JP2024039017A - Remote construction management system for ground improvement work using VR technology - Google Patents

Abstract

[Problem] To provide a remote construction management system for ground improvement work that remotely manages the progress status of construction from the present to the past and future for columnar improvement structures built underground. [Solution] The system uses virtual reality (VR) that is virtually reproduced based on various information on construction machines, various information on solidifying agents, three-dimensional shape data of the actual ground improvement work site, ground information, and CAD data of the machine. A cloud server 10 that provides viewing of the ground improvement construction site 200 is set up, and the communication devices 60 and 70 of the construction machines transmit various information about the construction machine and solidifying agent to the cloud server 10 and save it in the storage unit 12. . The person involved in the construction accesses the cloud server 10 using the user terminal device 20, downloads the VR ground improvement construction site 200, and displays the downloaded VR ground improvement construction site 200 on the display section 33 of the head-mounted display 30. Display it as a VR three-dimensional image. [Selection diagram] Figure 1

Description

Application for application of Article 30, Paragraph 2 of the Patent Act 1. Dates: September 14th to September 16th, 2020 2. Meeting name and venue Geotechnical Forum 2022, Tokyo Big Sight (3-11-1 Ariake, Koto-ku, Tokyo)

The present invention relates to a remote construction management system for ground improvement work. The present invention relates to a remote construction management system for ground improvement work using VR technology that allows remote operation management of construction machines that create improved bodies.

Virtual reality (VR) technology allows users to enter a virtual world that is virtually reproduced on a computer display through a goggle-type display called a head-mounted display that has an internal display. It is a technology for immersing yourself in the world. VR technology not only allows users to see and listen to a virtual world that is different from the real world, but also allows the user to enter the virtual world as a virtual person (avatar) and operate that virtual person using a dedicated controller. It is possible to play by doing this. In addition to VR technology, AR technology, which displays a composite image of the real world and the virtual world on a head-mounted display, is also used in various fields. The real world that is superimposed on the virtual world is generally captured by a camera included in a head-mounted display.

Inventions using AR technology have also been proposed in the field of architecture and civil engineering. For example, there is an invention that relates to a situation understanding support system that allows a person located at a location other than the construction site to grasp the situation at the construction site with an accuracy comparable to that of the person who is at the construction site without actually going to the construction site. (For example, see Patent Document 1.)

In this situation understanding support system, workers at the construction site take pictures of the object to be inspected from various directions using a head-mounted display, and a composite image (an image in which a virtual image is superimposed on the real image) is set up at the construction site. data is sent to the on-site computer. Then, the on-site computer that receives the composite image measures the three-dimensional shape of the object to be inspected based on the composite image, and generates three-dimensional shape data representing the three-dimensional shape. The three-dimensional shape data of the inspection object created by the on-site computer is then transmitted to an office computer in a spatially separate room. Then, the office computer that receives the 3D shape data of the object to be inspected generates data in which the input field for the inspection results is superimposed on the 3D shape data of the object to be inspected, and the data is used at the construction site. It is sent to the inspector's head-mounted display, which has the same coordinate system as the coordinate system. The inspector is supposed to be able to inspect the three-dimensional shape of the object to be inspected via the head-mounted display.

In addition, in AR technology, a virtual image is superimposed on a real image, so markers (AR markers) or multiple reference points with known coordinates are placed in the real image to match the coordinate system of the real image and the coordinate system of the virtual image. It becomes necessary. By visually recognizing the AR marker with a camera provided in the head-mounted display, the worker can align the coordinate system of the real image and the coordinate system of the virtual image.

By the way, when creating a composite image by overlapping the real image and the virtual image, it is possible to eliminate the positional shift in the shooting position of the real image without using an AR marker, and to create an accurate composite image without any shift. An invention related to a method for displaying a composite image of possible ground improvement work is known (for example, see Patent Document 2). In this composite image display method for ground improvement work, the computer first determines the "coordinates" and "progressing direction" of the construction machine using measurement signals from two GNSS receivers and an inclinometer attached to the construction machine (soil improvement machine). and "slope" (location information of the construction machine). Next, the computer calculates the coordinates of the center point of the actual image taken by the camera based on the position information of the construction machine. Then, the worker actually installs a GNSS receiver at the center point of the photograph, and the computer calculates the reference coordinates of the center point of the photograph based on the measurement signal of the installed GNSS receiver. The computer then compares these "reference coordinates of the shooting center point" with the "coordinates of the shooting center point" previously calculated based on the position information of the construction machine, and calculates the actual image taken by the camera. The shooting position is being corrected. The computer then synthesizes the corrected real image and virtual image.

As another composite image display system that does not use other AR markers, the same feature points are extracted from a captured image and a virtual image corresponding to the captured image, and a coordinate transformation is performed so that the coordinate positions of the feature points overlap. An invention related to a composite image display system that displays virtual images in a superimposed manner is known (for example, see Patent Document 3).

By the way, a remote controller in a remote control room receives images captured by a plurality of cameras attached to a construction machine (excavator) and photographic images captured by a camera installed at a construction site via a network. Based on these images, a virtual viewpoint image "corresponding to the operator's eye position if the operator were seated in the driver's seat in the cabin" is generated and displayed on the remote operator's display device. There is an invention related to a management system for construction machinery that can perform the following functions (see, for example, [0022], [0063], and [0065] of Patent Document 4). The operator at the remote location operates the operating device while viewing this virtual viewpoint image, and the operating signal is transmitted by the remote controller to the construction machine (excavator) at the construction site, and the construction machine (excavator) is operated remotely. That will happen.

JP2021-047610A JP2020-52616A Unexamined Japanese Patent Publication No. 2014-2645 Japanese Patent Application Publication No. 2022-157635

In recent years, ground improvement has been carried out underground using the mechanical stirring method (slurry-type mechanical stirring method) for the purpose of "strengthening the bearing capacity," "reducing subsidence," "preventing liquefaction," and "seismic reinforcement of existing structures" in soft ground. Ground improvement work that involves creating a large number of piles is increasing. Ground improvement piles are created in a cylindrical shape by excavating the ground to a predetermined depth using a stirring blade attached to the tip of a casing rod, and at the same time injecting a cement-based solidifying agent into the soil and mixing it with stirring.

In the AR technology described in the above-mentioned patent documents, a real image is captured by a camera attached to a worker's head-mounted display or a construction machine (ground improvement machine). Since the worker or the construction machine cannot proceed underground, the actual image of the underground will not be captured by the camera. Therefore, ground improvement piles built underground cannot be displayed in real time in a composite image (AR image) in which a real image and a virtual image are superimposed. As a result, there is a problem in that it is not possible to grasp the current progress of construction work on soil improvement piles built underground in real time.

Further, there may be cases where it is desired to check the progress of construction going back to a certain point in the past. In that case, the progress of past construction work will be checked within the imaging range captured by the camera. Similarly, there is a problem in that it is not possible to grasp the progress of past construction work regarding soil improvement piles built underground.

