JP2024066559A - Green cutting device, work system and program - Google Patents

Abstract

[Problem] To simplify automatic travel control of a green cutting device, and to improve the quality of pouring joints by performing green cutting work at an appropriate timing. [Solution] A green cutting device 10 includes a device body 11 having a travel unit 12, a time information input means for inputting time information when compaction work of concrete 3 is completed, an area definition means for defining a work prohibited area 2a in which work by the device body 11 is prohibited in a work area 22 so as to be reduced according to the elapsed time from the time information inputted by the time information input means, a mapping means for creating map information of the area traveled by the device body 11, a self-position estimation means for estimating the position of the device body 11, and a travel control means for driving and controlling the travel unit 12 based on the positional relationship between an area 2b excluding the work prohibited area 2a and the device body 11 in the work area 2. [Selected Figure] Figure 1

Description

The present invention relates to a green cutting device, an operating system, and a program.

When constructing large concrete structures such as dam embankments, for example, the concrete structure is divided into multiple layers, and concrete is poured in layers starting from the bottom up. After each layer is poured, light particles in the concrete rise to the surface, forming a fragile laitance layer on the surface of the concrete. To ensure sufficient strength, durability, and watertightness at the pouring joints, it is necessary to remove the laitance layer that has formed on the surface of the lower concrete layer before pouring the upper layer of concrete. The process of removing the laitance layer in this way is called green cut or laitance treatment.

Conventionally, there is known a technology for automatically driving a green cutting device for removing the laitance layer on the surface of concrete. In such a technology, a management computer capable of communicating with the green cutting device compares GPS surveying data from a GPS surveying device mounted on the green cutting device with a preset planned driving route. Then, the management computer transmits predetermined control data to a control unit that controls the driving mechanism of the green cutting device so that the green cutting device is guided along the planned driving route. This drives and controls the driving mechanism of the green cutting device, allowing the green cutting device to automatically drive along the planned driving route previously input into the management computer.

JP 2002-285702 A

Incidentally, green cutting is performed after a sufficient amount of time has passed since concrete was poured, when the concrete surface has hardened to a certain extent. In addition, the hardening of concrete and the hardening of the surface are affected by weather conditions such as temperature, so the start time of green cutting must be set accordingly. On the other hand, if more time passes and the concrete hardens too much, it becomes difficult to remove the laitance layer uniformly, which leads to reduced workability and deterioration of the quality of the pouring joint. In other words, even within the same work area, there is a time difference between the start and end positions of pouring, and the progress of concrete hardening differs, resulting in differences in the condition of the concrete surface due to this time difference.
Therefore, when performing green cutting work using conventional technology related to the automatic driving of green cutting equipment, it is necessary to set the planned driving route for the green cutting equipment and input it into the management computer every time the work is performed. Moreover, as mentioned above, the condition of the concrete surface layer is different at the pouring start position and the pouring end position. Therefore, it is necessary to divide the concrete surface layer into multiple areas, appropriately set the planned driving time for each of the multiple areas, and input it into the management computer, which is cumbersome.

The present invention was made in consideration of the above circumstances, and its objective is to simplify automatic travel control of the green cutting device and improve the quality of the construction joint by performing green cutting work at the appropriate time.

In order to solve the above problems, the present invention provides a green cut device for removing a laitance layer from a surface layer of concrete within a predetermined work area where concrete has been poured, comprising:
A device body having a running part;
a time information input means for inputting time information when the concrete compaction work is completed;
an area defining means for defining a range of a work prohibited area in which work by the device body within the work area is prohibited so as to be reduced in accordance with the elapsed time from the time information input by the time information input means;
a mapping means for generating map information of a range in which the device body has traveled within the work area;
a self-position estimation means for estimating a position of the device body within the working area;
The present invention is characterized in that it comprises a driving control means that drives and controls the running unit based on an area of the work area excluding the work prohibited area and a positional relationship with the device main body estimated by the mapping means and the self-position estimation means.

The invention described in claim 2 is the green cut device described in claim 1,
A weather information input unit for inputting weather information for a region including the work area is further provided,
The area defining means defines the range of the work prohibited area so as to be reduced in accordance with the elapsed time and the weather information input by the weather information input means.

The present invention relates to a work system, comprising:
The green cut device according to claim 1 or 2,
a time information management device that is communicably connected to the green cutting device and that manages time information when the compaction work of the concrete poured in the work area is completed,
the time information management device includes a time information transmission means for transmitting the time information to the green cut device,
The green cut device is characterized in that the time information transmitted from the time information management device is input by the time information input means.

The invention described in claim 4 is the work system described in claim 3,
The time information management device constitutes an external compaction management system for managing the compaction work of the concrete by the compaction machine,
The compaction management system determines the progress of the concrete compaction work performed by the compaction machine, and the time information management device acquires the time information based on the results of the determination.

The invention described in claim 5 is a program,
A computer installed in a green cut device that has a device body having a traveling unit and performs a laitance layer removal operation on the surface of concrete within a predetermined work area where concrete has been poured,
a time information input means for inputting time information when the concrete compaction work is completed;
an area defining means for defining a range of a work prohibited area in which work by the apparatus body within the work area is prohibited so as to be reduced in accordance with the elapsed time from the time information input by the time information input means;
a mapping means for generating map information of the range in which the device body has traveled within the work area;
a self-position estimation means for estimating a position of the device main body within the working area;
The present invention is characterized in that it functions as a driving control means that drives and controls the running unit based on the positional relationship between the area of the work area excluding the work prohibited area and the device main body estimated by the mapping means and the self-position estimation means.

