JP7754464B2 - Concrete pouring amount calculation support device, concrete pouring amount calculation support method, and program. - Google Patents

Description

The present invention relates to a concrete pouring amount calculation support device, concrete pouring amount calculation support method, and program that support the calculation of the amount of concrete required to pour remaining concrete during concrete pouring work.

When pouring concrete, the quantity of ready-mix concrete ordered is an approximate quantity calculated from blueprints, etc., without detailed measurements, and differs from the actual quantity, which includes construction tolerances allowed by the ordering specifications. Therefore, the remaining quantity is measured as the concrete is being poured, and the final quantity is determined. When calculating the final quantity (final order amount), if the quantity is insufficient, the calculation must be recalculated and a new order must be placed. This can delay the completion of work, resulting in an economic burden due to increased overtime work by workers, and can lead to quality defects if the concrete is left sitting for a long time until the reordered concrete arrives on site.

For this reason, the final order is placed with a certain amount of margin added to the final calculation results, but if the accuracy of the final calculation is low, a large margin must be added, resulting in a large amount of unnecessary leftover concrete. This creates an environmental burden in the form of an increased amount of construction by-products, and an economic burden in the form of increased disposal costs for the remaining concrete. If the construction site and ready-mix concrete plant are close to each other, the remaining quantity can be calculated by measuring once the remaining pour area has become small, and therefore the measurement can be done by one person. It also takes less time to measure.

On the other hand, if the ready-mix concrete plant is far away, it takes time to transport the concrete, so the measurement must be carried out early in the concrete pouring process, and the measurement range becomes even larger. In this case, measurements must be taken by multiple people, and the measurement time becomes longer. Recently, the number of ready-mix concrete plants has decreased due to the consolidation and closure of plants, so the transportation time from the plant is generally longer.

The remaining quantity is calculated by temporarily halting concrete pouring and having one or more construction managers use a tape measure or similar tool to measure the area and depth of the remaining poured area, then manually calculating using a calculator. The remaining poured area is often irregular in shape, requiring complex calculations that make it easy for calculation errors to occur. Furthermore, trying to shorten the downtime can also lead to errors. For this reason, there is a need for technology that can measure the remaining poured amount of concrete more accurately, in a short amount of time, by one person, regardless of the size of the remaining poured area.

In this context, development is underway on devices and systems that detect the pouring space for ready-mixed concrete based on image data and calculate its volume. For example, Patent Document 1 discloses a device that extracts the frame that forms the pouring space from image data to calculate the provisional volume of the pouring space, calculates an exclusion volume that should be excluded from the volume of concrete that can be poured, and calculates the amount of ready-mixed concrete that can be poured into the pouring space based on this provisional volume and the exclusion volume.

Japanese Patent Application Laid-Open No. 2018-199950

According to Patent Document 1, by acquiring image data of the frame that forms the concrete pouring space, it is possible to automatically calculate the amount of ready-mixed concrete that can be poured within the frame. However, because the planar extent of the pouring space is determined by the presence or absence of the frame, this method is not suitable for calculating the volume of the area that remains un-poured during pouring work.

The present invention was developed in consideration of these issues, and its main purpose is to easily and accurately obtain the volume of the remaining concrete in the concrete pouring area, and to assist in calculating the amount of concrete needed to pour into the remaining concrete.

To achieve this objective, the concrete pouring amount calculation support device of the present invention creates a virtual space with the position at the time of activation of the imaging means as its origin based on an image captured by the imaging means and the measurement results of a sensor group that measures the position, direction, and posture of the imaging means and a depth sensor that detects the distance to an object in the captured image, and includes: a self-position estimation means that estimates the self-position of the imaging means within the virtual space as the imaging means moves; a reference surface generation means that generates a temporary height reference surface consisting of a 3D CG image at a height position in the virtual space that corresponds to a predetermined position on the captured image; a reference surface correction means that corrects the position of the temporary height reference surface based on numerically input correction information and acquires a height reference surface; and a self-position estimation means that estimates the self-position of the imaging means within the virtual space as the imaging means moves, based on an image captured by the imaging means and the measurement results of a sensor group that measures the position, direction, and posture of the imaging means and a depth sensor that detects the distance to an object in the captured image. A concrete pouring amount calculation support device that treats a reference surface as the planned concrete pour surface in the uncast area and includes a volume acquisition means that acquires the volume of the uncast area, wherein the volume acquisition means includes a plane information acquisition unit that acquires the outline of the planar shape of the uncast area specified on the captured image as plane information of the uncast area, a depth information acquisition unit that calculates the relative distance in the depth direction between a depth measurement point in the uncast area specified on the captured image and the height reference surface that is superimposed on the captured image, and acquires depth information of the uncast area, and a volume calculation unit that calculates the volume of the uncast area based on the plane information and the depth information.