Furthermore, in the "construction machine management system" described in Patent Document 4, the virtual viewpoint image viewed by the operator is generated based on a photographic image captured by a camera or the like on the construction machine or the construction site. Therefore, a photographic image representing the surroundings of the construction machine is transmitted in real time to a remote controller in a remote control room via a management center (server). Since multiple construction machines are in operation at a construction site, a high-speed, large-capacity communication line is required to connect the construction machines and the control center or the control center and the remote controller. There is a problem with becoming.

Further, the viewpoint position related to the virtual viewpoint image viewed by the operator is limited to within the imaging range of the camera. Therefore, when an operator wants to view a construction machine from a viewpoint position outside the imaging range of the camera, for example, from a high place outside the imaging range, there is a problem that the operator cannot see through the virtual viewpoint image.

Therefore, the present invention has been made in view of the above-mentioned problems of the prior art, and its purpose is to remotely manage the progress of construction from the present to the past and future for columnar improvement structures built underground. An object of the present invention is to provide a remote construction management system for ground improvement work using VR technology, which can perform remote operation management of a construction machine that creates a columnar improvement body.

A remote construction management system for ground improvement work using VR technology according to the present invention to achieve the above object is a remote construction management system for ground improvement work (100 ), a server device (10) that provides a virtual ground improvement construction site (200) that is virtually reproduced by a predetermined computer program that imitates an actual soil improvement construction site (300); 10) via a network (50), a display (30) for the user to view the virtual ground improvement construction site (200), and a display (30) for the user to view the virtual ground improvement construction site (200); An operating machine (40) for a user to operate virtually at a construction site (200), various information related to the construction machine (1), and various information related to the columnar improved body (9) are transmitted to the server device (10). and a communication device (60, 70) for transmitting data to the computer based on various information related to the construction machine (1) and various information related to the columnar improved body (9). It is characterized in that it is virtually reproduced by a program as a part of the virtual ground improvement construction site (200) and displayed as a VR three-dimensional image on the display (30).

In the above configuration, the columnar improvement body (9) is virtually reproduced as a part of the virtual ground improvement work site (200) and displayed as a VR three-dimensional image on the display (30). As a result, unnecessary image information (noise) other than the virtual ground improvement construction site (200) is not mixed into the user's field of view. As a result, the user can immerse himself in the virtual ground improvement construction site (200) and concentrate on checking the construction progress (yield/form) of the desired columnar improvement body (9).

A second feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the user appears as a virtual person (400, 410, 420) at the virtual ground improvement work site (200). It is possible to display it on the display (30).

With the above configuration, the parties involved in the ground improvement work can meet together even though they are located remotely, and simultaneously perform confirmation work on the construction progress status (yield and finished shape) of the columnar improvement body (9).

A third feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the user can interact with other users at the virtual ground improvement work site (200), and the content of the interaction is Text can be displayed on the virtual ground improvement construction site (200).

With the above configuration, the parties involved in the ground improvement work can meet together even though they are located remotely, and work to confirm the construction progress status (completed volume and finished shape) of the columnar improvement structure (9) while mutually agreeing on it. .

A fourth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that a file posted by one user at the virtual ground improvement work site (200) is viewed by another user. It is possible.

With the above configuration, the parties involved in the ground improvement work can meet together even though they are located remotely, and perform detailed confirmation work on the construction progress (yield and finished shape) of the columnar improvement structure (9) while referring to materials. becomes.

A fifth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the user can virtually move underground at the virtual ground improvement work site (200). It is.

In the above configuration, the parties involved in the ground improvement work meet together while being remotely located, and monitor the construction progress of the columnar improvement body (9) while changing their standing position with respect to the columnar improvement body (9) along a predetermined depth from the ground surface. It becomes possible to perform confirmation work regarding (output/form).

A sixth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the columnar improvement body (9) is capable of distributing solidifying agent per predetermined depth at the virtual ground improvement work site (200). A volume/form control chart (450, 450', 451, 451') related to the columnar improvement body (9), which is displayed in color based on the section flow rate and the number of section blade cuts of the stirring blade (3b) per predetermined depth. It is also possible to display the information at the same time.

With the above configuration, the parties involved in the ground improvement work can meet together even though they are located remotely, and it is easy to confirm the construction progress status (yield and finished shape) of the columnar improvement body (9), so that no checks are overlooked.

A seventh feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the virtual ground improvement work site (200) is a time-series seek bar related to the time axis from the start of construction to the present. (500), and when the user moves the time-series seek bar (500) to the construction start time, the virtual construction site (200) at a certain point in the past is virtually reproduced.

With the above configuration, the parties involved in the ground improvement work can easily meet together even though they are located remotely, and check the construction progress (completion rate and completed form) of the columnar improvement structure (9) not only now but also at a certain point in the past. This eliminates any omissions in checking not only in the present but also at some point in the past.

An eighth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the server device (10) is configured to control the construction from the start of construction for the specific columnar improvement body (9) specified by the user. The purpose is to reproduce the history leading up to the completion of construction on the virtual ground improvement construction site (200).

With the above configuration, for example, post-inspection of a specific columnar improved body (9) is possible.

A ninth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the server device (10) is configured to perform a system based on the construction results of the columnar improvement body (9) from the past to the present. , it is possible to predict the number of the columnar improvement bodies (9) that are expected to be completed by a certain point in the future specified by the user.

With the above configuration, it is possible to quantitatively grasp the progress status of the ground improvement work at a certain point in the future, whether it is delayed or ahead of the construction plan, so it is possible to take measures to catch up in advance.

A tenth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that for the columnar improvement body (9) that is predicted to be delayed or ahead of the construction plan, the construction is predicted to be completed. It is to be reproduced at the virtual ground improvement work site (200) with a color different from that of the other columnar improvement bodies (9).

With the above configuration, it is possible to check the progress of the virtual ground improvement work (200) at a glance.

An eleventh feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that it "operates virtually at the virtual ground improvement work site (200)" and corresponds to the construction machine (1). The virtual construction machine (1v) is configured to be virtually operable on the display (30) by the operating machine (40), and the operating command from the operating machine (40) to the virtual construction machine (1v) is as follows: The user terminal device (20) converts it into a control command for the construction machine (1) and transmits it to the machine control device (80) of the construction machine (1), and the machine control device (80) receives the control command. ) controls the construction machine (1) based on the control command, and transmits machine information and construction information regarding the construction machine (1) after executing the control command to the server device (10). The server device (10) that has received the machine information and construction information updates the virtual ground improvement construction site (200) to the latest state and transmits the updated information to the user terminal device (20). It is.

In the above configuration, the object directly operated by the operator is the virtual construction machine (1v). On the other hand, the actual construction machine (1) will be operated by the machine control device (80). Therefore, the data exchanged on the network (50) is data with a small amount of information, such as operation commands, machine information, construction information, and update information on the virtual ground improvement construction site (200). As a result, a high-speed, large-capacity communication line is not necessary for the network (50), and a low-speed, small-capacity communication line is sufficient.