The invention described in claim 6 is the program described in claim 5,
causing the computer to function as a weather information input means for inputting weather information for a region including the work area;
The area defining means defines the range of the work prohibited area so as to be reduced in accordance with the elapsed time and the weather information input by the weather information input means.

According to the present invention, automatic travel control of the green cutting device can be performed simply, and the quality of the pouring joint can be improved by performing the green cutting work at an appropriate time.

FIG. 2 is a perspective view showing a dam embankment with a work area. FIG. 1 is a diagram illustrating the flow of pouring concrete. FIG. 2 is a diagram illustrating a configuration of a green cut device. FIG. 2 is a diagram illustrating a configuration of a control device. FIG. 1 is a diagram illustrating the configuration of a work system including a green cutting device. FIG. 1 is a diagram illustrating the flow of green cutting work. FIG. 1 is a diagram illustrating the flow of green cutting work. FIG. 1 is a diagram illustrating the flow of green cutting work. This is a diagram explaining a configuration in which a work system including a green cutting device is linked to an external compaction management system.

The following describes the embodiments of the present invention with reference to the drawings. However, the embodiments described below have various limitations that are technically preferable for implementing the present invention, but the technical scope of the present invention is not limited to the following embodiments and illustrated examples.

1, reference numeral 1 denotes a large-scale concrete structure, which in this embodiment denotes a dam embankment. Other examples of large-scale concrete structures include buildings and bridges.
Such large-scale concrete structures, including the dam embankment 1, are constructed in a number of separate layers, and are constructed by pouring concrete 3 in order from the bottom layer onwards.
After each layer of concrete is poured, light particles in the concrete 3 rise to the surface, forming a fragile laitance layer 4 on the surface of the concrete 3. If the upper layer of concrete 3 is poured without removing this laitance layer 4, it is difficult to provide sufficient strength, durability, and watertightness to the pouring joint between the lower and upper layers. Therefore, it is necessary to remove the laitance layer 4 from the lower layer of concrete 3 before pouring the upper layer of concrete 3. A green cut device 10 is used to remove the laitance layer 4.

1, reference numeral 2 indicates a work area from which the laitance layer 4 is removed by the green cut device 10. That is, the work area 2 is a portion of the dam body 1 into which concrete 3 has been poured and its surface layer, and is surrounded by, for example, formwork.
The concrete 3 to be poured into the work area 2 is put into a bucket and transported by a crane to above the planned pouring position in the work area 2. The bucket is then lowered to a height where the concrete can be poured into the planned pouring position, and the concrete 3 is released from that position. In this way, the concrete 3 is poured. The squares shown in the work area 2 in Figure 1 represent, for example, a bucket full of concrete 3.

As shown in Fig. 2, the concrete 3 is poured into the work area 2 in order from the upstream side to the downstream side. The concrete 3 is poured from one side to the other. That is, for example, from the right side to the left side when viewed from the downstream side. This results in a gap (time difference) in the pouring start time (pouring end time) of the concrete 3 between the upstream side and the downstream side within the work area 2.
After the concrete 3 is poured into the work area 2, it is compacted by a vibrator. This compaction work is also performed in the same order as the concrete 3 was poured, so there is a gap in the time it takes for the concrete 3 to be compacted between the upstream and downstream sides.

When a certain time has passed since the compaction of the concrete 3 is completed, the above-mentioned laitance layer 4 is formed on the surface layer of the concrete 3. A gap also occurs in the formation of this laitance layer 4 between the upstream and downstream sides of the work area 2. In other words, a gap also occurs in the start time of the removal work of the laitance layer 4 by the green cut device 10 between the upstream and downstream sides within the work area 2.
The hardening of the concrete 3 and the setting of the surface layer are affected by weather conditions such as temperature. Therefore, the start time of the laitance layer 4 removal work needs to take into account not only the time when the compaction of the concrete 3 is completed, but also meteorological information.

The green cutting device 10 for removing the laitance layer 4 from the surface of concrete 3 poured into the work area 2 comprises an apparatus main body 11 and a control device 20 for performing green cutting work using this apparatus main body 11, as shown in Figure 3.
The device main body 11 has a running section 12 for running the device main body 11, a removal work section 13 for performing green cutting work, and a sensor section 14 for sensing the environment around the work area 2.

The device body 11 is provided with the structural parts necessary for performing the laitance layer removal work, and functions as the housing of the green cut device 10.

The running unit 12 includes a plurality of tires 12a and a drive unit 12b that drives the plurality of tires 12a to rotate, and is provided at the bottom of the device body 11. The running unit 12 also includes a steering mechanism that adjusts the orientation of the plurality of tires 12a to change the traveling direction, a brake that stops the rotation of the plurality of tires 12a, and the like.
In the present embodiment, the running portion 12 is made up of a plurality of tires 12a, but is not limited to this and may be made up of caterpillars (crawlers).

The removal work unit 13 includes multiple sets of brushes 13a and drive units 13b that rotate the brushes 13a, and is provided at the bottom of the device body 11. The removal work unit 13 also includes a lifting mechanism that moves the multiple sets of brushes 13a and drive units 13b closer to or farther from the laitance layer 4. In other words, when the brushes 13a are lifted, the green cutting work is not performed, and when the brushes 13a are lowered so that they are in contact with the laitance layer 4, the green cutting work is performed.
In this embodiment, the removal work unit 13 is a brush 13a, but is not limited to this and may be, for example, a chipping device or a high-pressure washer.