The concrete pouring amount calculation support device of the present invention is characterized in that the temporary height reference surface is the top surface of a rebar arbitrarily determined on the captured image, and the numerically input correction information is the cover thickness.

The concrete pouring amount calculation support method of the present invention is a concrete pouring amount calculation support method that supports the calculation of the amount of concrete to be poured in an area that remains to be poured, and includes a reference surface generation step of generating a temporary height reference surface consisting of a three-dimensional CG image at a height position corresponding to a predetermined position on the captured image in a virtual space whose origin is the position at the time of activation of the imaging means, the virtual space being created based on an image captured by the imaging means and measurement results from a group of sensors that measure the position, direction, and attitude of the imaging means and a depth sensor that detects the distance to an object in the captured image; and a reference surface correction step of correcting the position of the temporary height reference surface based on numerically input correction information to obtain a height reference surface. and a volume acquisition process that treats the height reference surface as the concrete pour surface planned for the uncast area and acquires the volume of the uncast area. The volume acquisition process comprises a plane information acquisition process that acquires the outline of the planar shape of the uncast area specified on the captured image as plane information of the uncast area; a depth information acquisition process that calculates the relative distance in the depth direction between a depth measurement point of the uncast area specified on the captured image and the height reference surface to be superimposed on the captured image, thereby acquiring depth information of the uncast area; and a volume calculation process that calculates the volume of the uncast area based on the plane information and the depth information.

The concrete pouring amount calculation support method of the present invention is characterized in that the temporary height reference surface is the top surface of a rebar arbitrarily defined on the captured image, and the numerically input correction information is the cover thickness.

The program of the present invention is characterized by causing a computer to execute each step of the concrete pour volume calculation support method of the present invention.

The concrete pouring amount calculation support device, pouring amount calculation support method, and program for executing the method of the present invention allow the outline of the planar shape of the remaining poured area to be specified on the image captured by the imaging means, and also allow the depth measurement points within the remaining poured area to be specified.

This allows users to virtually experience surveying the remaining poured area, easily obtaining the volume of the remaining poured area without the assistance of other workers, and while reducing the amount of downtime required for concrete pouring work at construction sites compared to previous methods.

In addition, the tasks of specifying the outline of the planar shape of the remaining area and specifying depth measurement points are simple, and acquiring either the planar information or the depth information does not require a significant amount of time. Therefore, by repeating these tasks or increasing the number of depth measurement points, it is possible to easily improve the accuracy of volume calculations.

As a result, the volume of the remaining concrete area obtained by the pouring volume calculation support device is used as support information to calculate the amount of concrete needed to pour the remaining concrete. This ensures a high degree of reliability, allowing estimates to be made with minimal margin when ordering concrete. This contributes to reducing the amount of leftover concrete after construction is completed, which not only takes environmental impacts into consideration, but also makes it possible to significantly reduce disposal costs, etc.

This invention makes it possible to easily and accurately obtain the volume of the remaining concrete in the concrete pouring area, thereby assisting in the calculation of the amount of concrete required to pour the remaining concrete.

10 is a diagram showing the remaining casting area within the concrete formwork in this embodiment. FIG. 1 is a diagram showing the configuration of a concrete pouring amount calculation support device in this embodiment. FIG. 10A and 10B are diagrams showing the workflow for acquiring the volume of the remaining area in the present embodiment. 10A and 10B are diagrams illustrating operations for setting a height reference plane in the present embodiment. 10A and 10B are diagrams illustrating a temporary height reference plane and a height reference plane according to the present embodiment. FIG. 10 is a diagram showing the position of a temporary height reference plane in the present embodiment. 10A to 10C are diagrams showing a procedure for acquiring plane information of an uncast range in the present embodiment. 10A and 10B are diagrams illustrating a procedure for acquiring depth information of an uncast area in the present embodiment. 10A and 10B are diagrams showing the volume of the remaining area in the present embodiment and the measurement results acquired during the process, output on the display screen. 1 is a diagram showing a concrete pouring amount calculation support system using a pouring amount calculation support device in this embodiment. FIG.

The present invention obtains the volume of the remaining area, which serves as support information when calculating the amount of concrete to be poured in the remaining area, while virtually experiencing the state of surveying the remaining area on a display screen that displays images captured by an imaging device.