A twelfth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the user terminal device (20) is configured to control the columnar improvement body (9) created by the construction machine (1). The machine guidance data including the "number, coordinates, pile condition settings (430) and process settings (440)" or its update information is transmitted to the server device (10), and the server device (10) (80) transmits the machine guidance data or its update information to the machine control device (80), and the machine control device (80) stores the machine guidance data or its update information in a predetermined storage section. , and automatically create a columnar improved body (9) based on a start command from the user terminal device (20).

In the above configuration, the operator sends the number of the improved columnar body (9) to the machine control device (80) as a start command, and the machine control device (80) responds to the number by referring to the machine guidance data. The improved columnar body (9) will be automatically created.

A thirteenth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the actual ground improvement work site (300) is set in a plane orthogonal coordinate system compatible with a predetermined satellite positioning system (GNSS). (X'Y'Z'), and the virtual ground improvement work site (200) has a virtual plane rectangular coordinate system (X'Y'Z') corresponding to the plane rectangular coordinate system (X'Y'Z'). _v), and "dimensions, coordinates, movement direction, and movement amount of the virtual construction machine (1v) in the virtual plane rectangular coordinate system (X'Y'Z'_v)" are "the corresponding construction machine ( 1) dimensions, coordinates, direction of movement, and amount of movement in the planar orthogonal coordinate system (X'Y'Z').

In the above configuration, "the operation of the virtual construction machine (1v) in the virtual plane rectangular coordinate system (X'Y'Z'_v)" and "the plane rectangular coordinate system (X'Y'Z') corresponding to the satellite positioning system" are explained. The operations of the construction machine (1) in 1 and 2 correspond to each other on a one-to-one basis. This allows the operator to operate the virtual construction machine (1v) on the virtual plane rectangular coordinate system (X'Y'Z'_v), and the operator to operate the virtual construction machine (1v) on the plane rectangular coordinate system (X'Y'Z'_v) corresponding to the satellite positioning system. Operating the actual construction machine (1) on Z') is equivalent to each other.

Therefore, in a virtual ground improvement construction site (200) having a virtual plane rectangular coordinate system (X'Y'Z'_v), the operator's viewpoint position (height of the line of sight, direction of line of sight, field of view) can be freely changed. This makes it easier to operate the virtual construction machine (1v) and, by extension, the actual construction machine (1).

A fourteenth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the virtual construction machine (1v) uses an orthographic projection method for all the components of the construction machine (1). The 2D drawing data is converted into 3D drawing data, and the 3D drawing data for each component is virtually assembled according to the actual assembly process on a predetermined 3D design application, creating not only an external structure but also an internal structure. This corresponds to a three-dimensional computer graphic model of the construction machine (1) that has been reproduced up to the point in time.

With the above configuration, an operator immersed in the virtual ground improvement construction site (200) can operate the virtual construction machine (1v) as if operating the actual construction machine (1).

In addition, the virtual construction machine (1v) is displayed virtually in a "virtual space such as a virtual ground improvement construction site (200)", and the virtual construction machine (1v) is used to display "I am considering purchasing a real machine". It becomes possible to explain to customers the functions and performance of the actual machine, and even allow customers to virtually test drive the actual machine.

A fifteenth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that a part or all of the virtual ground improvement work site (200) is The point group data of the acquired coordinates is represented by polygonal mesh data, which is a polygonal mesh formed by connecting one adjacent point and another point with straight lines.

With the above configuration, it is possible to acquire three-dimensional three-dimensional information with known coordinates regarding the surrounding situation of the virtual construction machine (1v). As a result, for example, the slope and unevenness of the ground surface can be seen.

A sixteenth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the virtual ground improvement work site (200) includes a virtual target position (PTv) related to construction, a virtual construction means (Ctv), ) or the virtual construction object (9v), it is possible to display or highlight figures, symbols, pictograms, numerical values, graphs, or colors in an overlapping manner.

With the above configuration, it is easy for the operator to virtually guide the virtual construction machine (1v) to the virtual target position (PTv), and it is also easy to virtually create the virtual construction target (9v). .

A seventeenth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the server device (10) or the user terminal device (20) can move the virtual construction machine (1v). A virtual boundary line (BLv) defining an area is set at the virtual ground improvement construction site (200), and an operation by the operating device (40) that causes the virtual construction machine (1v) to deviate from the virtual boundary line (BLv) is performed. This means that it can be disabled.

In the above configuration, the movable area is visually displayed by the virtual boundary line (BLv), so it is possible to safely determine the route to guide the virtual construction machine (1v) to the virtual construction target position (PTv). .

An eighteenth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the server device (10) or the user terminal device (20) performs operations on the construction machine (1) in the following order: The operation interval and the amount of operation are collectively stored as a batch operation command, and transmitted to the machine control device (80) as necessary, and the machine control device (80) stores the batch operation command.

In the above configuration, when the machine control device (80) receives a command to start construction from the operator, for example, "the number of interval blade cuttings of the stirring blade (3b)" and " The machine control device (80) enables the construction machine (1) to automatically create the ground improvement pile (9v) without the operator having to manually adjust the section flow rate of the solidifying agent.

A nineteenth feature of the remote construction management system for ground improvement work using VR technology according to the present invention is that the virtual construction machine (1v) is virtually reproduced by the predetermined computer program that simulates an actual exhibition hall. It is virtually exhibited in the virtual exhibition hall (700).

In the above configuration, the virtual construction machine (1v) is used to explain the functions and performance of the actual machine to "customers considering purchasing the actual machine" without delivering the actual machine to the customer. Furthermore, it will be possible for customers to virtually test drive the actual machine.

Furthermore, when participating in an actual exhibition, all the work costs and manpower associated with bringing in the actual equipment can be reduced. In addition, the area of the exhibition booth will also be smaller. This can significantly reduce the cost of participating in exhibitions.

According to the remote construction management system for ground improvement work using VR technology according to the present invention, it is possible to remotely manage the progress status of construction from the present to the past and future for columnar improvement construction constructed underground. It becomes possible. Furthermore, it becomes possible to remotely control the operation of the construction machine that creates the columnar improved body.