The sensor unit 14 is used for self-position estimation processing and mapping processing, which will be described later, and is provided on the upper part of the device body 11 in this embodiment.
Examples of the type of sensor used in the sensor unit 14 include an optical distance measuring sensor such as LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) and a camera. In the present embodiment, an optical distance measuring sensor is used, but a camera may be used, or an optical distance measuring sensor and a camera may be used in combination.
Optical distance measuring sensors can measure the scattered light from a pulsed laser and analyze the distance to a distant object and the properties of that object. Optical distance measuring sensors can obtain two-dimensional (X, Y coordinates) or three-dimensional (X, Y, Z coordinates) point cloud data regardless of the surrounding brightness.
As the camera, a single-lens camera, a compound-eye camera, an RGB-D camera, or the like is used, and the surrounding environment can be acquired as image data.

The control device 20 is a computer built into the device body 11, and controls the travel unit 12, removal unit 13, and sensor unit 14 provided in the device body 11. As shown in FIG. 4, the control device 20 includes a control unit 21, a memory unit 22, and a communication unit 23. The control device 20 also includes a timer function. The timer function is capable of counting up and counting down time based on the current date and time.

The control unit 21 is composed of a CPU, a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.
The ROM stores various programs executed by the CPU.
The CPU of the control unit 21 reads out various programs stored in the memory unit 22 and expands them into the RAM, executes various processes according to the expanded programs, and centrally controls the operation of each means in the green cutting device 10.

The storage unit 22 is composed of a non-volatile memory, a hard disk, or the like.
The storage unit 22 stores various programs executed by the control unit 21, various data required for executing the programs, and the like.

The various programs executed by the control unit 21 include a time information input program, a weather information input program, a mapping program, a self-position estimation program, an area definition program, a driving control program, and a working unit control program.

The various data required for the execution of the program include time information input by executing the time information input program, weather information input by executing the weather information input program, and mapping information and/or position information of the working area 2.

The communication unit 23 is composed of a communication module and the like.
The communication unit 23 is configured to transmit and receive various signals and data to and from other devices (such as a time information management device, a weather information providing device, etc.) connected via a communication network N in a wired or wireless manner.

The green cutting device 10 configured as described above is connected to the time information management device 30 via the communication network N for data communication, as shown in FIG. 5, to form a work system. That is, the work system of this embodiment includes the green cutting device 10 and the time information management device 30 that manages the time information when the compaction work of the concrete 3 poured in the work area 2 is completed.

The communication network N in this embodiment may include various communication network such as telephone line network, ISDN line network, optical fiber, mobile communication network, communication satellite line, CATV line network, other dedicated lines, etc., and an Internet service provider (i.e., the Internet) that connects them. It may also be a collective communication network in which various communication networks such as LAN (Local Area Network), WAN (Wide Area Network), WiFi (Wireless Fidelity), Bluetooth (registered trademark), and NFC (Near Field Communication) are connected to each other so that they can communicate with each other. The connection form may be wired, wireless, or a mixture of wired and wireless.

The time information management device 30 is for managing various time information required for the construction of the dam body 1, including time information when the compaction work of the concrete 3 poured into the work area 2 is completed, and in this embodiment, is configured by a general-purpose computer. Here, the general-purpose computer refers to a communication-enabled information terminal (management terminal) such as a PC, smartphone, tablet, etc.
Input of time information into the time information management device 30 is performed by operating an operation unit (e.g., a keyboard, a mouse, a touch panel, etc.) provided on the time information management device 30, or by inputting information from a mobile information terminal such as a smartphone connected to the time information management device 30 so as to be capable of data communication. Input of time information is also performed by the construction manager or a person instructed by the construction manager.

Such a time information management device 30 includes a time information transmitting means for transmitting time information to the green cutting device 10 .
More specifically, the time information management device 30 comprises a control unit constituted by a CPU or the like, a memory unit in which various programs and various data executed by the control unit are stored, and a communication unit constituted by a communication module or the like.
The storage unit stores time information input by the construction manager or person in charge when the compaction work of the concrete 3 is completed. The storage unit also stores a time information transmission program for transmitting time information, and when the control unit executes this time information transmission program, the time information is transmitted from the communication unit to the green cutting device 10 via the communication network N. In other words, the time information transmission program functions as a time information transmission means in cooperation with the control unit and the communication unit.

In addition, since the time information management device 30 is connected to the green cutting device 10 so as to be capable of data communication, it does not necessarily have to be installed within the construction site of the dam embankment 1, and may be located in a remote location.
Furthermore, if there are multiple work areas 2 in the dam body 1, the time information when the compaction work of the concrete 3 in the multiple work areas 2 is completed may be managed collectively by the time information management device 30. Furthermore, if there are construction sites for large-scale concrete structures all over the country, the time information when the compaction work of the concrete in the multiple work areas at these construction sites may be managed collectively by the time information management device 30.

Furthermore, as shown in FIG. 5, the work system of this embodiment is connected to the time information management device 30 via the communication network N so as to be capable of data communication, and further includes a weather information providing device 40 for providing weather information for the area including the work area 2 to the outside.

The weather information providing device 40 is a server device managed by an organization that handles weather information (for example, the Japan Meteorological Agency, a weather information company, etc.), and is composed of a PC, a dedicated device, etc.
Agencies that handle meteorological information collect weather information such as weather (such as sunny, cloudy, rainy, etc.), wind direction and speed, temperature, daily range, humidity, solar radiation, radiation balance, and rainfall for each area across the country (for example, in 250 m mesh units) and by time period (for example, by minute, hour, day, week, etc.).