The details of the concrete pouring amount calculation support device, pouring amount calculation support method, and program are explained below with reference to Figures 1 to 10. In this embodiment, we will use as an example a case where there is an un-poured area in part of a concrete formwork, but this is not necessarily limited to this. For example, it can also be applied to areas where no concrete formwork exists, such as part of an area that is backfilled after drilling the ground.

As shown in Figure 1(a), inside formwork F, which is the area where concrete is poured, there is existing concrete C that was poured in advance to bury part of the laid rebar B, and an adjacent area A where concrete remains. The pouring volume calculation support device 10 acquires and displays the volume of the area A that remains within formwork F.

The general procedure for calculating the volume of the remaining area A is as follows: As shown in Figure 1(b), a height reference plane R corresponding to the planned concrete cast surface in the remaining area A is obtained. Next, planar information of the remaining area A is obtained from the outline Co of the planar shape of the remaining area A. Furthermore, a depth measurement point P of the remaining area A is obtained, and depth information of the remaining area A is obtained from the relative distance L between the obtained depth measurement point and the height reference plane R. The volume of the remaining area A is calculated based on the planar information and depth information of the remaining area A obtained in this way.

<<Concrete pour volume calculation support device>>
2, the pouring amount calculation support device 10 includes at least a display screen 11, an imaging means 12, a storage means 13, a processing unit 14, an operation means 15, a communication means 16, and a sensor group 17. The communication means 16 will be described later.

The display screen 11 is composed of a flat panel display such as an LCD display or an organic EL display, and displays video and still images captured by the imaging means 12, as well as information stored in the storage means 13. The imaging means 12 is composed of a camera or video, and has the function of capturing video and still images and acquiring the image data. Improved accuracy can be expected if the imaging means 12 is a camera that also has a means of acquiring supplementary information other than video, such as video and still images with depth information, such as a camera incorporating a ToF (Time of Flight) sensor or LiDAR (Light Detection and Ranging) scanner.

The storage means 13 stores, for example, video and still images captured by the imaging means 12, and information acquired via the operation means 15. Details will be provided below, but it includes at least a reference plane information file 131, a plane information file 132, a depth information file 133, and a volume calculation file 134.

The operation means 15 includes a keyboard with cursor keys, numeric input keys, and various function keys, a pointing device such as a mouse, and other devices. It accepts operation signals input by key operations, mouse operations, etc., and outputs them to the storage means 13 and the arithmetic processing unit 14. It is preferable that the display screen 11 and operation means 15 are integrated into one unit, such as a flat panel display with a touch panel.

The calculation processing device 14 includes a CPU, GPU, ROM, RAM, a hardware interface, etc., and by executing a predetermined program, the functions of the self-position estimation means 145, reference plane generation means 141, synthesis processing means 142, reference plane correction means 143, and volume acquisition means 144, which will be described later, are realized. In addition, the functions of the plane information acquisition unit 1441, depth information acquisition unit 1442, volume calculation unit 1443, and result output unit 1444, which are included in the volume acquisition means 144, are realized.

The self-position estimation means 145 has the function of recognizing a plane based on the image acquired by the imaging means 12 and creating a virtual space with the position of the imaging means 12 at the time of startup as its origin, and the function of grasping the position of the imaging means 12 in the virtual space when the imaging means 12 is subsequently moved. Furthermore, the reference plane generation means 141 has the function of generating a height reference plane R made up of 3D CG within the virtual space created by the self-position estimation means 145 at a position corresponding to the plane on the image acquired by the imaging means 12.

As shown in Figure 4, the synthesis processing means 142 has the function of synthesizing the captured image captured by the imaging means 12 with a height reference plane made up of 3D CG and displaying it on the display screen 11. In addition, the reference plane correction means 143 has the function of correcting the relative position when the captured image and height reference plane R are synthesized by the synthesis processing means 142.

The plane information acquisition unit 1441 included in the volume acquisition means 144 has the function of acquiring plane information of the remaining area A, as shown in FIG. 7(d), from the outline Co of the planar shape of the remaining area A specified on the captured image displayed on the display screen 11, as shown in FIG. 7(b). The depth information acquisition unit 1442 has the function of acquiring depth information from the relative distance L between the depth measurement point P and the height reference plane R in the remaining area A specified on the captured image displayed on the display screen 11, as shown in FIG. 8(b).

The volume calculation unit 1443 has the function of calculating the volume of the remaining area A based on the plane information acquired by the plane information acquisition unit 1441 and the depth information acquired by the depth information acquisition unit 1442. The result output unit 1444 has the function of displaying the information and calculation results acquired by the plane information acquisition unit 1441, depth information acquisition unit 1442, and volume calculation unit 1443 on the display screen 11, as shown in Figure 9.

