JP7441465B2 - Concrete compaction traceability system - Google Patents

Description

The present invention relates to a concrete compaction traceability system, and more particularly to a concrete compaction traceability system that can easily trace back the history of compaction locations using a vibrator or the like during the compaction process of concrete work.

Conventionally, in compaction work for concrete pouring work, a vibrating rod such as a vibrator is inserted into fresh concrete immediately after pouring, and the concrete is compacted by applying vibrations to the concrete. If insufficiently compacted areas remain in the concrete, defects such as junkers may occur during subsequent hardening, and there is a risk that the desired concrete quality may not be ensured, so do not leave insufficiently compacted areas. Therefore, there is a need for a technology that can reliably identify the areas where compaction has been performed.

In response to this, the present applicant is currently proposing a system that allows for easy confirmation of the past history of compaction locations using a vibrator or the like (for example, see Patent Document 1). The system of Patent Document 1 is installed above the top surface of fresh concrete during compaction work or its formwork, images the surrounding area including the top surface of the fresh concrete or the surrounding area including the formwork, and displays the captured image. An elongated suspension member that suspends the vibrating body in the fresh concrete and extends outside from the upper surface of the fresh concrete or the formwork; A position acquisition means for acquiring the relative position of the suspension member with respect to the upper surface of the concrete or the formwork over time; position estimating means for estimating the position of the vibrating body over time; and history information acquisition for acquiring historical information regarding locations where compaction by the vibrating body has been performed based on the position of the vibrating body estimated by the position estimating means. means.

On the other hand, in technology that provides an AR (Augmented Reality) environment that augments real space by presenting virtual information superimposed on real space, when aligning a virtual object to the position in real space. It is known that AR markers are used for this purpose (see, for example, Patent Documents 2 to 5). An AR marker is a sign for specifying a position where additional information is to be displayed, and is usually composed of a predetermined image pattern displayed within a square black frame. Multiple AR markers are required to define a plane in real space. Since installing AR markers is time-consuming, there is a need for technology that can obtain highly accurate position information with as few AR markers as possible.

Patent Application No. 2019-034797 (unpublished at this time) Japanese Patent Application Publication No. 2011-216067 Japanese Patent Application Publication No. 2006-284442 Japanese Patent Application Publication No. 2005-293141 Japanese Patent Application Publication No. 2012-174243

There has been a need for a technique that utilizes the above-mentioned conventional Patent Document 1 to grasp compacted areas with higher accuracy.

The present invention has been made in view of the above, and an object of the present invention is to provide a concrete compaction traceability system that can more accurately identify compacted locations.

In order to solve the above problems and achieve the objectives, the concrete compaction traceability system according to the present invention uses vibrations from a vibrating body inserted into fresh concrete to compact the fresh concrete around the vibrating body. This is a concrete compaction traceability system to track the locations of fresh concrete that have been compacted during compaction work. an imaging means installed above the top surface of the fresh concrete, which images the surrounding area including the top surface of the fresh concrete or the surrounding area including the AR marker, and outputs the captured image; Based on the image output by the imaging means and the position information of the AR marker in the image, the relative relationship of the suspension member to the upper surface of the fresh concrete is determined. position acquisition means for successively acquiring the position of the suspension member; and a position for successively estimating the position of the vibrating body suspended by the suspension member based on the position of the suspension member acquired by the position acquisition means. The present invention is characterized by comprising an estimating means and a history information obtaining means for obtaining history information regarding locations where compaction by the vibrating body has been performed based on the position of the vibrating body estimated by the position estimating means.

Furthermore, in the above-mentioned invention, there is another concrete compaction traceability system according to the present invention, in which the imaging means is carried by at least one of the worker holding the hanging member and the worker who is on the top surface of the fresh concrete or around the formwork. or a camera that is worn.

Further, another concrete compaction traceability system according to the present invention is characterized in that, in the above-described invention, the AR marker is provided near the top of the formwork.

