invention, which solves the above problem, is a compaction evaluation system comprising a plurality of vibrators inserted into the concrete of a pouring range, and a computing device, wherein the computing device comprises a position acquisition unit that acquires the position of each of the vibrators, a calculation unit that calculates the integrated value of compaction energy in each partial range of the pouring range based on the distance from the axis of the vibrator and the vibration time, and a display control unit that displays the compaction evaluation result on a display unit using the calculated integrated value.

[0007] According to the present invention, the compaction evaluation results are visualized using the integrated value of compaction energy, making it possible to grasp the compaction phenomenon inside the concrete and quantitatively evaluate the compaction state inside the concrete. Unlike conventional systems that use the hydraulic pressure of a vibrator for evaluation, the present invention does not complicate the system configuration and does not limit the improvement of evaluation accuracy. Furthermore, while conventional systems required vibration application as a confirmation step to confirm the completion of compaction, the present invention captures the compaction phenomenon, making this confirmation step unnecessary and reducing work time.

[0008] In addition, it is preferable that the display control unit causes the display unit to display, as the compaction evaluation result, the ratio of the integrated value to the compaction completion energy of the concrete for each partial range.

[0009] This makes it easy to check the extent to which compaction has been completed. In addition, by visualizing areas where compaction is insufficient, it is easy to identify areas where additional vibration is required.

[0010] In addition, it is preferable that the display control unit causes the display unit to display, as the compaction evaluation result, a partial range in which the integrated value exceeds the compaction completion energy.

[0011] This makes it possible to visualize areas where compaction is excessive, making it easy to identify areas where vibration should be prohibited.

[0012] It is also preferable that the construction machine further comprises a compaction device having a plurality of position sensors and a mounting member that is attached to the construction machine, wherein the plurality of vibrators and the plurality of position sensors are attached to the mounting member, and the position acquisition unit acquires the position of each of the vibrators and the orientation of the compaction device based on signals from each of the position sensors.

[0013] This allows the posture of the compaction device to be determined. Also, since the positional relationship between the position sensors and the vibrators can be obtained in advance, the position and posture of each vibrator can be determined using the positions of each position sensor. As a result, the accuracy of processing by the computing device, such as identifying the vibration position of the vibrator and calculating the compaction energy, can be improved. [Effects of the Invention]

[0014] This invention makes it possible to improve the accuracy of quantitative evaluation of concrete compaction with a simple configuration. Since the operator can work while visually checking the actual compaction status inside the concrete, the timing of inserting and withdrawing the vibrator, as well as the position for inserting the vibrator after withdrawal, can be determined efficiently. In addition, by sharing the tablet PC screen not only with the operator but also with the prime contractor's management staff, it can also be used for remote construction management of the compaction status. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a functional configuration diagram of the compaction evaluation system of this embodiment. [Figure 2] FIG. 10 is an explanatory diagram of the cumulative value of compaction energy and compaction completion energy. [Figure 3] This is an example of a screen showing the compaction evaluation results. [Figure 4] 10 is a flowchart of a compaction evaluation process. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Each drawing is merely a schematic illustration to allow a sufficient understanding of the present invention. Therefore, the present invention is not limited to the illustrated examples. In each drawing, common or similar components are designated by the same reference numerals, and redundant explanations thereof will be omitted.

[0017] [composition] FIG. 1 is a functional configuration diagram of a compaction evaluation system according to this embodiment. The compaction evaluation system 100 is a system for evaluating the compaction of concrete C transported to a predetermined pouring area for dam construction, for example. The compaction evaluation system 100 includes a calculation device 1 and a compaction device 2. The calculation device 1 is a computer that executes predetermined information processing. The compaction device 2 applies vibration (compaction energy) to the concrete C and is attached to the tip of an arm 31 of a hydraulic excavator 3, which is a base machine. The calculation device 1 is communicatively connected to devices (including a receiver 33, described below) included in the hydraulic excavator 3. The calculation device 1 includes hardware such as an input unit, an output unit, a control unit, and a memory unit. For example, if the control unit is configured as a central processing unit (CPU), information processing by the computer including the control unit is realized by program execution processing by the CPU. Furthermore, the memory unit included in the computer stores various programs for implementing the functions of the computer in response to commands from the CPU. This allows collaboration between software and hardware. The program can be provided by recording it on a recording medium or via a network.