Each of the above means utilizes an AR system provided in the processing unit 14. The AR system is a system that realizes so-called AR (Augmented Reality) technology, displaying an image that combines real-world images with digital information on the display screen 11 in real time. In this embodiment, ARkit (registered trademark), which is capable of plane recognition and world tracking, is applied to realize the functions of the self-position estimation means 145 and reference plane generation means 141, among the above means.

Plane recognition detects planes in images captured by the imaging means 12. World tracking estimates the position of the concrete pouring calculation support device 10 in virtual space by calculating the position and orientation of the concrete pouring calculation support device 10 (imaging means 12) corresponding to the detected plane. Then, the viewpoint of the 3D CG image generated in virtual space is changed in response to the captured image, which changes as the concrete pouring calculation support device 10 moves.

As long as it has similar functions, the AR system does not necessarily have to use ARkit (registered trademark); for example, if the OS of the pouring amount calculation support device 10 is Android (registered trademark), it may use ARCore (registered trademark).

The sensor group 17 includes various sensors required for the above basic processing by ARkit (registered trademark), ARCore (registered trademark), etc. Specific examples include acceleration sensors, gyro sensors, geomagnetic sensors (electronic compasses), etc., which are required when calculating the position, orientation, movement speed, and distance of the pouring amount calculation support device 10. Note that the location information is not limited to that obtained by the geomagnetic sensor and accelerometer, but may also be obtained by GPS.

In addition, since the pouring volume calculation support device 10 acquires depth information from captured images, the sensor group 17 includes a depth sensor. However, if the imaging means 12 uses a camera incorporating a ToF (Time of Flight) sensor or a LiDAR (Light Detection and Ranging) scanner, it is not necessarily necessary to provide a depth sensor.

The pouring quantity calculation support device 10 may be any device, such as a laptop PC, tablet device, or smartphone, as long as it has the above functions. In this embodiment, as shown in Figures 4 to 9, an example is given in which a tablet device is used as the pouring quantity calculation support device 10.

<<<Concrete pour volume calculation support method>>>
The procedure for using the above-mentioned pouring amount calculation support device 10 to obtain the volume of the remaining pouring area A and support the calculation of the amount of concrete to be poured into the remaining pouring area A will be explained with reference to the configuration diagram of the pouring amount calculation support device 10 shown in Figure 2 and the work flow in Figure 3.

In this embodiment, an example is given in which ARkit (registered trademark) is used as the AR system. Also, an example is given in which a camera incorporating a LiDAR (Light Detection and Ranging) scanner is used as the imaging means 12, and the distance (depth information) to an object in the captured image is obtained using the LiDAR (Light Detection and Ranging) scanner.

<<Acquisition of captured images and height reference planes>>
First, the imaging means 12 provided in the pouring amount calculation support device 10 is activated, and the orientation of the pouring amount calculation support device 10 is moved up, down, left, and right so that planes and objects are included in the captured image, as shown in Figure 4 (a).

Then, the processing unit 14 receives a command from the self-position estimation means 145, recognizes a plane based on the image acquired by the imaging means 12, and creates a virtual space. The virtual space is created with the current position (position at the time of startup) as the origin, based on information related to the position, orientation, posture, etc. of the imaging means 12 (pouring amount calculation support device 10) acquired from the sensor group 17.

Once the virtual space is created, the plane recognition operation begins, and an operation screen is displayed on the display screen 11 prompting the user to input the plane position at which the height reference plane will be set. In this state, if the raised surface of existing concrete C, which is at the same height as the raised surface of the concrete planned for the remaining pour area A, is included in the captured image, the pouring amount calculation support device 10 will recognize this raised surface of existing concrete C as a plane.

When the user operates the position determination button 178 as shown in Figure 4 (b), the calculation processing device 14 receives instructions from the reference plane generation means 141 and generates a plane (hereinafter referred to as the temporary height reference plane R') made of 3D CG based on the height information and position information obtained from the recognized plane (the raised surface of the existing concrete C). Once the temporary height reference plane R' has been generated, the calculation processing device 14 receives instructions from the synthesis processing means 142 and superimposes the captured image and the temporary height reference plane R' to create a composite image, which is displayed on the display screen 11.

The temporary height reference surface R' is generated at approximately the same height as the raised surface of the existing concrete C, but as shown in the upper part of Figure 5, there may be a positional deviation between this and the raised surface of the existing concrete C in the captured image.