According to the concrete compaction traceability system according to the present invention, compaction of fresh concrete is achieved in compaction work in which fresh concrete around the vibrating body is compacted by vibration from the vibrating body inserted into the fresh concrete. This is a concrete compaction traceability system to track the areas where compaction has been carried out, with AR markers installed on the top surface of fresh concrete or around the formwork, and above the top surface of fresh concrete during compaction work. an imaging means that images the surrounding area including the top surface of the fresh concrete or the surrounding area including the AR marker and outputs the captured image; and a long length that suspends a vibrating body in the fresh concrete and extends from the top surface of the fresh concrete to the outside. A position acquisition means for successively acquiring the relative position of the suspension member with respect to the upper surface of fresh concrete based on the position information of the suspension member in the shape of the shape and the video output by the imaging means and the AR marker in the video. and a position estimation means for estimating the position of the vibrating body suspended by the suspension member over time based on the position of the suspension member acquired by the position acquisition means, and a vibration estimated by the position estimation means. Since it is equipped with a history information acquisition means for acquiring history information regarding the location where compaction by the vibrating body has been performed based on the position of the body, it is possible to determine at what position, at what depth, and for how long in a plane, the vibrating body is applied. Historical information such as whether compaction has been carried out can be grasped. Further, by using the position information of the AR marker provided on the upper surface of fresh concrete or around the formwork, the relative position of the hanging member can be acquired with high accuracy. Therefore, it is possible to grasp the location where compaction has been performed with higher precision.

Further, according to another concrete compaction traceability system according to the present invention, the imaging means is carried or worn by at least one of the worker holding the hanging member and the worker who is on the top surface of fresh concrete or around the formwork. Since the camera is equipped with a camera, there is no blind spot caused by the imaging means, and the position of the hanging member can be more reliably acquired.

Further, according to another concrete compaction traceability system according to the present invention, since the AR marker is provided near the top of the formwork, it is possible to reduce the effort required to install the AR marker.

FIG. 1 is a schematic configuration diagram showing an embodiment of a concrete compaction traceability system according to the present invention. FIG. 2 is a flowchart showing the procedure for estimating the position of the vibrator. FIG. 3 is an explanatory diagram of a position acquisition method using an AR marker. FIG. 4 is an image diagram taken by a wearable camera. FIG. 5 is a diagram showing an example of a formwork with an AR marker. FIG. 6 is a perspective view showing an example of a method for estimating the planar position and depth of the vibrator. FIG. 7 is a diagram showing an example of markings applied to a hose.

EMBODIMENT OF THE INVENTION Below, the embodiment of the concrete compaction traceability system based on this invention is described in detail based on drawing. Note that the present invention is not limited to this embodiment.

(Embodiment 1)
First, Embodiment 1 of the present invention will be described.
As shown in FIG. 1, in the first embodiment, a vibrator 12 is inserted into the concrete C during concrete pouring work into the formwork 10, and the surrounding concrete C is compacted by the vibration of the vibrator 12. applied to the work. Reinforcing bars S are arranged within the formwork 10. A plurality of AR markers 11 are provided in the upper part of the formwork 10. The AR marker consists of a horizontal board surrounded by a square black frame and displaying a predetermined image pattern. Moreover, the concrete of the preceding layer 14 has already been placed in the lower part of the formwork 10. Concrete C is cast in a range from the upper surface of the preceding layer 14 to near the top 16 of the formwork 10, and the height H in this range is the height at which compaction work is performed.

The vibrator 12 is an elongated rod-shaped vibrating body, and a flexible elongated rubber hose 18 (hanging member) is connected to one end in the longitudinal direction. Worker M grasps this hose 18 from temporary scaffolding 20 adjacent to formwork 10, suspends vibrator 12 at a predetermined height in concrete C, and compacts this location. . The hose 18 during compaction comes out from the top surface of the concrete C and extends to the top 16 of the formwork 10.