The weather information providing device 40 has a function of transmitting the analyzed weather information to an external device such as the time information management device 30 .
In this embodiment, the transmission of weather information from the weather information providing device 40 to the time information management device 30 is set to be triggered by inputting time information to the time information management device 30. In this case, signal data for establishing transmission and reception of weather information is exchanged appropriately between the time information management device 30 and the weather information providing device 40 via the communication network N. However, the timing of transmission of weather information to the time information management device 30 is not limited to this, and may be periodically performed, for example, once every few hours, or weather information may be transmitted from the weather information providing device 40 only when a request is received from the time information management device 30.

The time information management device 30 is equipped with a weather information transmission means for transmitting to the green cutting device 10 the weather information received from the weather information providing device 40 via the communication network N and input to the memory unit.
The weather information transmission means is composed of a control unit, a communication unit, and a weather information transmission program executed by the control unit. In other words, the storage unit of the time information management device 30 stores a weather information transmission program for transmitting weather information, and when the control unit executes this weather information transmission program, the weather information is transmitted from the communication unit to the green cutting device 10 via the communication network N.
It is preferable that the time information management device 30 transmits weather information to the green cutting device 10 after transmitting the time information. Since the weather is prone to change in mountainous areas where dams are constructed, it is preferable to transmit weather information to the green cutting device 10 after transmitting the time information rather than before. However, this is not limiting and the two may be transmitted almost simultaneously.

The green cutting device 10 in this embodiment operates as follows.

(Time and weather information input processing)
When performing green cutting work in the work area 2 using the green cutting device 10, it is necessary to obtain time information from the time information management device 30 and store it in the memory unit 22 as data required for executing various programs.
As described above, the time information when the compaction work of the concrete 3 is completed is input and stored in the time information management device 30. The time information management device 30 also stores weather information transmitted from the weather information providing device 40. The time information stored in the time information management device 30 is then transmitted to the green cutting device 10 by the time information transmission means of the time information management device 30. Furthermore, the weather information is also transmitted to the green cutting device 10 by the weather information transmission means of the time information management device 30.

The time information transmitted from the time information management device 30 to the green cutting device 10 is received by the communication unit 23 of the green cutting device 10. The time information received by the communication unit 23 is input to the control device 20 (storage unit 22).
To explain in more detail, as described above, the time information input program is stored in the memory unit 22 of the green cutting device 10. This time information input program is for inputting the received time information into the control device 20 (memory unit 22).
Therefore, when the communication unit 23 receives time information, the control unit 21 executes the time information input program, and the time information is stored in the storage unit 22. In other words, the time information input program functions as a time information input means in cooperation with the control unit 21 and the communication unit 23.

The weather information transmitted from the time information management device 30 to the green cutting device 10 is received by the communication unit 23 of the green cutting device 10. The weather information received by the communication unit 23 is input to the control device 20 (storage unit 22).
More specifically, as described above, the weather information input program is stored in the memory unit 22 of the green cutting device 10. This weather information input program is for inputting received weather information into the control device 20 (memory unit 22).
Therefore, when the communication unit 23 receives weather information, the control unit 21 executes the weather information input program, and the weather information is stored in the storage unit 22. In other words, the weather information input program functions as a weather information input means in cooperation with the control unit 21 and the communication unit 23.

At the time when the time information and weather information are input into the memory unit 22, the entire work area 2 becomes a work prohibited area 2a, and green cutting work using the green cutting device 10 (device main body 11) is prohibited.
When time information when the compaction work of the concrete 3 is completed is input to the storage unit 22, the range of the work prohibited area 2a is reduced according to the time elapsed since that time information. Furthermore, when meteorological information is input to the storage unit 22, the time until the range of the work prohibited area 2a is reduced is adjusted according to the contents of the meteorological information.
That is, the area defining program functions as an area defining means in cooperation with the control unit 21 .

More specifically, as described above, the area definition program is stored in the memory unit 22 of the green cutting device 10. This area definition program is for defining the range of the work prohibited area 2a, in which work by the device main body 11 within the work area 2 is prohibited, so as to be reduced according to the elapsed time from the time information input by the time information input means.
Therefore, when the time information at which the compaction work of the concrete 3 is completed is input to the memory unit 22, the control unit 21 executes the area definition program, which automatically calculates the time until the work prohibited area 2a in the work area 2 is reduced, and when that time has elapsed, the work prohibited area 2a in the work area 2 is reduced as shown in Fig. 6. In other words, when the control unit 21 executes the area definition program, the time at which the green cutting work will start is derived.

Furthermore, as described above, when the control unit 21 executes the area definition program upon inputting time information into the memory unit 22, the time until the work prohibited area 2a is reduced within the work area 2 is automatically calculated, but the hardening time of the concrete 3 may depend on weather conditions. Therefore, the time until the work prohibited area 2a is reduced within the work area 2 is automatically calculated taking into account the contents of the weather information input into the memory unit 22. In other words, the time until the work prohibited area 2a is reduced within the work area 2 is adjusted based on the weather information and is advanced or delayed. In other words, the start time of the green cutting work is adjusted to be advanced or delayed.
In this embodiment, the time adjustment is performed based on, for example, the temperature in the weather information. The temperature management and curing method for the concrete 3 differ depending on the season in which the pouring work is performed, and the time to remove the formwork also differs depending on the temperature. In other words, the time it takes for the concrete 3 to develop strength differs depending on the temperature. For this reason, in this embodiment, the set temperature is determined in advance, and when automatically calculating the time until the work prohibited area 2a is reduced in the work area 2, the time until the work prohibited area 2a is reduced in the work area 2 is adjusted based on whether the temperature is below the set temperature or above the set temperature.
However, the present invention is not limited to this, and the time may be adjusted taking into account other information such as weather and humidity.