<<Height reference plane position correction>>
Therefore, when the temporary height reference plane R' is displayed on the display screen 11, the calculation processing unit 14 receives an instruction from the reference plane correction means 143 and displays an operation screen on the display screen 11 to prompt the user to input correction information regarding the relative position of the temporary height reference plane R'.

While any operation screen is acceptable, in this embodiment, the display screen 11 displays movement buttons 171 and 172 (for downward movement and upward movement) that allow the user to input correction information for moving the position of the temporary height reference plane R' in the vertical direction relative to the captured image, as well as an approve/end button 173 that approves the current height position.

The user visually checks the height position of the height reference plane R relative to the captured image displayed on the display screen 11, and if they wish to move it up or down, they operate the movement buttons 171 and 172 to request a position change. For example, in the upper part of Figure 4, the temporary height reference plane R' is positioned above the planned concrete pour surface in the remaining pour area A. Therefore, the user operates the downward movement button 171.

When movement information is input via the downward movement button 171, the arithmetic processing unit 14 receives a command from the reference plane correction means 143 and inputs the movement information to the synthesis processing means 142. Then, the arithmetic processing unit 14 receives a command from the synthesis processing means 142 and moves the temporary height reference plane R' based on the movement information, then overlays this with the captured image to create a new composite image, which is displayed on the display screen 11 as shown in the lower part of Figure 5.

The user checks the relative position of the temporary height reference surface R' in relation to the captured image, and if they wish to approve the current position, operates the approve/end button 173. The processing unit 14 then receives a command from the reference surface correction means 143, accepts the current temporary height reference surface R' as the height reference surface R representing the planned finished surface of the concrete in the remaining pour area A, and stores the position information and orientation information in the reference surface information file 131 of the storage means 13. If no correction is required, the user can simply operate the approve/end button 173 without operating the movement buttons 171 and 172.

The means for inputting correction information for correcting the relative position between the captured image and the temporary height reference plane R' is not limited to the movement buttons 171 and 172. For example, when the user operates the manual input button 174 as shown in FIG. 5, an input label 175 may be displayed, as shown in FIG. 6(b), which allows movement information to be entered numerically.

In this way, the temporary height reference surface R' is corrected and approved, and its position and orientation information within the virtual space are maintained. Furthermore, each time the pouring amount calculation support device 10 moves, the processing unit 14 receives a command from the self-position estimation means 145, and estimates its own position within the virtual space based on the measurement values measured by the sensor group 17 and the origin information of the virtual space. These utilize AR technology, including ARkit (registered trademark) world tracking.

Therefore, when working on the volume calculation process described below, even if the image captured by the imaging means 12 changes as the user moves the pouring amount calculation support device 10 in their hand, the viewpoint of the temporary height reference plane R can be changed and displayed on the display screen 11 in accordance with this change. Furthermore, when working on the volume calculation process, it is not necessary to always capture the entire remaining pouring area A with the imaging means 12, as shown in Figures 7 and 8. For example, it is possible to enlarge and capture a portion of the remaining pouring area A, ensuring a high degree of flexibility in the work related to volume calculation.

The plane recognized from the image captured by the imaging means 12 includes not only smooth horizontal planes or horizontal planes with an uneven surface, but also gently sloping planes, as long as it intersects with a vertical plane. For example, if the raised surface of the existing concrete C does not form a uniformly smooth surface because it has not yet been leveled, as shown in Figure 6(a), a representative value such as the median, average, or mode in the height direction is calculated as appropriate, and the horizontal plane located on this representative value is detected. This type of processing is also applicable when the raised surface of the existing concrete C is a gently sloping surface.

Furthermore, if there is no suitable plane at the same height as the intended concrete surface in the remaining pour area A in the surrounding area including the remaining pour area A at the time of imaging, the top surface of the formwork F as shown in the upper part of Figure 5 or the top surface of the reinforcing bar B as shown in Figure 6(b) may be detected to generate a temporary height reference surface R'.

For example, if rebar B is detected and a temporary height reference surface R' is generated and displayed on the display screen 11, the user can operate the manual input button 174 described above and input the cover depth numerically into the input label 175. This allows the height reference surface R to accurately correspond to the planned cast-in surface in the remaining cast-in area A, even if no flat surface of the same height exists in the surrounding area.

After acquiring the height reference plane R in this way, the calculation processing unit 14 receives a command from the volume acquisition means 144 and begins calculating the volume of the remaining area A.

<Getting plane information for the remaining area>
When approval information is input via the approval/end button 173, the calculation processing unit 14 receives instructions from the planar information acquisition unit 1441 and displays an operation screen on the display screen 11 that prompts the user to input the contour Co as information regarding the planar shape of the remaining area A.