[0018] The compaction device 2 is a device that compacts concrete used in dam construction. The compaction device 2 is equipped with four vibrators 21, a mounting member 22, and two GNSS (Global Navigation Satellite System) sensors 23. The vibrator 21 is an internal vibrator that compacts the concrete C. The vibrator 21 is approximately cylindrical and can be inserted into the concrete C in the pouring area. The mounting member 22 is a member for attaching the vibrator 21 to the hydraulic excavator 3, and the vibrator 21 can be attached to the bottom surface of the mounting member 22. Four vibrators 21 are arranged side by side on the mounting member 22. Furthermore, the tip of the arm 31 of the hydraulic excavator 3 can be attached to the top surface of the mounting member 22. The hydraulic excavator 3 can control the arm 31 and the boom 32 to set the attitude of the vibrator 21 and the mounting member 22. Therefore, the hydraulic excavator 3 can insert the vibrator 21 into the concrete C vertically or obliquely.

[0019] The GNSS sensors 23 are sensors that detect the positions of the vibrators 21 by satellite positioning. The two GNSS sensors 23 can be mounted, for example, spaced apart on the top surface of the mounting member 22, but the mounting positions of the GNSS sensors 23 can be designed as appropriate. Therefore, the positional relationship (offset distance) between each of the GNSS sensors 23 and each of the vibrators 21 can be determined regardless of the attitude of the mounting member 22. The GNSS sensors 23 can also implement RTK (Real Time Kinematics) positioning. This allows the position of each of the vibrators 21 to be detected in real time with high accuracy (for example, with an accuracy of 10 cm). Each of the GNSS sensors 23 is communicably connected to a receiver 33 provided in the hydraulic excavator 3. The receiver 33 can receive signals detected by the GNSS sensors 23. The signals detected by the GNSS sensors 23 include information indicating the positions of each of the vibrators 21.

[0020] The arithmetic device 1 includes a position acquisition unit 11, a calculation unit 12, and a display control unit 13. The position acquisition unit 11 acquires the position of each vibrator 21. Specifically, the position acquisition unit 11 can acquire the position of each vibrator 21 from a receiver 33 that receives signals detected by the GNSS sensors 23. Here, because the compaction device 2 includes two GNSS sensors 23, the position acquisition unit 11 can acquire not only the position of each vibrator 21 but also the orientation of the compaction device 2 based on signals from each GNSS sensor 23. The same applies when the compaction device 2 includes three or more GNSS sensors 23. The calculation unit 12 calculates the compaction energy when the vibrator 21 applies internal vibrations to the poured concrete C. The display control unit 13 displays the compaction evaluation result on the display 4 using the integrated value calculated by the calculation unit 12. The compaction evaluation result is a result showing the degree of compaction of concrete C using a predetermined evaluation method, and can show the degree of compaction in real time during pouring work. The display 4 is a display unit that displays the results of information processing by the computing device 1. The computing device 1 may be installed in a site office that manages construction rather than inside the hydraulic excavator. Furthermore, in addition to a personal computer, a tablet may be installed in the driver's seat of the hydraulic excavator.

[0021] [Compaction energy details] For example, the calculation unit 12 can calculate the compaction energy when the vibrator 21 applies internal vibration to the concrete using the following formula 1.

number

[0022] As shown in Equation 1, the calculation unit 12 can calculate the integrated value of compaction energy (E) based on the distance (x) from the axis of the vibrator 21 and the vibration time (t). For example, the time required for one cycle of processing by the program of the arithmetic device 1 is assumed to be one second. The calculation unit 12 calculates the compaction energy per unit time. The calculation unit 12 also adds the calculated compaction energy per unit time to the calculation result of the previous cycle. By repeating this procedure, the calculation unit 12 can calculate the integrated value of compaction energy (E). In addition, the calculation unit 12 can calculate the integrated value of compaction energy in each partial range obtained by dividing the pouring range into any size.