The area definition program is executed, the time until the work prohibited area 2a is reduced is automatically calculated, and when the work prohibited area 2a in the work area 2 is reduced after a predetermined time has elapsed, a workable area 2b is inevitably formed within the work area 2. This workable area 2b is an area in which green cutting work is permitted by the green cutting device 10 (device body 11). Therefore, when the workable area 2b is formed within the work area 2, the green cutting device 10 starts green cutting work.
As described above, the concrete 3 is in a state in which there is a gap in the pouring start time (compaction completion time of the concrete 3) between the upstream side and the downstream side of the work area 2. Therefore, the concrete 3 poured on the upstream side of the work area 2 will harden earlier than the concrete 3 poured on the downstream side. In other words, there is also a time gap in the formation of the laitance layer 4 on the surface layer of the concrete 3 between the upstream side and the downstream side of the work area 2, so the removal work of the laitance layer 4 (green cutting work) is carried out earlier on the upstream side.

It is assumed that the width by which the work prohibited area 2a is reduced by the area defining means is set in advance. In this embodiment, for example, as shown in Fig. 6 to Fig. 8, the work area 2 is set in advance to be divided into thirds, and when the work prohibited area 2a is reduced, it is reduced by thirds. However, this is not limited to this, and the area may be divided for each bucket used in pouring the concrete 3, or the area may be divided for each of a plurality of rows (indicated by the arrows going from right to left in Fig. 2) from the upstream side to the downstream side.
The size of the area by which the work prohibited area 2a is reduced may be changed based on the size of the entire work area 2 and weather information. That is, the larger the work area 2, the greater the time difference between the time information at which the compaction work of the concrete 3 is completed on the upstream side and the downstream side, and if the hardening time of the concrete 3 differs depending on the weather information, the size of the area by which the work prohibited area 2a is reduced may be adjusted appropriately. In that case, the size may be automatically adjusted by the area defining means, or may be changed by a setting input to the control device 20.

Next, the operation of the green cutting device 10 after the work prohibited area 2a in the work area 2 is reduced and the workable area 2b is formed will be described in more detail.
As described above, the memory unit 22 of the green cutting device 10 stores a mapping program, a self-position estimation program, a travel control program, and a working unit control program.

The mapping program is intended to create map information of the area traveled by the device main body 11 within the work area 2, and can create a map of the work area 2 based on information regarding the environment surrounding the work area 2 from the sensor unit 14.
More specifically, when the mapping program is executed by the control unit 21, the environment around the work area 2 is sensed. The sensor unit 14 in this embodiment is an optical distance sensor as described above, and can acquire information related to the sensed environment around the work area 2 as two-dimensional or three-dimensional point cloud data. A point cloud is a data format in which each pulse reflected from surrounding objects and terrain detected by the sensor unit 14 is expressed as a point. Then, based on the acquired point cloud data, a two-dimensional or three-dimensional map of the work area 2 can be created. The map information is stored in the memory unit 22.
This mapping program is executed simultaneously with the self-location estimation program.
Such a mapping program functions as a mapping means in cooperation with the control unit 21 and the sensor unit 14 .

The self-position estimation program is intended to estimate the position of the device main body 11 within the work area 2, and senses the environment around the work area 2 using the sensor unit 14, and can estimate the position of the device main body 11 relative to the work area 2 based on the sensing results.
More specifically, the self-location estimation program is executed by the control unit 21 at the same time as the mapping program. When the self-location estimation program is executed by the control unit 21, the sensor unit 14 senses the environment around the work area 2. Then, it is possible to estimate in two or three dimensions where the device body 11 is located on the map created by the mapping program. In addition, front, back, left and right are set for the device body 11, so that the orientation of the device body 11 can also be estimated.
Such a self-location estimation program functions as a self-location estimation means in cooperation with the control unit 21 and the sensor unit 14 .

The above-described mapping program and self-position estimation program are simultaneously executed by the control unit 21, thereby functioning as a so-called Simultaneous Localization and Mapping (SLAM).
SLAM refers to a function that simultaneously performs position determination and map creation. In other words, the device body 11 equipped with the sensor unit 14 can create a two-dimensional or three-dimensional environmental map by sensing the environment around the work area 2 while traveling. At the same time, the device body 11 can estimate its own position on the environmental map by sequentially estimating the amount of movement of the device body 11. With this type of SLAM, it is possible to perform self-position estimation even in an environment where no map exists. In addition, by utilizing the constructed map information, it is possible to perform green cutting work in every corner in the shortest time possible without repeating areas where green cutting work has been performed once.
By executing the mapping program and the self-location estimation program (i.e., SLAM), the locations in the workable area 2b that the device body 11 has passed through can be ascertained. Therefore, it can be ascertained which locations in the workable area 2b have completed green cutting work or not. In other words, green cutting work can be performed along the optimal route in the work area 2.