While any operation screen may be used to input the outline Co, this embodiment uses the outline drawing operation screen as an example. Specifically, as shown in FIG. 7(a), a target button 176 that displays a target T for drawing the outline Co of the planar shape in the remaining area A, and an approval/end button 173 for inputting information indicating the end of the drawing operation, are displayed on the display screen 11.

The user operates the target button 176 on the display screen 11 to display the target T. Next, the user moves the target T to and taps on one of the vertices V arbitrarily selected from the vertices V that make up the outline Co of the planar shape in the area A to be left uncut on the captured image. After this, the user moves the target T to the adjacent vertex V to the left (clockwise) and repeats this tapping process as shown in Figure 7(b). Finally, by tapping the vertex V that was initially tapped, the designation of the outline Co of the planar shape in the area A to be left uncut on the captured image is completed.

After completing the outline drawing operation, which involves moving the target T along the outer edge of the planar shape in the remaining area A on the captured image and repeatedly tapping each time it reaches a vertex V, the approve/end button 173 is operated. While Figure 7(b) illustrates an example in which the outline drawing operation is performed clockwise, the outline drawing operation can be performed in one stroke, and may also be performed counterclockwise.

When the Approve/End button 173 is operated and end information for the contour drawing operation is input, the calculation processing unit 14 receives a command from the plane information acquisition unit 1441 and projects the contour Co of the planar shape in the remaining area A, specified by the contour drawing operation, onto the virtual plane S, as shown in FIG. 7(c). For example, the virtual plane S may be a plane parallel to the height reference plane R, with the position of the vertex V, where the target T was first tapped when specifying the contour Co, as its origin (0,0). This makes it possible to acquire the shape of the remaining area A as seen in a planar view, as shown in FIG. 7(d), and this is acquired as the plane information for the remaining area A.

The plane information thus acquired is stored in the plane information file 132 of the storage means 13. The plane information includes at least the position information of each of the multiple vertices V on the contour Co. Furthermore, the work of projecting the contour Co onto the virtual plane S and acquiring the position information of each vertex V is carried out using the AR technology described above.

<Getting depth information for the remaining area>
When the work of acquiring planar information is completed, as shown in Figure 8 (a), the calculation processing device 14 receives an instruction from the depth information acquisition unit 1442 and displays an operation screen on the display screen 11 prompting the user to input the depth measurement point P to be used to measure the pouring depth in the remaining pouring area A.

The operation screen for inputting the depth measurement point P displays on the display screen 11 a target button 176 that displays a target T for identifying the position of the depth measurement point P on the captured image, and an approve/end button 173 for inputting information for completing the setting of the depth measurement point P. Also displayed on the display screen 11 is a manual input button 174 for manually inputting depth information.

As shown in the upper part of Figure 8(a), the user operates the target button 176 on the display screen 11 to display the target T, and then moves and taps the target T to a position on the captured image that corresponds to the bottom of the poured concrete, avoiding the rebar B in the remaining pouring area A.

Then, in response to a command from the depth information acquisition unit 1442, the calculation processing unit 14 detects the tapped position as a depth measurement point P and calculates the relative distance L between the depth measurement point P and the height reference plane R, as shown in Figure 8 (b). The relative distance L is the difference between the distance (depth information) between the depth measurement point P and the imaging means 12 and the distance (depth information) between the height reference plane R and the imaging means 12 stored in the reference plane information file 131 of the storage means 13. This depth information is acquired by a LiDAR scanner built into the imaging means 12.

Once the relative distance L has been calculated, a numerical confirmation label 177 displaying the calculation result is output on the display screen 11, as shown in the lower part of Figure 8(a). The user checks the setting position and depth information of the depth measurement point P, and if the depth information is acceptable, operates the target button 176 to prepare for setting the second depth measurement point P.

The approved depth information, together with the position information of the depth measurement point P, is stored in the depth information file 133 of the storage means 13 as depth information for the remaining area A. The position information of the depth measurement point P is stored so that the position of the depth measurement point P and the depth information can be displayed together on the display screen 11, as shown in Figure 9. Therefore, if such display is not required, it does not necessarily have to be stored.

On the other hand, if you want to correct the depth information, tapping on an installed depth measurement point P will display an input label 175 that allows you to enter depth information numerically. This allows the user to enter the actual measured value as depth information even if the position where you want to set the depth measurement point P is in shadow on the captured image, or the depth cannot be measured due to factors such as narrow spacing between rebars.