On the outer peripheral surface of the hose 18, markings 22 (features) indicating the extension length (length information) of the hose 18 from the upper end of the vibrator 12 (not shown) are provided along the extension direction. The markings 22 can be applied, for example, by wrapping vinyl tape exhibiting colors such as the three primary colors of light (red, green, and blue) around the black hose 18 at predetermined intervals. By reading this marking 22, the extended length of the hose 18 from the reading position to the upper end of the vibrator 12 can be determined.

The concrete compaction traceability system 100 according to the present embodiment includes a camera 24 (imaging means) that acquires an image of the concrete C including the AR marker 11 during compaction work from above, and a position of the hose 18 based on the image. a position estimation means 28 for estimating the position of the vibrator 12 based on the position of the hose 18; a history information acquisition means 30 for obtaining history information regarding the location where compaction has been performed; It includes a storage means 32 and a display means 34.

The data storage means 32 is for storing images from the camera 24 and processing data from each means. The display means 34 is constituted by a monitor capable of displaying the video and processed data stored in the data storage means 32.

The camera 24 is installed above the top end 16 of the formwork 10 and directly above the approximate center of the upper surface of the concrete C. This camera 24 captures an image of the upper surface of the concrete C including the AR marker 11 during compaction work from above, and outputs a continuous image over time to the data storage means 32. As a result, an image including the AR marker 11 and the hose 18 during compaction work is acquired.

Although a normal camera may be used as the camera 24, it is preferable to use, for example, a spherical camera that captures a 360-degree panoramic image in all directions (vertically, horizontally, and horizontally) at once to obtain a spherical image. By using a spherical camera, even if the range where the AR marker 11 exists or the top surface of the concrete C is vast, or if the vibrator 12 is deployed at multiple locations to compact the concrete at multiple points at the same time, An image including the hose 18 can be reliably obtained. Moreover, when using a normal camera as the camera 24, it is preferable to take pictures from various angles with a plurality of cameras to eliminate blind spots. Note that the present invention is not limited to this, and any device may be used as long as it can continuously image the AR marker 11 and hose 18 during compaction work, for example, a wide-angle device with an angle of view of about 180 degrees. You can also use it with the camera facing down.

The position acquisition means 26 acquires the relative position of the hose 18 with respect to the upper surface of the concrete C over time based on the video output by the camera 24 and the position information of the AR marker 11 in the video. As a method of acquiring the position based on the video and the position information of the AR marker 11, a well-known image analysis processing method can be applied. In this embodiment, a method according to a flowchart of FIG. 2, which will be described later, is used.

In this embodiment, since the camera 24 installed above the top end 16 of the formwork 10 is used, it is not possible to photograph the inside of the concrete C. It is possible to understand the relative positional relationship between the two. For example, images are selected at predetermined time intervals from the images stored in the data storage means 32, and the AR marker 11 and the hose 18 are identified from the image by referring to the known position information of the AR marker 11, the characteristic amount of the hose 18, etc. Recognize location. As described above, markings 22 are provided on the outer peripheral surface of the hose 18 to indicate the extension length of the hose 18 from the upper end of the vibrator 12. Therefore, this marking 22 is used as a feature representing the position of the hose 18. The acquired data is stored in the data storage means 32 in association with time information.

The position estimation means 28 estimates the position of the vibrator 12 suspended by the hose 18 over time based on the relative positional relationship between the AR marker 11 and the hose 18 acquired by the position acquisition means 26. be. Specifically, the value of the marking 22 of the height of the top end 16 of the formwork 10 is extracted from the data storage means 32. The extracted value of the marking 22 corresponds to the height (depth) H1 from the top end 16 of the formwork 10 to the top end of the vibrator 12 . By adding the known length L of the vibrator 12 to this height H1, the existing range of the vibrator 12 in the height direction is estimated.