1 is a block diagram showing the configuration of a remote construction management system for ground improvement work according to an embodiment of the present invention. It is an explanatory diagram showing an actual ground improvement construction site corresponding to a virtual construction site virtually reproduced by a cloud server. FIG. 2 is an explanatory diagram showing a participation function of a VR ground improvement construction site that corresponds to the virtual world of an actual soil improvement construction site. FIG. 2 is an explanatory diagram showing an interactive function of a VR ground improvement construction site that corresponds to a virtual world of an actual soil improvement construction site. It is an explanatory diagram showing an example of a file sharing function of a VR ground improvement work site corresponding to a virtual world of an actual ground improvement work site. It is an explanatory diagram showing an example of a construction site patrol function of a VR ground improvement construction site corresponding to a virtual world of an actual soil improvement construction site. FIG. 2 is an explanatory diagram showing an example of a construction progress confirmation function of a VR ground improvement construction site, which corresponds to a virtual world of an actual soil improvement construction site. FIG. 2 is an explanatory diagram showing an example of a construction history confirmation function of a VR ground improvement construction site, which corresponds to a virtual world of an actual soil improvement construction site. An explanatory diagram showing another example of the construction history confirmation function of a VR ground improvement construction site, which corresponds to the virtual world of an actual ground improvement construction site. It is an explanatory diagram showing an example of a construction progress prediction confirmation function of a VR ground improvement work site corresponding to a virtual world of an actual ground improvement work site. It is an explanatory diagram showing an example of forward movement of an avatar in a VR ground improvement construction site. It is an explanatory diagram showing an example of backward movement of an avatar in a VR ground improvement construction site. It is an explanatory diagram showing an example of leftward movement of an avatar in a VR ground improvement construction site. It is an explanatory diagram showing an example of rightward movement of an avatar in a VR ground improvement construction site. It is an explanatory diagram showing an example of upward movement of an avatar in a VR ground improvement construction site. It is an explanatory view showing a remote operation management system for ground improvement work according to a second embodiment of the present invention. It is a flow diagram showing a general procedure for an operator to operate the VR ground improvement machine and actually move the actual ground improvement machine. FIG. 2 is an explanatory diagram showing data exchange between an operator terminal device, a cloud server, and a construction machine control device in a network. FIG. 2 is an explanatory diagram showing data exchange between an operator terminal device, a cloud server, and a construction machine control device in a network when an operator operates a VR ground improvement machine to actually move the actual ground improvement machine. It is a block diagram showing the composition of the construction machine control device concerning a 2nd embodiment of the present invention. FIG. 2 is an explanatory diagram showing a plane orthogonal coordinate system compatible with a GNSS satellite positioning system and a mechanical coordinate system constructed on an actual ground improvement aircraft. It is an explanatory view showing triangular mesh data concerning a 2nd embodiment of the present invention. It is an explanatory view showing the main part front of the VR ground improvement machine concerning a 2nd embodiment of the present invention. It is an explanatory diagram showing a VR ground improvement machine when an operator's viewpoint position is changed. FIG. 2 is an explanatory diagram showing a virtual parts moving function of the VR ground improvement machine. It is an explanatory view showing a virtual part transparency function of the VR ground improvement machine. It is a flow diagram showing automatic construction of soil improvement piles using a VR soil improvement machine. It is an explanatory diagram showing exchange of data in a network at the time of automatic construction of an automatic improvement pile. FIG. 2 is an explanatory diagram showing a virtual field of view seen from a virtual cabin section of the VR ground improvement machine. FIG. 3 is an explanatory diagram showing a VR three-dimensional image when the operator's viewpoint position with respect to the virtual construction target position is changed. It is an explanatory view showing virtual ground improvement piles being created virtually at a VR ground improvement construction site. It is an explanatory view showing a VR ground improvement machine exhibition hall concerning a 3rd embodiment of the present invention. It is an explanatory view showing a hydraulic operation panel of the actual ground improvement machine. It is an explanatory view showing a construction target position in machine guidance data.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a block diagram showing the configuration of a remote construction management system 100 for ground improvement work according to an embodiment of the present invention. FIG. 2 is an explanatory diagram showing an actual ground improvement work site 300 corresponding to a VR ground improvement work site 200 according to the present invention, which will be described later. Note that "VR" is an abbreviation for "Virtual Reality" and means a virtual space, virtual reality world, virtual world, etc. that is virtually reproduced on a computer display. Further, details of the VR ground improvement construction site 200 will be described later with reference to FIGS. 3 to 10.

This remote construction management system 100 for ground improvement work is comparable to a case where the parties (users) of the construction who are located at a distance from the actual ground improvement work site 300 (construction site) go to the construction site without actually going to the construction site. It is possible to check the current construction progress of the actual ground improvement construction site 300, the past construction results from the start of construction to the present, and the predicted construction progress from the present to a certain point in the future with unparalleled accuracy. This is a construction management system that makes it possible. For convenience of explanation, the parties (users) to the construction work in this embodiment are assumed to be three parties: the construction contractor, the construction contractor, and the construction contractor.

As shown in FIG. 1, the configuration of the remote construction management system 100 for ground improvement work includes a cloud server 10 that provides the user with a VR ground improvement work site 200 that corresponds to the virtual world of the actual ground improvement work site 300; One or more user terminal devices 20 for using various functions of the VR ground improvement work site 200, a head-mounted display 30 for visually displaying the VR ground improvement work site 200, and a VR ground improvement work site. An operating device 40 for operating the site 200, a network 50 that enables two-way data exchange between the cloud server 10 and the user terminal device 20, and various information on the ground improvement machine 1 to the cloud server 10. The communication device 60 of the construction machine transmits, the communication device 70 of the solidifying agent transmits various information on the solidifying agent to the cloud server 10, and the three-dimensional shape data (XYZ coordinate values) on the ground of the actual ground improvement construction site 300 is measured. and a 3D laser scanner 11 that transmits images to a cloud server 10. Each configuration will be further explained below.

The cloud server 10 includes a control unit 11 for processing various functions of the VR ground improvement construction site 200 (construction management program), a construction management program that virtually reproduces the VR soil improvement construction site 200, construction equipment, and solidification. A storage unit 12 that stores various information about the agent, three-dimensional shape data of the actual construction site, ground information (N value, soil quality), machine CAD data, user information (account information), etc., and user commands (requests). and an input/output unit 13 for receiving the command (request) and transmitting the processed data obtained by processing the command (request) to all users.

Note that the "various information" referred to here includes machine information, construction information, location information, and the like. Regarding the "various information" of the construction machine, for example, the position and direction of the soil improvement machine 1, the construction position (X, Y) and excavation depth (m) of the soil improvement pile 9, the rotation speed of the swivel head 1a (Fig. 2) (times/min), rotational torque (kN·m), lifting speed (m/min) of the reader 1b (FIG. 2), and supply pressure (N). On the other hand, "various information" on the solidifying agent includes, for example, cement specific gravity, cement addition amount (kg/m ³ ), mixing ratio, section flow rate (L), instantaneous flow rate (L/min), and cumulative flow rate (L). shall be held.

Furthermore, the "machine CAD data" referred to herein includes CAD data of the soil improving machine 1, the solidifying agent generating device 4, and the solidifying agent pump 5.

The control unit 11 has a function of creating a VR ground improvement work site. That is, when the control unit 11 receives a command (request) from the user to “start the construction management program stored in the storage unit 12”, the control unit 11 executes various information about the ground improvement machine 1 stored in the storage unit 12, Based on various information on the solidifying agent, three-dimensional shape data of the actual ground improvement construction site 300, and ground information, a VR ground improvement construction site 200 corresponding to the virtual world of the actual soil improvement construction site 300 is virtually reproduced. The reproduced VR ground improvement construction site 200 is transmitted from the cloud server 10 to the user terminal device 20 of each user, and processed into a VR three-dimensional image at the user terminal device 20. Each user then views the processed VR three-dimensional image of the VR ground improvement construction site 200 using the head-mounted display 30. Note that the "VR three-dimensional image" referred to here is a three-dimensional image (3D image) of a desired virtual world image (VR ground improvement construction site 200) that has a sense of depth and is projected over the entire user's field of vision. ) means.