It is possible to set only one depth measurement point P and then end the process, but it is recommended to set multiple points as shown in Figure 8 (c). There is no limit to the number of points, but it is recommended to limit it to around 20 points, for example. After the user has set the desired number of depth measurement points P and obtained depth information, they operate the approve/end button 173. Both the position information and depth information of the set depth measurement points P are stored in the depth information file 133 of the storage means 13.

<Calculating the volume of the remaining area>
When the work of obtaining the depth information is completed, the calculation processing unit 14 receives an instruction from the volume calculation unit 1443 and calculates the volume of the remaining area A based on the plane information stored in the plane information file 132 of the memory means 13 and the depth information stored in the depth information file 133.

To calculate the volume, first calculate the area and pouring depth of the remaining pouring area A. The area is calculated based on the position information of each of the multiple vertices V on the outline Co of the planar shape obtained as planar information, and the distance between the vertices V is also calculated. As mentioned above, when specifying the outline Co, the position of the vertex V where the target T was first tapped is set as the origin (0,0). Therefore, the position information for each vertex V is obtained as relative coordinates from the origin (0,0). This allows the interval distance between the vertices V to be obtained. The pouring depth is calculated as the average value of the relative distance L between each of the multiple depth measurement points P obtained as depth information and the height reference plane R. Note that the pouring depth is not necessarily limited to the average value, and representative values such as the median or mode may also be used.

The volume of the remaining pouring area A is calculated based on the area of the shape in plan view and the pouring depth of the remaining pouring area A. All of the above calculation results are stored in the volume calculation file 134 of the memory means 13. In addition, upon receiving a command from the result output unit 1444, the calculation processing unit 14 displays the volume of the remaining pouring area A on the display screen 11, as shown in Figure 9.

In Figure 9, not only the volume of the remaining pouring area A, but also an image simulating the shape of the remaining pouring area A when viewed in plan, the distance between vertices V, the positions of the depth measurement points P, depth information for each depth measurement point P, area, and pouring depth are displayed on the display screen 11. This allows the user to use the volume displayed on the display screen 11 as support information and, taking this into consideration, determine the amount of concrete needed to be poured into the remaining pouring area A.

According to the above method, the outline Co of the planar shape of the remaining area A is specified on the captured image of the surrounding area including the remaining area A displayed on the display screen 11, and the bottom position of the remaining area A is specified using a depth measurement point P, and the relative distance L between the depth measurement point P and the height reference plane R is set.

This allows users to virtually experience surveying remaining area A, easily obtaining the volume of remaining area A by themselves without the assistance of other workers, and while reducing the amount of downtime required for concrete pouring work at construction sites compared to previous methods.

In addition, the tasks of specifying the outline Co of the planar shape in the remaining area A and specifying the depth measurement points P are simple, and acquiring the planar information and depth information does not require a significant amount of time. Therefore, by repeating these tasks as needed, or by increasing the number of depth measurement points P specified, it is possible to easily improve the accuracy of volume calculation.

As a result, the amount of concrete needed to pour into remaining pour area A, calculated using the volume of remaining pour area A obtained by the pouring amount calculation support device 10 as support information, can be calculated with such high reliability that it is possible to underestimate the margin when ordering concrete. This contributes to reducing the amount of leftover concrete after construction is completed, which not only takes environmental impacts into consideration but also makes it possible to significantly reduce disposal costs, etc.

The concrete pouring amount calculation support device 10 of the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the present invention.

For example, in this embodiment, when obtaining the volume of the remaining area A, the plane information is obtained first, and then the depth information is obtained, but this is not limited to this, and the depth information may be obtained first.

In addition, as shown in Figures 2 and 10, the concrete pouring amount calculation support device 10 may be equipped with communication means 16 for sending and receiving data to and from each terminal via a communication network 40. The communication network 40 may be constructed using the Internet, a dedicated communication line, or the like.

As a result, even if other workers are located far away from the construction office or work site, they can obtain and view the data stored in the memory means 13 of the concrete pouring amount calculation support device 10 via the communication network 40 using the communication means 16 by carrying a wireless communication-enabled terminal 30 such as a personal computer, laptop, tablet, or smartphone.

Furthermore, the concrete pouring amount calculation support device 10 may constitute a concrete pouring amount calculation support system 100 together with a management server 20 and other wirelessly capable terminals 30. In this case, the management server 20 also includes a communication unit 21 that sends and receives data to and from each terminal via a communication network 40, as well as a processing unit 22 and a memory unit 23. The management server 20 is a computer system or cloud server, and the processing unit 22 includes a CPU, GPU, ROM, RAM, hardware interface, etc., and the memory unit 23 appropriately stores data acquired via the communication unit 21.