Furthermore, the planar position of the hose 18 relative to the top surface of the concrete C is extracted from the data storage means 32, and assuming that the extracted planar position of the hose 18 matches the position of the vibrator 12, the planar position of the vibrator 12 is estimated. Through the above processing, the three-dimensional position of the vibrator 12 can be estimated with relatively high accuracy. The estimated position of the vibrator 12 is stored in the data storage means 32 in association with time information.

The history information acquisition means 30 acquires history information regarding locations where compaction has been performed by the vibrator 12 based on the position of the vibrator 12 estimated by the position estimation means 28. Specifically, the position of the vibrator 12 is extracted from the data storage means 32 along with the time information linked thereto. Then, based on the extracted results, history information is acquired, such as at what position, at what depth, and for how long time the vibrator 12 was present in a plane, and compaction was performed at that position. By referring to the acquired history information, it is possible to reliably grasp the locations where compaction has been performed using the vibrator 12.

The operation and effect of the above configuration will be explained.
As shown in FIG. 1, when pouring concrete C, a worker M hangs a hose 18 from a temporary scaffolding 20 and inserts a vibrator 12 into the concrete C to compact it. The worker M moves the vibrator 12 to various locations in the concrete C by moving the hose 18 so as not to cause insufficient compaction. The state of this work is imaged by the camera 24 installed above, and the image is recorded in the data storage means 32. The position acquisition means 26 acquires the relative positional relationship between the top end 16 of the formwork 10 and the hose 18 from this image and the position information of the AR marker 11 in the image.

Specifically, as shown in FIG. 2, the position acquisition means 26 selects images at predetermined time intervals from the videos stored in the data storage means 32 (step S1). Subsequently, the distortion of this image is corrected (step S2), and the AR marker 11 in the corrected image is detected and recognized based on the information regarding the AR marker 11 stored in the data storage means 32 (step S3). . In this case, the four corners of one AR marker 11 are recognized, and the inclinations of the coordinate axes of the pouring surface in the image and the coordinate axes of the pouring surface in real space are calculated from each point of the four recognized corners, and the coordinate axes are rotated. This aligns the pixel coordinate axes of the image with the coordinate axes of real space. Then, the actual size and installation position of the AR marker 11 are read out from the data storage means 32 (step S5), and as shown in FIG. The scale of is estimated (step S4). Next, the horizontal distance from the AR marker 11 to the insertion position of the hose 18 is calculated (step S6). It is desirable to calculate the horizontal distance based on the center of gravity of the AR marker 11 closest to the insertion position of the hose 18 on the image.

The position estimating means 28 estimates the position of the vibrator 12 from this positional relationship (step S7). The history information acquisition means 30 acquires history information regarding the location where compaction was performed by the vibrator 12 from the estimated position of the vibrator 12. Using the acquired history information, the user can easily and reliably grasp the history of locations where compaction has been performed in the past.

As a result, if a location where compaction is insufficient is found, the vibrator 12 may be placed at the location and compaction may be performed again. In this way, it is possible to eliminate areas where compaction is insufficient, so there is no risk of defects such as junkers occurring during subsequent hardening, and it is possible to ensure the desired concrete quality.

Further, according to the present embodiment, by using the position information of the AR marker 11, the relative position of the hose 18 can be acquired with high accuracy. Therefore, it is possible to more accurately grasp the locations where compaction has been performed. If the AR marker 11 can be confirmed, the position information can be acquired, so even if the user is working dynamically, there is an advantage that the position information can be grasped by following the work.

(Embodiment 2)
Next, a second embodiment of the present invention will be described.
In the second embodiment, a wearable camera is used instead of the camera 24 in the first embodiment. As shown in FIG. 1, the wearable camera 25 is attached to the helmet of a worker M holding the hose 18. When the worker M looks at the hose 18 during concrete compaction work, the wearable camera 25 can capture an image of the work in progress. FIG. 4 shows an example of the acquired video.