The driving control program is for controlling the driving of the traveling unit 12 based on the positional relationship between the area of the work area 2 excluding the work prohibited area 2a (workable area 2b) and the device main body 11 estimated by the self-position estimation program. Therefore, when the entire work area 2 is the work prohibited area 2a, the driving control program is not executed.
The travel control program is executed by the control unit 21 when the work prohibited area 2a in the work area 2 is reduced by the area definition program. When the travel control program is executed, the driving of the travel unit 12 of the device body 11 is controlled, and the device body 11 travels within the workable area 2b to perform green cutting work.
While the device body 11 is traveling within the work area 2, the above-mentioned mapping program and self-position estimation program are also executed, and the position and movement amount of the device body 11 are estimated while the driving of the traveling unit 12 of the device body 11 is controlled. This makes it possible to determine which locations in the workable area 2b have been completed or not, as described above. Therefore, when the green cutting work is completed for the entire workable area 2b, the driving control of the traveling unit 12 by the driving control program is stopped.
For example, if there is a waiting area for the green cutting device 10 near the work area 2, the traveling section 12 may be driven and controlled to guide the device body 11 to the waiting area when the green cutting work is completed. The waiting area is recognized by the green cutting device 10 as a place where the device body 11 can travel and where the green cutting work is not performed.
Such a driving control program functions as a driving control means in cooperation with the control unit 21 and the driving unit 12.

The working unit control program is for controlling the drive of the removal working unit 13 when green cutting work is being performed, and for controlling the stop of the removal working unit 13 when green cutting work is not being performed.
More specifically, when the area definition program reduces the prohibited work area 2a in the work area 2 to form a workable area 2b within the work area 2, the control unit 21 executes the program. When the work unit control program is executed, the removal work unit 13 of the device body 11 is driven and controlled, and the removal work (green cutting work) of the laitance layer 4 is performed by the removal work unit 13. That is, the brush 13a descends and comes into contact with the laitance layer 4, and the brush 13a is rotated by the drive unit 13b.
The position where the removal work of the laitance layer 4 by the removal work unit 13 is completed is determined based on the position information of the device main body 11 estimated by the self-position estimation means. When the green cutting work in the workable area 2b is completed, the brush 13a is raised and separated from the surface layer of the work area 2.
Such a working unit control program functions as working unit control means in cooperation with the control unit 21 and the removal working unit 13 .

As described above, after the work prohibited area 2a within the work area 2 has been reduced and the workable area 2b has been formed, the green cutting device 10 is configured to perform green cutting work by having the control unit 21 execute the mapping program, self-position estimation program, driving control program, and work unit control program.

Next, we will explain the flow of the laitance layer 4 removal work (green cutting work) using the green cutting device 10 and the work system.

First, for a given section of the dam body 1 under construction, the section after the completion of concrete pouring work is defined as the work area 2 that will be the target of green cutting work. The work area 2 may be defined, for example, based on coordinate information in the Construction Information Modeling (CIM) data of the dam body 1, or may be defined by the green cutting device 10 based on the above-mentioned SLAM.
It is assumed that the pouring of the concrete 3 is carried out based on the coordinate information of the CIM data.
Furthermore, when the work area 2 is defined by SLAM, the green cutting device 10 must be moved, so this is performed after the concrete 3 has hardened to a certain extent. At that time, the removal work unit 13 is controlled to stop.

In addition, when the pouring work of the concrete 3 is performed and the compaction work of the concrete 3 is completed, time information indicating the completion of the compaction work of the concrete 3 is input to the time information management device 30.
Here, the time information when the compaction work of the concrete 3 is completed refers to the time information when the compaction work of the concrete 3 in the entire work area 2 is finally completed. However, this is not limited to this, and time information may be input in units of an area of a bucket, or the area from the upstream side to the downstream side may be divided into a number of rows (indicated by the arrows going from right to left in FIG. 2) and time information may be input for each row.

When time information is input to the time information management device 30, the time information is transmitted to the green cut device 10. At this time, the weather information acquired from the weather information providing device 40 is also transmitted from the time information management device 30 to the green cut device 10.
When the green cutting device 10 receives time information and then weather information, and this time information and weather information are input into the memory unit 22, the control device 20 automatically calculates the time (elapsed time) until the work prohibited area 2a within the work area 2 is reduced, taking into account the weather information.

When the time has elapsed until the work prohibited area 2a within the work area 2 is reduced, a work permitted area 2b is formed within the work area 2 by the amount that the work prohibited area 2a has been reduced.
The green cutting device 10 then executes the mapping program and the self-position estimation program while also executing the travel control program to start traveling within the workable area 2b using SLAM. Furthermore, the green cutting device 10 executes the working unit control program to perform the green cutting work.

That is, in this embodiment, the work area 2 is divided into thirds. Therefore, when concrete 3 is poured from the upstream side to the downstream side and the concrete 3 is compacted, the upstream third of the area first becomes the workable area 2b. The green cutting device 10 performs the green cutting work from the upstream workable area 2b.
Subsequently, after a predetermined time has elapsed, the central area between the upstream side and the downstream side of the work area 2 becomes a workable area 2b. The green cutting device 10 performs green cutting work in the central workable area 2b.
After a further predetermined time has elapsed, the downstream third of the working area 2 becomes the workable area 2b. In other words, the entire working area 2 becomes the workable area 2b, and the green cutting device 10 performs the green cutting work in the downstream workable area 2b.