[0023] [Compaction completion energy] Compaction completion energy is a target value for compaction energy and can be set for each concrete. Compaction completion energy can be determined in advance using a measurement method using a dedicated compaction test device. Since the measurement method is well known, we will provide an overview. Concrete compaction can be thought of as the process of deforming concrete from its apparent bulk density in the formwork before compaction to the theoretical density of the concrete mix. The degree of compaction is defined as the ratio of the true volume of the concrete sample to the cylindrical volume of the cylindrical container (the height of the highest point of the sample in the compaction test device). This ratio is called the compaction degree γ. The compaction test device is equipped with a vibrator that can vibrate the sample in the cylindrical container. The compaction degree γ can be calculated as the ratio of the height of the sample at any compaction time to the height of the sample when compacted to the theoretical unit volume mass based on the mix. For example, the compaction completion energy can be determined as the compaction energy required for the compaction degree γ to reach 99.5%.

[0024] Figure 2 is an explanatory diagram of the cumulative compaction energy and compaction completion energy. Figure 2 illustrates the introduction of two-dimensional coordinate axes to the internal space of the concrete into which the vibrator 21 is inserted. The horizontal axis of the coordinate axes represents the distance x from the axial center of the vibrator 21. The vertical axis of the coordinate axes represents the compaction energy E. As shown in Equation 1, when the vibration time t is fixed, the compaction energy E monotonically decreases as the distance from the axial center of the vibrator 21 increases. Furthermore, when the distance x from the axial center of the vibrator 21 is fixed, the compaction energy E monotonically increases as the vibration time t increases. Curves L1 to L5 represent the compaction energy E when the vibration time t is T / 4, 3T / 8, T / 2, 3T / 4, and T, respectively. As the vibration time t increases, the distribution of compaction energy E versus distance x progresses as shown by the curves L1 → L2 → L3 → L4 → L5. As shown in Figure 1, as the vibration time t increases, the compaction energy E decreases to the compaction completion energy E thIn other words, a substantially circular compaction completion range R1 (in plan view of the pouring range) with the vibrator 21 at the center is determined.

[0025] [Compaction evaluation results] During concrete pouring, the hydraulic excavator 3 inserts the vibrator 21 into any subrange of the pouring area, applies vibrations for a predetermined period of time to compact the concrete, and then removes the vibrator 21 from the concrete. The hydraulic excavator 3 performs this operation multiple times for different subranges of the pouring area. As a result, the compaction energy in each subrange of the pouring area accumulates, and the calculation unit 12 can calculate the integrated value of the compaction energy in each subrange of the pouring area. The calculation unit 12 can obtain a compaction evaluation result using the calculated integrated value. The compaction evaluation result can be a collection of the integrated values ​​of the compaction energy in each subrange of the pouring area over the entire pouring area. The display control unit 13 displays the compaction evaluation result on the display 4 in a predetermined display format.

[0026] FIG. 3 is an example of a screen displaying the compaction evaluation results. Each partial area of ​​the pouring area is shown as a rectangular mesh. The side dimension of the mesh can be, for example, 10 cm in actual size, but is not limited to this. For example, the display control unit 13 can display the integrated value of compaction energy for each partial area in a shading pattern (color map, heat map, contour display) using a predetermined color (e.g., green). In FIG. 3, the integrated value of compaction energy for each partial area is depicted using a 10-level (1 to 10) "inside vibration completion color scheme."

[0027] The display control unit 13 can display on the display 4, as the compaction evaluation result, the ratio of the integrated value to the compaction completion energy of the concrete for each partial range. For example, as shown in FIG. 3, the display control unit 13 can display a numerical value (1 to 10) corresponding to the shade of each mesh displayed in shaded areas as the ratio of the integrated value to the compaction completion energy. The numerical value k (=1, . . . , 10) indicating the "vibration completion color scheme" indicates that the ratio of the integrated value to the compaction completion energy is ((k-1) × 10 / 100 to k × 10 / 100) (%). The display control unit 13 can also identify the compaction completion range using the integrated value of compaction energy and display it on the display 4. For example, if compaction is considered to be complete when the ratio of the integrated value to the compaction completion energy reaches 90%, the display control unit 13 can identify and display the range occupied by the mesh with the numerical value "9" as the compaction completion range R2.