Then, instead of storing the storage means 13 of the pouring amount calculation support device 10, the reference surface information file 131, plane information file 132, depth information file 133, and volume calculation file 134 are stored in the storage unit 23 of the management server 20. This allows other workers with wireless communication-enabled terminals 30 to constantly obtain and view the information stored in the storage means 13 of the management server 20 in real time.

10 pouring amount calculation support device 11 display screen 12 imaging means (including depth sensor)
13 Storage means 131 Reference plane information file 132 Plane information file 133 Depth information file 134 Volume calculation file 14 Processing device 141 Reference plane generation means 142 Synthesis processing means 143 Reference plane correction means 144 Volume acquisition means 1441 Plane information acquisition unit 1442 Depth information acquisition unit 1443 Volume calculation unit 1444 Result output unit 145 Self-position estimation means 15 Operation means 16 Communication means 17 Sensor group 20 Management server 21 Communication unit 22 Processing device 23 Storage unit 30 Wirelessly communicable terminal 40 Communication network 100 Concrete pouring amount calculation support system 171 Move button (downward movement)
172 Movement button (upward movement)
173 Approval/End button 174 Manual input button 175 Input label 176 Target button 177 Numerical value confirmation label F Formwork B Reinforcing bar A Remaining pouring area C Existing concrete Co Contour V Vertex R Height reference plane R' Temporary height reference plane T Target P Depth measurement point S Virtual plane

Claims (5)

a self-position estimation means for creating a virtual space having an origin at the position of the imaging means at the time of activation based on an image captured by the imaging means and measurement results from a sensor group that measures the position, direction, and attitude of the imaging means and a depth sensor that detects the distance to an object in the captured image, and for estimating the self-position of the imaging means within the virtual space when the imaging means moves;
a reference plane generating means for generating a virtual height reference plane made up of a three-dimensional CG image at a height position in the virtual space corresponding to a predetermined position on the captured image;
a reference plane correction means for correcting the position of the temporary height reference plane based on numerically input correction information to obtain a height reference plane;
a volume acquisition means for acquiring the volume of the concrete remaining in the poured area by treating the height reference surface as a concrete rising surface to be planned in the poured area;
A concrete pouring amount calculation support device comprising:
The volume acquisition means
a plane information acquisition unit that acquires a contour of a planar shape of the uncast area specified on the captured image as plane information of the uncast area;
a depth information acquisition unit that calculates a relative distance in the depth direction between a depth measurement point of the uncast range specified on the captured image and the height reference plane to be combined with the captured image, and acquires depth information of the uncast range;
a volume calculation unit that calculates the volume of the uncast area based on the plane information and the depth information;
A concrete pouring amount calculation support device comprising: The concrete pouring amount calculation support device according to claim 1,
The temporary height reference surface is the upper surface of a reinforcing bar arbitrarily determined on the captured image,
A concrete pouring amount calculation support device characterized in that the numerically input correction information is cover thickness. A concrete pouring amount calculation support method that supports calculation of the amount of concrete to be poured in a remaining pouring area,
a reference plane generation step of generating a virtual height reference plane consisting of a three-dimensional CG image at a height position corresponding to a predetermined position on the captured image in a virtual space having an origin that is the position at the time of activation of the imaging means, the virtual height reference plane being created based on a captured image acquired by the imaging means and measurement results from a group of sensors that measure the position, direction, and attitude of the imaging means and a depth sensor that detects the distance to an object in the captured image;
a reference plane correction step of correcting the position of the temporary height reference plane based on numerically input correction information to obtain a height reference plane;
and a volume acquisition process for treating the height reference surface as a concrete cast-up surface planned for the remaining concrete pour area and acquiring the volume of the remaining concrete pour area,
The volume acquisition step includes:
a plane information acquiring step of acquiring a contour of a planar shape of the uncast area specified on the captured image as plane information of the uncast area;
a depth information acquisition step of calculating a relative distance in the depth direction between a depth measurement point of the uncast area specified on the captured image and the height reference plane to be combined with the captured image, and acquiring depth information of the uncast area;
a volume calculation step of calculating a volume of the remaining area based on the plane information and the depth information;
A concrete pouring amount calculation support method comprising: The concrete pouring amount calculation support method according to claim 3,
The temporary height reference surface is the upper surface of a reinforcing bar arbitrarily determined on the captured image,
A method for supporting calculation of concrete pouring volume, characterized in that the numerically input correction information is cover thickness. A program for causing a computer to execute each step of the concrete pour volume calculation support method described in claim 3 or 4.