In the above-described manner, the laitance layer 4 removal operation (green cut operation) can be performed.
In this type of work flow, the main task at the site is to input the time information when the compaction work of the concrete 3 is completed. In other words, by simply inputting the time information when the compaction work of the concrete 3 is completed, the green cutting work can be performed automatically by the green cutting device 10.
Further concrete 3 is poured on top of the concrete 3 from which the laitance layer 4 has been removed, and a pouring joint is formed between the lower layer of concrete 3 and the upper layer of concrete 3.

According to this embodiment, the following excellent effects are obtained.
That is, the green cutting device 10 comprises an apparatus main body 11 having a running unit 12, a time information input means for inputting time information when compaction work of the concrete 3 is completed, an area definition means for defining the range of a work prohibited area 2a in which work by the apparatus main body 11 within the work area 2 is prohibited to be performed according to the elapsed time from the time information input by the time information input means, a mapping means for creating map information of the range traveled by the apparatus main body 11 within the work area 2, a self-position estimation means for estimating the position of the apparatus main body 11 within the work area 2, and a driving control means for driving and controlling the running unit 12 based on the area of the work area 2 excluding the work prohibited area 2a (workable area 2b) excluding the work prohibited area 2a (workable area 2b) and the positional relationship between the apparatus main body 11 estimated by the mapping means and the self-position estimation means. Therefore, it is possible to omit the pre-setting and input work of the planned driving route for automatically driving the green cutting device 10, and the green cutting device 10 can be easily driven automatically.
Furthermore, since the green cutting work can be performed at an appropriate timing in accordance with the progress of hardening of the concrete 3 poured into the work area 2, the laitance layer 4 on the surface of the concrete 3 can be uniformly removed, improving the quality of the pouring joints.
In addition, a program that causes the computer (control device 20) installed in the green cutting device 10 to function as a time information input means, an area definition means, a mapping means, a self-position estimation means, and a driving control means also has the same effect.

The green cutting device 10 further comprises weather information input means for inputting weather information for the region including the work area 2, and the area defining means defines the range of the work prohibited area 2a to be reduced in accordance with the elapsed time and the weather information input by the weather information input means, so that it is possible to adjust the time until the range of the work prohibited area 2a is reduced within the work area 2, taking into account the hardening time of the concrete 3, which is influenced by weather conditions. This allows the green cutting work to be performed at an appropriate timing in accordance with the progress of hardening of the concrete 3 poured into the work area 2, which contributes to improving the quality of the pouring joints.
A program that causes the computer (control device 20) mounted on the green cutting device 10 to function as a meteorological information input means also has the same effect.

The work system also includes a green cutting device 10, and a time information management device 30 that is communicatively connected to the green cutting device 10 and manages the time information when compaction work of the concrete 3 poured into the work area 2 is completed, and the time information management device 30 is equipped with a time information transmission means for transmitting time information to the green cutting device 10, and the green cutting device 10 inputs the time information transmitted from the time information management device 30 using a time information input means, so that time information can be input to the green cutting device 10 even from a remote location, and the green cutting device 10 can easily be operated automatically even in a remote location.
Furthermore, even if there are multiple sites where green cutting work is to be performed, they can be managed collectively by the time information management device 30, so that the green cutting device 10 can be easily operated automatically at the multiple sites.

[Modifications]
The embodiments to which the present invention can be applied are not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit of the present invention. Modifications are described below. The following modifications may be combined as far as possible. In each of the following modifications, elements common to the above-described embodiments are denoted by the same reference numerals, and descriptions thereof are omitted or simplified.

[Modification 1]
In the above embodiment, time information is input to the time information management device 30, but in this modified example, the time information is input directly to the green cutting device 10 by a person in charge. Although not shown, the control device 20 in the green cutting device 10 of this modified example has an operation unit (e.g., a keyboard, a mouse, a touch panel, etc.) for inputting time information to the memory unit 22. In other words, the person in charge operates the operation unit provided in the control device 20 to directly input time information to the control device 20.
Weather information may also be input in a similar manner.
According to this modified example, time information (weather information) can be input directly to the green cutting device 10 on-site, so that green cutting work can be easily performed without having to build a large-scale system, for example.

[Modification 2]
In the above embodiment, the time information management device 30 receives weather information from the weather information providing device 40, but in this modified example, the green cut device 10 receives weather information directly. That is, the green cut device 10 in this modified example is connected to the weather information providing device 40 via the communication network N so as to be able to perform data communication.
In this modified example, the timing of transmission of weather information to the green cut device 10 is set to be triggered by inputting time information to the green cut device 10. In this case, signal data for establishing transmission and reception of weather information is appropriately exchanged between the green cut device 10 and the weather information providing device 40 via the communication network N. However, the timing of transmission of weather information to the green cut device 10 is not limited to this, and may be periodically transmitted, for example, once every few hours.
According to this modified example, since meteorological information can be directly and automatically input to the green cutting device 10, for example, green cutting work can be easily performed without constructing a large-scale system.

[Modification 3]
In the above embodiment, the time information is input by the construction manager or a person in charge (i.e., a person) instructed by the construction manager through the time information management device 30. Also, in the above-mentioned first modification, the time information is input directly to the green cut device 10 by the person in charge. In contrast, in this modification, the time information is input to the green cut device 10 based on time information acquired by an external compaction system.