[0028] The display control unit 13 can display on the display 4, as the compaction evaluation result, the partial range where the integrated value of compaction energy exceeds the compaction completion energy. For example, the display control unit 13 can display the partial range where vibration is excessive in shades according to the degree of excess (color map, heat map, contour display). In FIG. 3, the partial range where vibration is excessive and the degree of excess are depicted using four levels (1 to 4) of "excessive vibration color scheme." The color used to shade the degree of excess can be a different color (e.g., red) from the color used to shade the integrated value of compaction energy, but in FIG. 3, for convenience of illustration, the degree of excess is displayed using shades of hatching. For example, the display control unit 13 can identify and display a wide range of excessively vibrated partial ranges as an excessively compacted range R3.

[0029] [process] Next, the compaction evaluation process performed by the arithmetic device 1 will be described. FIG. 4 is a flowchart of the compaction evaluation process. The arithmetic device 1 performs the compaction evaluation process every cycle (for example, every second) in response to a command from a program. The compaction evaluation process can be started, for example, by starting the hydraulic excavator 3 and the compaction device 2. First, the arithmetic device 1 acquires the compaction completion energy of the concrete to be poured, which has been measured in advance by the compaction test device (step S1). Note that step S1 only needs to be performed in the first cycle and can be omitted in subsequent cycles. Next, the position acquisition unit 11 of the arithmetic device 1 acquires the positions of the vibrators 21 via the GNSS sensor 23 and the receiver 33 (step S2). Next, the arithmetic device 1 determines whether the vibrators 21 are vibrating (step S3). Specifically, the arithmetic device 1 can make this determination by acquiring an electrical signal related to the on / off state of the vibration of the vibrators 21, depending on the on / off state of the operating lever provided on the hydraulic excavator 3.

[0030] If vibration is being applied (Yes in step S3), the calculation unit 12 of the arithmetic device 1 calculates the integrated value of the compaction energy of the concrete (step S4). The calculation unit 12 calculates the compaction energy per vibration time (e.g., 1 second) of one cycle using Equation 1. The calculation unit 12 also calculates the compaction energy for each partial range of the pouring range. The calculation unit 12 also adds the compaction energy of the current cycle to the integrated value calculated up to the previous cycle, updating the integrated value for each partial range. After step S4, or if vibration is not being applied (No in step S3), the display control unit 13 of the arithmetic device 1 performs a color map drawing process (step S5). Specifically, the display control unit 13 causes the display 4 to draw a color map indicating the integrated value of the compaction energy for each partial range at the time of completion of the current cycle as the compaction evaluation result. The display control unit 13 can display on the display 4, as the compaction evaluation result, the ratio of the integrated value to the compaction completion energy of the concrete for each partial range. The display control unit 13 can also display on the display 4, as the compaction evaluation result, the partial range in which compaction has been completed with respect to the ratio (compaction completion range R2). The display control unit 13 can also display on the display 4, as the compaction evaluation result, the partial range in which the integrated value has exceeded the compaction completion energy (over-compaction range R3). The end of step S5 completes one cycle of the program, and the calculation device 1 performs the compaction evaluation process for the next cycle. When a program end command is received, the compaction evaluation process in FIG. 4 ends.

[0031] According to this embodiment, the compaction evaluation results are visualized using the integrated value of compaction energy, so the compaction phenomenon inside the concrete can be captured and the compaction state inside the concrete can be quantitatively evaluated. Unlike conventional systems that use the hydraulic pressure of a vibrator for evaluation, this embodiment does not complicate the system configuration and does not limit the improvement of evaluation accuracy. Furthermore, while conventional systems required vibration application as a confirmation step to confirm the completion of compaction, the present invention captures the compaction phenomenon, so this confirmation step is unnecessary and the work time can be shortened. In addition, excessive vibrations caused by the inspection work, i.e., excessive compaction, can be avoided. Furthermore, conventional construction management requires compaction in a set order, within a set range, and at set intervals, which significantly limits the degree of freedom in work. In contrast, this embodiment quantitatively evaluates the compaction state inside the concrete, thereby providing the flexibility to change the required work in real time, thereby increasing the degree of freedom in work.

[0032] In addition, the completed compaction range can be easily confirmed. In addition, since the partial range where compaction is insufficient can be visualized, it is easy to confirm the partial range where additional vibration is required. In addition, since it is possible to visualize areas where compaction is excessive, it is easy to identify areas where vibration should be prohibited. Furthermore, the configuration of the compaction evaluation system 100 of this embodiment makes it possible to grasp the posture of the compaction device. Furthermore, since the positional relationship between the position sensors and the vibrators can be acquired in advance, the position and posture of each vibrator can be grasped using the positions of each position sensor. As a result, it is possible to improve the accuracy of processing by the arithmetic device, such as identifying the vibration position of the vibrator and calculating the compaction energy.