Furthermore, for example, by uploading the acquired video as streaming data to a cloud server and immediately analyzing the video, the depth and planar position of the compacted area can be confirmed in real time. If there are any areas that have not been compacted, re-construction can be carried out immediately and problems can be prevented. By using a plurality of wearable cameras 25, blind spots can be further reduced, construction management can be performed reliably, and construction defects can be prevented.

(Embodiment 3)
Next, a third embodiment of the present invention will be described.
In the first and second embodiments described above, in order to reliably acquire the position information of the AR marker 11, the AR marker 11 needs to be within the field of view of the camera 24 or the wearable camera 25. However, installing the AR marker 11 takes time and effort, and if it falls into the formwork 10, there is a risk that foreign matter will be mixed in. As a basis for image processing, it is desirable to install the AR marker 11 at a predetermined location that is easy to understand.

Embodiment 3 is intended to solve such a problem, and uses a formwork 50 with an AR marker instead of the AR marker 11. In this way, the effort required to install the AR marker 11 can be reduced. As shown in FIG. 5, the AR marker-equipped formwork 50 includes a box-shaped formwork body and an AR marker 11 provided on the top surface of the formwork body. will be installed against the It may be installed in a detachable manner. This formwork 50 with AR markers mainly functions as a display board for displaying AR markers rather than as a formwork. The AR marker-equipped formwork 50 is preferably installed in a manner that it does not interfere with the work, and can be configured as a box-like object with a height of about 10 cm, for example. Since concrete is not poured into the area where the AR marker-equipped formwork 50 is provided, the AR marker 11 does not get dirty.

The AR marker 11 may be provided on the upper surface of the form body by printing or the like. The formwork body of the AR marker-equipped formwork 50 may be made of lightweight cardboard or the like, but it has a structure that allows it to be reliably installed relative to the current formwork 10 so that it does not move unexpectedly. This is desirable.

(Embodiment 4)
Next, a fourth embodiment of the present invention will be described.
In the fourth embodiment, in the first to third embodiments described above, a plane serving as a reference (hereinafter referred to as a reference plane) is set, and the plane position and depth of the vibrator 12 are estimated.

As shown in FIG. 6, a virtual reference plane F for estimating the planar position and depth of the vibrator 12 is set in the installed AR marker 11 and the surrounding image including the AR marker 11. The reference plane F may be a horizontal plane of any height as long as it intersects with the hose 18. The point P where the set reference plane F and the hose 18 identified from the image intersect is estimated as the planar insertion position of the vibrator 12. The relative length of the hose 18 below the reference plane F is determined by the marking 22 provided on the hose 18 located above the point P where the set reference plane F and the hose 18 identified from the image intersect. be able to. This length is estimated as the insertion depth of the vibrator 12 from the reference plane F. In this way, the planar position and depth of the vibrator 12 can be estimated with higher accuracy.

(Embodiment 5)
Next, Embodiment 5 of the present invention will be described.
In the fifth embodiment, in the first to fourth embodiments described above, the marking 22 applied to the outer peripheral surface of the hose 18 is configured with a combination of two colors. It is desirable that one of the two colors in the combination be selected from the three primary colors of light (red, green, and blue). You may choose two colors from the three primary colors of light.

As shown in FIG. 7, the combination of two colors is a combination of a large size 21 and a small size 23. The large size 21 is provided only in a predetermined section around the entire circumference of the hose 18. The small size 23 has a width of about 1/6 of the circumferential length of the hose 18, and is installed at three equal intervals on the circumference of the hose 18. The small size 23 is placed on top of the large size 21. In the illustrated example, the large size 21A of the markings 22A is yellow, the small size 23A is blue, and the large size 21B of the markings 22B is red, and the small size 23B is green. Markings 22A and 22B having different combinations of two colors are continuously provided in the extending direction of the hose 18. Even in this case, the extended length of the hose 18 from the reading position of the marking 22 to the vibrator 12 can be grasped.