Other functions of the control unit 11 include, for example, "participation function," "dialogue function," "file sharing function," "construction site patrol function," "construction progress confirmation function," and "construction history confirmation function." , "Construction progress prediction confirmation function", etc. These functions will be described later with reference to FIGS. 3 to 9. Next, the user terminal device 20 will be explained.

The user terminal device 20 downloads the VR ground improvement construction site 200 provided by the cloud server 10 and processes it into a VR three-dimensional image. The processed VR three-dimensional image of the ground improvement construction site 200 is transmitted from the user terminal device 20 to the head-mounted display 30.

The user terminal device 20 has an input/output section 21, a data processing section 22, a storage section 23, and a display section 24, and is a desktop, notebook, or tablet computer, or a mobile terminal device such as a smartphone. It can be configured by The user terminal device 20 is connected to the network 50 and has a two-way communication function that allows bidirectional communication with the cloud server 10, other user terminal devices 20, head-mounted display 30, and controller 40. ing.

The head-mounted display 30 displays a VR three-dimensional image of the VR ground improvement construction site 200 so that the user can see it. The head-mounted display 30 has an input/output section 31, a data processing section 32, a display section 33, and a microphone/headphone 34, and can be configured with a glasses-type or goggle-type non-transparent display. . Therefore, one user can interact with other users using the microphone-headphones 34 while viewing the VR ground improvement construction site 200.

The operating device 40 has an input/output section 41, a data processing section 42, a motion detection section 43, and an operation section 44 such as a cross pad or a stick, and the operation detection section 34 detects the user's motion (operation section 44). is detected, and data related to the user's actions is transmitted to the user terminal device 20. The user terminal device 20 that has received the data related to the user's actions transmits it to the cloud server 10. The cloud server 10 that has received the data related to the user's actions reflects it on the corresponding avatar in the VR ground improvement construction site 200, and the VR ground improvement construction site 200 where the avatar has been updated is transmitted to each user's user terminal by the cloud server 10. The information will be transmitted to the device 20, respectively. Further, as the operating device 40, it is also possible to use an existing controller used in a game machine.

The network 50 is, for example, a wireless communication network provided by a mobile phone company, a combination of the wireless communication network and a wired communication network such as the Internet, or a short-range wireless communication network such as Wi-Fi (registered trademark) or Bluetooth (registered trademark). It can be configured by a combination of communication and a wired communication network such as the Internet, or a combination of a wireless communication network, a wired communication network, and short-range wireless communication.

The communication device 60 of the construction machine has a short-range wireless communication function such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), and also has a mobile communication function that can connect to a wireless communication network of a mobile phone carrier. It also has Therefore, various information about the construction machine (machine information, construction information, location information) is transmitted directly or indirectly from the communication device 60 of the construction machine to the cloud server 10 via the network 50. There is. The various information regarding the construction equipment received by the cloud server 10 is stored in the storage unit 12 and used when reproducing the VR ground improvement construction site 200.

The solidifying agent communication device 70 has a short-range wireless communication function such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), and also has a mobile communication function capable of connecting to a wireless communication network of a mobile phone carrier. It also has Therefore, various types of information about the solidifying agent are transmitted directly or indirectly from the solidifying agent communication device 70 to the cloud server 10 via the network 50. Various types of information on the solidifying agent received by the cloud server 10 are stored in the storage unit 12 and used when reproducing the VR ground improvement construction site 200.

The 3D laser scanner 11 is a non-prism optical measuring instrument that has both a distance measurement function using light waves and an angle measurement function using an encoder, and can acquire the coordinates (measurement points) of a target object at a maximum of 30,000 points per second, for example. It has a scanning function that allows you to Point cloud data acquired by the 3D laser scanner 11 is transmitted directly or indirectly from the 3D laser scanner 11 to the cloud server 10 via the network 50. The point cloud data received by the cloud server 10 is stored in the storage unit 12 as "three-dimensional shape data of the actual ground improvement work site 300" and is used when reproducing the VR ground improvement work site 200. There is.

FIG. 2 is an explanatory diagram showing an actual ground improvement work site 300 corresponding to the VR ground improvement work site 200. This actual ground improvement construction site 300 is a mechanical stirring method (slurry type mechanical This is a ground improvement construction site where a large number of ground improvement piles 9 are created underground using the construction method.

The "mechanical stirring method" refers to rotating the swivel head 1a of the soil improvement machine 1 and feeding the casing rod 2 vertically downward with the leader 1b, while stirring the ground using the stirring device 3 attached to the tip of the casing rod 2. This is a ground improvement method in which cylindrical ground improvement piles 9 are created by excavating, injecting cement-based solidifying agent into earth and sand, and stirring and mixing. The stirring device 3 is composed of a digging blade 3a that excavates the ground, a stirring blade 3b that stirs the solidifying agent and soil, and a co-rotation prevention blade 3c that prevents the earth and sand from rotating together with the stirring blade 3b. ing. An injection port (not shown) through which a solidifying agent is injected is provided near the tip of the stirring device 3.

The soil improvement machine 1 includes a swivel head 1a that grips and rotates a casing rod 2, and a leader 1b that supports the swivel head 1a and moves it up and down with a predetermined feeding force. A water swivel mechanism is provided at the upper end of the casing rod 2 to connect the hose 6 without transmitting the rotation of the rod to the hose 6.

The ground improvement machine 1 is equipped with a pile core position guidance system using a positioning system using GNSS satellites. In this pile core position guidance system, the amount of deviation in the X-axis direction (±ΔX) and the amount of deviation in the Y-axis direction (±ΔY) between the current position of the pile core and the target construction position are displayed on the monitor screen (shown in the figure). The operator guides the pile core position to the construction target position while watching the monitor screen. Machine guidance data displaying the construction target position is transmitted from, for example, the cloud server 10 to a monitor screen (not shown) via the network 50.

Therefore, the construction position of the ground improvement pile 9 will be accurately measured by the pile core position guidance system using the positioning system using GNSS satellites. Further, the growth of the soil improvement pile 9 (drill depth 9a, improvement length 9b) is measured with high accuracy by a depth meter (not shown) provided in the leader 1b. Therefore, the construction position of the soil improvement pile 9 measured by the pile core position guidance system and the depth of the soil improvement pile 9 measured by a depth meter (not shown) are directly input to the communication device 60 of the construction machine. The information is transmitted directly or indirectly to the cloud server 10 via the network 50.

The cement-based solidifying agent is produced by a solidifying agent generating device 4, which is plant equipment, and the generated solidifying agent is supplied to the inside of the casing rod 2 via a hose 6 by a solidifying agent pump 5. The solidifying agent supplied inside the casing rod 2 is injected and mixed into the earth and sand from the stirring device 3, and is stirred by the stirring blades 3b. The solidifying agent supplied inside the casing rod 2 is measured by the flow meter 7, and the measured value is taken into the solidifying agent communication device 70 and transmitted directly or indirectly to the cloud server 10 via the network 50. It has become so.