[0033] [Variations] (a): In this embodiment, the arithmetic device 1 is externally connected to the hydraulic excavator 3 so as to be able to communicate with it. However, the arithmetic device 1 may be configured to be built into the hydraulic excavator 3. The same applies to the display 4. Furthermore, the arithmetic device 1 is not limited to the hydraulic excavator 3, and may be other types of construction machinery such as a crane. (b) In this embodiment, the calculation of compaction energy has been described for the case where the vibrator 21 is inserted vertically into the concrete (see FIG. 2). However, even if the vibrator 21 is inserted obliquely into the concrete, it is possible to calculate the compaction energy by performing well-known geometric offset correction. (c) In this embodiment, the position of the vibrator 21 is detected using the GNSS sensor 23. However, for example, the position of the vibrator 21 may be automatically tracked using a total station. (d): In this embodiment, the vibration time of the vibrator 21 is obtained by operating an operating lever provided on the hydraulic excavator 3 to acquire an electrical signal related to the on / off of the vibration of the vibrator 21. The vibration time acquired in this manner is accurate when the timing of the insertion and extraction of the vibrator 21 coincides with the timing of the on / off of the vibration of the vibrator 21. A sufficiently accurate vibration time can be obtained when the difference between the two timings is extremely small. Here, an acceleration sensor that detects the vibration acceleration of the vibrator 21 may be provided on the vibrator 21, the mounting member 22, or the like to monitor the vibration acceleration, which depends on the consistency of the concrete. By tracking the timing of increases and decreases in the vibration acceleration, the timing of the insertion and extraction of the vibrator 21 and the timing of the on / off of the vibration of the vibrator 21 can be reliably determined, and an accurate vibration time can be obtained as the vibration time of the vibrator 21 while it is inserted into the concrete. In other words, it is not necessary to measure the time of idle vibration of the vibrator 21 when it is not inserted. Therefore, the calculation unit 12 can calculate the accurate compaction energy using Equation 1 or the like. (e) By installing a program that functions as the arithmetic device 1 of this embodiment in a robot that performs concrete pouring and performing the concrete pouring work, unmanned automatic concrete pouring can be realized.

[0034] (f): It is also possible to realize a technology that appropriately combines the various technologies described in this embodiment. (g) The software described in this embodiment can be realized as hardware, and vice versa. (h) In addition, the components of the present invention may be modified as appropriate within the scope of the invention. [Explanation of symbols]

[0035] 100 Compaction Evaluation System 1 Computing device 11 Position acquisition part 12 Calculation section 13 Display control unit 2 Compaction equipment 21 Vibrator 22 Mounting material 23 GNSS sensor 3. Hydraulic excavator 31 Arm 32 Boom 33 Receiver 4 Display (display unit) C. Concrete R1, R2 Compaction completion range R3 Excessive compaction range

Claims

1. A plurality of vibrators inserted into the concrete in the casting area; a computing device, The computing device a position acquisition unit that acquires the position of each of the vibrators; A calculation unit that calculates an integrated value of compaction energy in each partial range of the pouring range based on the distance from the axis of the vibrator and the vibration time; A compaction evaluation system comprising: a display control unit that displays the compaction evaluation results on a display unit using the calculated integrated value.

2. The compaction evaluation system according to claim 1, wherein the display control unit causes the display unit to display, as the compaction evaluation result, the ratio of the integrated value to the compaction completion energy of the concrete for each partial range.

3. The compaction evaluation system according to claim 2 , wherein the display control unit causes the display unit to display, as the compaction evaluation result, a partial range in which the integrated value exceeds the compaction completion energy.

4. a compaction device including a plurality of position sensors and an attachment member that is attached to the construction machine; the plurality of vibrators and the plurality of position sensors are attached to the attachment member; The compaction evaluation system according to any one of claims 1 to 3, wherein the position acquisition unit acquires the position of each of the vibrators and the orientation of the compaction device based on signals from each of the position sensors.

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