As explained above, according to the concrete compaction traceability system according to the present invention, in the compaction work in which the fresh concrete around the vibrating body is compacted by the vibration from the vibrating body inserted into the fresh concrete, This is a concrete compaction traceability system to track the locations where fresh concrete has been compacted, using AR markers installed on the top surface of fresh concrete or around the formwork, and from the top surface of fresh concrete during compaction work. is also installed above, and includes an imaging means that images the surrounding area including the top surface of the fresh concrete or the surrounding area including the AR marker and outputs the captured image, and an imaging means that suspends a vibrating body in the fresh concrete and captures an image of the surrounding area including the top surface of the fresh concrete or the surrounding area including the AR marker. The relative position of the hanging member with respect to the top surface of fresh concrete is determined over time based on the elongated hanging member that extends outside, the video output by the imaging means, and the position information of the AR marker in the video. position estimating means for estimating the position of the vibrating body suspended by the suspension member over time based on the position of the suspension member acquired by the position acquisition means; and a history information acquisition means for acquiring history information regarding the location where compaction by the vibrating body has been performed based on the position of the vibrating body estimated by the means, so that it is possible to determine at what position in a plane, at what depth, and for how long. It is possible to grasp historical information such as whether compaction was performed by applying a vibrating body. Further, by using the position information of the AR marker provided on the upper surface of fresh concrete or around the formwork, the relative position of the hanging member can be accurately acquired. Therefore, it is possible to more accurately grasp the locations where compaction has been performed.

Further, according to another concrete compaction traceability system according to the present invention, the imaging means is carried or worn by at least one of the worker holding the hanging member and the worker who is on the top surface of fresh concrete or around the formwork. Since the camera is equipped with a camera, there is no blind spot caused by the imaging means, and the position of the hanging member can be more reliably acquired.

Moreover, according to another concrete compaction traceability system according to the present invention, since the AR marker is provided near the top of the formwork, the effort of installing the AR marker can be reduced.

As described above, the concrete compaction traceability system according to the present invention is useful for compacting concrete by inserting a vibrating body such as a vibrator into fresh concrete immediately after pouring, and is particularly useful for compacting concrete at locations where compaction has been performed. It is suitable for understanding with high precision.

10 Formwork 11 AR marker 12 Vibrator (vibrating body)
14 Preceding layer 16 Top end 18 Hose (hanging member)
20 Temporary scaffolding 22 Marking 24 Camera (imaging means)
25 Wearable camera (imaging means)
26 Position acquisition means 28 Position estimation means 30 History information acquisition means 32 Data storage means 34 Display means 50 Formwork with AR marker 100 Concrete compaction traceability system C Concrete M Worker S Rebar

Claims (3)

A concrete compaction traceability system that uses the vibrations from a vibrating body inserted into fresh concrete to compact the fresh concrete around the vibrating body. This is a concrete compaction traceability system that is used to track the compacted areas of fresh concrete. And,
AR markers installed on the top surface of fresh concrete or around the formwork,
an imaging means that is installed above the top surface of the fresh concrete during compaction work and that images the surrounding area including the top surface of the fresh concrete or the surrounding area including the AR marker, and outputs the captured image;
a long suspension member that suspends the vibrating body in the fresh concrete and extends from the top surface of the fresh concrete to the outside;
a position acquisition means for successively acquiring the relative position of the suspension member with respect to the upper surface of the fresh concrete based on the video output by the imaging means and the position information of the AR marker in the video;
a position estimation means for estimating the position of the vibrating body suspended by the suspension member over time based on the position of the suspension member acquired by the position acquisition means;
A concrete compaction traceability system comprising: history information acquisition means for acquiring history information regarding locations where compaction by the vibrating body has been performed based on the position of the vibrating body estimated by the position estimation means. 2. The concrete according to claim 1, wherein the imaging means is a camera owned or worn by at least one of the worker holding the hanging member and the worker located on the top surface of the fresh concrete or around the formwork. Compaction traceability system. 3. The concrete compaction traceability system according to claim 1, wherein the AR marker is provided near the top of the formwork.

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