The soil improvement pile 9 consists of a portion of the trench depth 9a where no solidification agent was mixed, a portion of the improved length 9b where the solidification agent was mixed and stirred, and a portion of the pile diameter 9c representing a cross section perpendicular to the vertical direction. It is configured. The construction data for the ground improvement pile 9 includes excavation depth (m), trench depth 9a (m), improvement length 9b (m), pile diameter 9c (mm), and section flow rate of solidifying agent per section depth (L). , the number (times) of blade cutting of the stirring blade 3b per section depth, the instantaneous flow rate of the solidifying agent [L/min], the cumulative flow rate of the solidifying agent [L], etc.

Moreover, the construction position of the ground improvement machine 1 will be calculated based on the position information acquired by the positioning system of the GNSS satellite.

In this way, machine information indicating the operating status of the soil improvement machine 1, solidifying agent generating device 4, and solidifying agent pump 5, construction information indicating the construction status of the soil improving pile 9, and information on the soil improving machine 1 and the soil improving pile 9 are provided. Each position information is transmitted from the construction machine's communication device 60 or the solidifying agent's communication device 70 to the cloud server 10 via the network 50, and is used when the cloud server 10 reproduces the VR ground improvement construction site 200. It has become so. The VR ground improvement construction site 200 will be described below.

FIG. 3 is an explanatory diagram showing a VR ground improvement work site 200 that corresponds to the virtual world of the actual ground improvement work site 300. For convenience of explanation, the solidifying agent generating device 4, solidifying agent pump 5, 3D laser scanner 11, etc. of the actual ground improvement work site 300 are not shown. The same shall apply thereafter.

This VR ground improvement work site 200 is a virtual ground improvement work in which the ground improvement machine 1 is creating ground improvement piles 9 based on machine guidance data (data that describes the construction position and pile conditions of the ground improvement piles 9). It represents the scene. The ground improvement machine 1 is virtually reproduced based on CAD data. The CAD data includes CAD data of each component that constitutes the soil improvement machine 1. Further, the image shown in FIG. 3 is an image displayed on the display unit 24 of the user terminal device 20, and is different from the VR three-dimensional image displayed on the display unit 33 of the head-mounted display 30.

At this VR ground improvement work site 200, construction parties (construction contractors, construction contractors, construction contractors) use the participation function of the VR ground improvement work site 200 to act as avatars (virtual people) at the VR ground improvement work site. 200 is displayed.

The "participation function" referred to here is a function that allows a user authenticated by the cloud server 10 to appear (immerse) in the VR ground improvement construction site 200 via an avatar. In order to use this participation function, the construction contractor who is the organizer (host) taps the construction management program shortcut created in advance on the display section 24 of his/her own user terminal device 20, and Perform the authentication procedure (for example, entering a login name and password) to access. As a result, the construction management program stored in the storage unit 12 of the cloud server 10 is activated. The construction management program reproduces the first VR ground improvement work site in which the construction contractor is immersed as an avatar (hereinafter referred to as "A avatar") 400, and transmits the first VR ground improvement construction site to the user terminal device 20 of the construction contractor. . The first VR ground improvement construction site received by the user terminal device 20 is transmitted to the construction contractor's head-mounted display 30 and displayed as a VR three-dimensional image on the display unit 33.

Similarly, a construction contractor who is an invitee (guest) taps the shortcut of the construction management program created in advance on the display section 24 of his/her own user terminal device 20 to obtain authentication for accessing the cloud server 10. Perform procedures (for example, enter your login name and password). As a result, the construction management program reproduces the second VR ground improvement work site where the construction contractor is immersed as an avatar (hereinafter referred to as "B avatar") 410 in the first VR ground improvement work site that was previously reproduced, and The construction site information is transmitted to each user terminal device 20 of the construction contractor and the construction contractor. The second VR ground improvement construction site received by each user terminal device 20 is transmitted to each head-mounted display 30 of the construction contractor and construction contractor, and is displayed as a VR three-dimensional image on each display unit 33. Become.

Similarly, a construction contractor who is an invitee (guest) taps the shortcut of the construction management program created in advance on the display section 24 of his/her own user terminal device 20 to obtain authentication for accessing the cloud server 10. Perform procedures (for example, enter your login name and password). As a result, the construction management program reproduces the 3rd VR ground improvement work site where the construction contractor immersed himself as an avatar (hereinafter referred to as "C Avatar") 420 in the 2nd VR ground improvement work site that was previously reproduced, and The construction site information is transmitted to each user terminal device 20 of all users (construction contractor, construction contractor, construction contractor). The third VR ground improvement construction site received by each user terminal device 20 is transmitted to each head-mounted display 30 of each user, and is displayed as a VR three-dimensional image on each display unit 33. Therefore, Figure 3 corresponds to the 3rd VR ground improvement construction site.

In this way, when the construction contractor, the construction contractor, and the construction subcontractor who are located away from the actual ground improvement construction site 300 are authenticated to access the cloud server 10 (the login is successful), they can access the VR ground improvement work site 300. They are displayed as A avatar 400, B avatar 410, and C avatar 420 at the improvement construction site 200, and they all meet at the same virtual location.

FIG. 4 is an explanatory diagram showing the interaction function of the VR ground improvement construction site 200. The "dialogue function" is a function that allows users to freely interact with each other within the VR ground improvement construction site 200 via avatars. The cloud server 10 transmits the audio signal transmitted by the user via the microphone-headphones 34 of the head-mounted display 30 to the user terminal device 20 of another user, and also converts it into text data using a voice recognition application. Paste it on the ground improvement construction site 200 and send it to each user. Other users who received the audio signal can hear it through the microphone-headphones 34 of the head-mounted display 30, and the VR ground improvement construction site 200 with the text pasted can be heard on the head-mounted display 30. It can be displayed and viewed as a VR three-dimensional image on the display unit 33.

In this way, the A avatar 400, the B avatar 410, and the C avatar 420 can speak and listen to each other freely through the microphone-headphones 34 of the head-mounted display 30, and the content of the conversation is converted into text by the voice recognition application. It will be converted into data and attached to the VR ground improvement construction site 200. The VR three-dimensional image of the VR ground improvement construction site 200 to which the content of the conversation is attached can be viewed on each display section 33 of each head-mounted display 30 of each user. Further, the contents of the dialogue will be stored as minutes in the user information of the storage unit 12 of the cloud server 10. An example of the file sharing function of the VR ground improvement construction site 200 will be described below.

FIG. 5 is an explanatory diagram showing an example of the file sharing function of the VR ground improvement construction site 200. The "file sharing function" is a function that allows other users to view documents (files) posted by one user within the VR ground improvement construction site 200. The cloud server 10 pastes a file selected by one user on the VR ground improvement construction site 200, and transmits the VR soil improvement construction site 200 to which the file is pasted to all users.

Therefore, each user can post files stored in the memory unit 23 of their own user terminal device 20 on the VR ground improvement work site 200 by using the file sharing function of the VR ground improvement work site 200. A file can be selected, for example, by opening a pull-down menu on the VR ground improvement work site 200, selecting "Share file" from the menu, and selecting the file to be attached. The VR three-dimensional image of the VR ground improvement work site 200 with the file attached is transmitted to each user's head-mounted display 30 via each user terminal device 20, and each user can view it on each display unit 33.