More specifically, the external compaction management system determines the progress of the concrete compaction operation by the compaction machine 60.
The method for determining the progress of the compaction work is not particularly limited, but in this modified example, the progress of the compaction work is determined, for example, by measuring the position of the vibrator 61 using a GNSS device, attaching an inclination sensor to the arm of a compaction machine 60 (e.g., a Vivac) equipped with a vibrator 61, detecting the amount of hydraulic oil flowing through the hydraulic pipes of the vibrator 61, and judging the smoothness of the concrete pouring surface using a scanner or camera.
Such a compaction management system has a function of installing a GNSS device in a compaction machine 60 equipped with a vibrator 61 and deriving the position of the compaction work and the compaction completion time based on the positioning information of the compaction machine 60. That is, as shown in Fig. 9, the external compaction management system has a control device 50 communicably connected to the GNSS device. The control device 50 is, for example, a general-purpose computer (which may be a smartphone, a tablet terminal, a microcomputer, etc.), and has time information calculation means (referring to a time information calculation program executed by a control unit such as a CPU) that derives the concrete compaction completion time based on the positioning information from the GNSS device, and is capable of acquiring time information when the concrete compaction work is completed.
Furthermore, this control device 50 is equipped with a communication unit and is communicatively connected to the control device 20 in the green cutting device 10, and can transmit time information when the concrete compaction work is completed to the green cutting device 10.

In short, in the work system of this modified example, the control device 50 constituting the external compaction management system has the function of transmitting time information when the concrete compaction work is completed to the control device 20 of the green cutting device 10. In other words, in this modified example, the control device 50 constituting the compaction management system functions as a time information management device.
In other words, the green cut device 10 and the compaction management system are linked, and the compaction management system derives and obtains the time information when the concrete compaction work is completed, and this time information is input into the green cut device 10, thereby enabling the laitance layer removal work to be carried out.

Furthermore, in this modified example, the weather information provided by the weather information providing device 40 is received by the control device 50 and transmitted from the control device 50 to the green cutting device 10 .
The timing of transmission of weather information to the control device 50 is set so that the compaction management system derives and acquires time information when the concrete compaction work is completed, and the time information is input to the control device 50. However, the present invention is not limited to this, and the weather information may be transmitted periodically, for example, once every few hours, or the weather information providing device 40 may transmit weather information only when a request is received from the control device 50.

The weather information provided by the weather information providing device 40 may be received directly by the green cutting device 10 without going through the control device 50 .
The timing of transmitting weather information to the green cut device 10 is set to be triggered by inputting time information to the green cut device 10. However, this is not limited to this, and the transmission may be performed periodically, for example, once every few hours.

According to this modified example, by linking the green cut device 10 with an external compaction management system as described above, the work of inputting time information by the construction manager or a person instructed by the construction manager can be omitted, making it possible to automate the process from the completion of the concrete compaction work to the completion of the laitance layer removal work.

Reference Signs List 1 Dam body 2 Work area 2a Work prohibited area 2b Work permitted area 3 Concrete 4 Laitance layer 10 Green cutting device 11 Device body 12 Traveling unit 12a Tire 12b Driving unit 13 Removal unit 13a Brush 13b Driving unit 14 Sensor unit 20 Control device 21 Control unit 22 Memory unit 23 Communication unit 30 Time information management device 40 Weather information providing device 50 Control device 60 Compaction machine 61 Vibrator N Communication network

Claims (6)

A green cut device for removing a laitance layer from a surface layer of concrete in a predetermined work area where concrete has been poured,
A device body having a running part;
a time information input means for inputting time information when the concrete compaction work is completed;
an area defining means for defining a range of a work prohibited area in which work by the device body within the work area is prohibited so as to be reduced in accordance with the elapsed time from the time information input by the time information input means;
a mapping means for generating map information of a range in which the device body has traveled within the work area;
a self-position estimation means for estimating a position of the device body within the working area;
A green cutting device characterized by comprising a travel control means that drives and controls the travelling unit based on an area of the work area excluding the work prohibited area and a positional relationship with the device main body estimated by the mapping means and the self-position estimation means. A weather information input unit for inputting weather information for a region including the work area is further provided,
The green cutting device according to claim 1, characterized in that the area definition means defines the range of the work prohibition area to be reduced depending on the elapsed time and the weather information input by the weather information input means. The green cut device according to claim 1 or 2,
a time information management device that is communicably connected to the green cutting device and that manages time information when the compaction work of the concrete poured in the work area is completed,
the time information management device includes a time information transmission means for transmitting the time information to the green cut device,
A work system characterized in that the green cut device inputs the time information transmitted from the time information management device by the time information input means. The time information management device constitutes an external compaction management system for managing the compaction work of the concrete by the compaction machine,
The work system described in claim 3, characterized in that the compaction management system determines the progress of concrete compaction work performed by the compaction machine, and the time information management device acquires the time information based on the results of the determination. A computer installed in a green cut device that has a device body having a traveling unit and performs a laitance layer removal operation on the surface of concrete within a predetermined work area where concrete has been poured,
a time information input means for inputting time information when the concrete compaction work is completed;
an area defining means for defining a range of a work prohibited area in which work by the apparatus body within the work area is prohibited so as to be reduced in accordance with the elapsed time from the time information input by the time information input means;
a mapping means for generating map information of the range in which the device body has traveled within the work area;
a self-position estimation means for estimating a position of the device main body within the working area;
A program that functions as a driving control means that drives and controls the traveling unit based on the positional relationship between an area of the work area excluding the work prohibited area and the device main body estimated by the mapping means and the self-position estimation means. causing the computer to function as a weather information input means for inputting weather information for a region including the work area;
6. The program according to claim 5, wherein the area defining means defines the range of the work prohibited area so as to be reduced in accordance with the elapsed time and the weather information input by the weather information input means.

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