In FIG. 5, A avatar 400, which is a construction contractor, selects two files, pile condition settings 430 and process settings 440, as files to be attached to the VR ground improvement work site 200, and posts them on the VR ground improvement work site 200. ing.

In this way, by using the file sharing function, one user can explain the details of the ground improvement work to other users while being remotely located. Incidentally, the pile condition settings 430 include the improved length 9b (Fig. 2) (m) of the ground improvement pile 9, the trench depth 9a (Fig. 2) (m), the pile diameter (mm), the specific gravity of the cement used, 1 ^m3 Amount of cement added per unit (kg/m ³ ), mixing ratio of water and cement, number of blade cuttings per 1 m penetration of casing rod 2 (times/m), number of blades of stirring blade 3b (Figure 2) (number of blades) , management torque (kN·m), bottoming torque determination (m), discharge switching distance (m), section depth (m), section flow rate (L), section blade cutting number (times), etc.

On the other hand, the process settings 440 include lowering of injection, stagnation, rising of bottoming part kneading, lowering of bottoming part kneading, and rising of stirring of stirring device 3, cumulative flow rate of solidifying agent (L), standard discharge rate (L/min), and stirring. The reference penetration speed (m/min), stagnation time (s), blade cutting securing control, rotation direction (forward rotation, reverse rotation), etc. of the device 3 are shown. An example of the construction site patrol function of the VR ground improvement construction site 200 will be described below.

6 and 11 to 15 are explanatory diagrams showing an example of the construction site patrol function of the VR ground improvement construction site 200. The "construction site tour function" is a function that allows users to move around (walk through) the VR ground improvement construction site 200 via avatars. The cloud server 10 continuously virtually reproduces the VR ground improvement work site 200 along the direction of movement of the user, giving the user the feeling of touring an actual ground improvement work site 300.

In FIG. 6, the A avatar 400, the B avatar 410, and the C avatar 420 are moving underground and checking the construction status of the ground improvement pile 9' that is currently being constructed. The construction status can be posted within the VR ground improvement construction site 200 using the "file sharing function."

This "construction site patrol function" allows those involved in the construction work to visually and quantitatively confirm the construction status of the ground improvement piles 9. In addition, underground information is displayed in color depending on the soil quality. Furthermore, the ground improvement piles 9 are displayed in color according to the section flow rate (L) of the solidifying agent and the number of section blade cuttings (times). The color display of the soil improvement piles 9 may be displayed based on the "graphical representation method of pile construction data" described in JP-A-2020-84501.

Incidentally, in FIG. 11, the A avatar 400, the B avatar 410, and the C avatar 420 have just moved forward toward the ground improvement machine 1. Similarly, in FIG. 12, the A avatar 400, the B avatar 410, and the C avatar 420 have retreated from the ground improvement machine 1.

Similarly, in FIG. 13, the A avatar 400, the B avatar 410, and the C avatar 420 have moved to the left side from the ground improvement machine 1. Similarly, in FIG. 14, the A avatar 400, the B avatar 410, and the C avatar 420 have just moved from the ground improvement machine 1 to the right side. Similarly, in FIG. 15, the A avatar 400, the B avatar 410, and the C avatar 420 have just moved upward from the ground improvement machine 1. Confirmation of construction progress at the VR ground improvement construction site 200 will be described below.

FIG. 7 is an explanatory diagram showing an example of the construction progress confirmation function of the VR ground improvement construction site 200. "Construction progress confirmation function" is a function that allows users to check the completed form/output (current construction progress status) of soil improvement work within the VR ground improvement construction site 200 via avatars. be. The progress status of the construction work can be monitored by posting the construction progress management chart 450 and the construction progress management chart 451 within the VR ground improvement construction site 200 using the "file sharing function."

In FIG. 7, Avatar A 400, Avatar B 410, and Avatar C 420 are checking the current progress of the ground improvement work. The current progress status of the ground improvement work can be confirmed by all three parties by displaying the construction progress management chart 450 on the VR ground improvement work site 200. Furthermore, by coloring the ground improvement piles 9, the current progress status can be confirmed at a glance. For example, soil improvement piles 9 whose construction is ahead of the construction plan are displayed in black. In addition, soil improvement piles 9 that have failed because the section flow rate of the solidifying agent or the number of section blade cuttings do not satisfy a predetermined reference value are displayed in red, for example.

In the construction performance management chart 450, the pile numbers for construction plans are marked with "preliminary", and the pile numbers for which construction has been completed are surrounded by a solid circle and marked with "completed". Further, although the construction has been completed, pile numbers that have failed because the section flow rate of the solidifying agent or the number of section blade cuttings do not satisfy the predetermined standard value are marked with an "x". Incidentally, this shows that the three ground improvement piles 9 with pile numbers D-8 to D-10 are ahead of the construction plan. In other words, in the construction plan, construction of seven soil improvement piles 9 with pile numbers: D-1 to D-7 is scheduled to be completed, but according to the current construction progress, construction of seven soil improvement piles 9 with pile numbers: D-1 to D-10 is scheduled to be completed. Construction of 10 ground improvement piles 9 is expected to be completed. In addition, pile number: D-6 was rejected. On the other hand, the construction progress management chart 451 shows the actual dimensions, etc. of the ground improvement piles 9 whose construction has been completed with pile numbers D-1 to D-7. The construction history confirmation function of the VR ground improvement construction site 200 will be described below.

FIG. 8 is an explanatory diagram showing an example of the construction history confirmation function of the VR ground improvement construction site 200. The "construction history confirmation function" is a function that allows the user to go back and check the progress of construction at the VR ground improvement construction site 200 at a certain point in the past.

The user determines which point in the past to reproduce by displaying the time-series seek bar 500 on the VR ground improvement construction site 200 and moving the dot 501 on the time-series seek bar 500 to the past point the user wishes to confirm. Once the past point in time is determined, the cloud server 10 (construction management program) stores various information on the construction machine, various information on the solidification agent, and 3 information on the actual ground improvement construction site at that past point stored in the storage unit 12. Based on the dimensional shape data, etc., the VR ground improvement construction site 200 at the past point in time will be virtually reproduced.

In Figure 8, the progress of the construction work is confirmed by going back to the VR ground improvement work site 200 at the time when the construction of the five soil improvement piles 9 with pile numbers D-1 to D-5 was completed. . The past construction performance management chart 450' shows that the construction of the ground improvement piles 9 has been completed according to the construction plan.

Moreover, the construction history of a specific ground improvement pile 9 can also be confirmed. For example, as shown in FIG. 9, when the user selects the ground improvement pile 9 with pile number: D-5, the cloud server 10 (construction management program) selects the pile number stored in the storage unit 12: From the construction start time to the construction completion time in D-5, based on various information on the construction machine, various information on the solidification agent, and 3D shape data of the actual ground improvement work site, etc. The VR ground improvement construction site 200 will be continuously reproduced.

Returning to FIG. 8, by using the construction calendar 452, a specific period in the past (range of year, month, day, and time, e.g., 00:00 on August 1, 2022 to 24:00 on August 31, 2022) ), it is also possible to check the progress of past construction work. In this case, the "start date and time" and the "end date and time" are respectively specified and input in the construction calendar 452. The construction progress prediction confirmation machine for the VR ground improvement construction site 200 will be described below.

FIG. 10 is an explanatory diagram showing an example of the construction progress prediction confirmation function of the VR ground improvement construction site 200. The "construction progress prediction confirmation function" is a function that predicts the progress of construction at a certain point in the future specified by the user based on the current progress of construction. This makes it possible to predict whether or not the amount of construction completed at a certain point in the future will be behind the construction plan.

In FIG. 10, the user is checking the progress status of future construction at 18:00 on August 17, 2022. To specify the date and time that the user wants to confirm, for example, when the user opens the construction calendar 452 from the pull-down menu and specifies the date, a separate time input screen 453 is automatically displayed, and the user can enter the desired time on the time input screen 453. will be entered.

Once you have completed entering the date and time you want to confirm, the construction management program will calculate the future construction progress at 18:00 on August 17, 2022 based on the current construction progress, and calculate the future construction progress. will be reproduced at the VR ground improvement construction site 200. The progress status of future construction work is displayed, for example, by the colors attached to the ground improvement piles 9 and the future construction progress management chart 454.

In the future construction performance management chart 454, "pre" is added to the pile number for the construction plan from now until August 17, 2022, and the pile number whose construction is expected to be completed in the construction plan is marked with a solid circle. being surrounded. In other words, in the construction plan, the construction of seven soil improvement piles 9 with pile numbers: C-1 to C-7 is scheduled to be completed, but in the prediction of VR soil improvement work site 200, the construction of seven soil improvement piles 9 with pile numbers: C-1 to C-7 is scheduled to be completed. -5 indicates that construction of the five soil improvement piles 9 is expected to be completed. Therefore, this means that if the construction progresses at the current construction pace, the construction of the two ground improvement piles 9 with pile numbers: C-6 and C-7 may not be completed. This allows the construction contractor to take measures in advance to prevent the progress of the construction work from falling further behind the construction plan or to catch up.

Furthermore, the fact that the two ground improvement piles 9 with pile numbers C-6 and C-7 are displayed in white indicates that the construction work is behind the construction plan. On the other hand, if the progress of future construction is ahead of the construction plan, the target ground improvement pile 9 will be displayed in a color other than white (for example, black). This allows the user to determine at a glance whether the progress of future construction is behind the construction plan.

As described above, the "remote construction management system 100 for ground improvement work" according to one embodiment of the present invention has been described, but the embodiment of the present invention is not limited to the above. That is, it is possible to add various modifications and changes without departing from the technical scope of the present invention. For example, regarding the "file sharing function", it is possible to post not only text files but also image files (still images, videos) at the VR ground improvement construction site 200. This makes it possible to install a 360° camera on the actual improvement construction site 300 and the soil improvement machine 1 and view real-time images from the 360° camera from the VR virtual soil improvement construction site 200.

Further, the ground improvement machine 1 may be able to travel around the VR virtual ground improvement work site 200. In this case, the relative positional relationship between the A avatar 400, B avatar 410, and C avatar 420 and the ground improvement machine 1 may be always fixed. Therefore, when the soil improvement machine 1 moves, the A avatar 400, the B avatar 410, and the C avatar 420 also move together while maintaining the relative positional relationship with the soil improvement machine 1.

In addition, the VR ground improvement construction site 200 according to the present invention is a ground improvement method using a high-pressure injection stirring method (jet grouting method) that creates columnar solid improvement bodies while rotating a rod and injecting a solidifying agent into the ground at high pressure. It is similarly applicable to construction sites.

(Second embodiment)
FIG. 16 is an explanatory diagram showing a remote operation management system 600 for ground improvement work according to the second embodiment of the present invention.
The remote construction management system 100 for ground improvement work described above is capable of monitoring the progress status (from the present to the past and future) of the ground improvement piles 9 that have been built underground by the ground improvement machine 1 or will be built in the future. Using VR technology, users (construction contractors, construction contractors, construction subcontractors) can immerse themselves in the VR ground improvement construction site 200 via the network 50, thereby improving the quality of completed work (finished form and completed amount) while being in a remote location. This is to manage the progress status of construction work regarding the soil improvement piles 9 from the present to the past and future as if you were at the actual soil improvement construction site 300.

On the other hand, in this remote operation management system 600 for ground improvement work, a user (hereinafter referred to as an "operator") can also use the network 50 to " ” on the VR ground improvement work site 200, the “soil improvement machine 1 actually operating at the actual ground improvement work site 300” is moved to the target construction position by the construction machine control device 80. It is configured to create ground improvement piles 9 guided by the PT. In addition, hereinafter, the "soil improvement machine 1 actually operating at the actual ground improvement work site 300" will be referred to as the "actual ground improvement machine 1", and the "soil improvement machine 1 actually operating at the VR ground improvement work site 200" will be referred to as "the ground improvement machine 1 actually operating at the VR ground improvement work site 200". In order to distinguish between the two, we will refer to "Improved machine 1" as "VR ground improvement machine 1v". Similarly, hereinafter, regarding each component of "VR ground improvement construction site 200" and "VR ground improvement machine 1v", for example, the component corresponding to the leader 1b of the actual ground improvement machine 1 will be referred to as "virtual leader 1bv". , "virtual" will be added to the name and "v" will be added to the part number to distinguish between the real and virtual products.

The VR ground improvement machine 1v is operated by an operator via the operating device 40. On the other hand, the actual ground improvement machine 1 is operated by a construction machine control device 80. Therefore, "the operation of the VR ground improvement machine 1v in the virtual plane rectangular coordinate system X'Y'Z'_v on the VR ground improvement work site 200" and "the plane rectangular coordinate system X'Y The operations of the actual ground improvement machine 1 in 'Z' are configured to correspond to each other on a one-to-one basis. Note that "the operations have a one-to-one correspondence with each other" as used herein means, for example, the movement direction of the soil improvement machine 1 in the plane orthogonal coordinate system X'Y'Z' of the soil improvement construction site 300. (unit direction vector i), the amount of movement (scalar times K of the absolute value of the unit direction vector i), and the VR ground improvement machine 1v in the virtual plane rectangular coordinate system X'Y'Z'_v of the VR ground improvement construction site 200 The moving direction (unit direction vector iv) and the moving amount (scalar times Kv of the absolute value of the unit direction vector iv) mean that they are equal to each other (i=iv and K=Kv).

In addition, although details will be described later with reference to FIGS. 22 to 25, the VR ground improvement machine 1v is capable of producing two-dimensional CAD data (for example, two-dimensional orthographic projection Drawing data) is converted to 3D CAD data (3D drawing data), and all virtual components are virtually assembled on 3D CAD according to the actual assembly process, and not only the external structure but also the internal structure is reproduced. This corresponds to a three-dimensional computer graphic (three-dimensional model) of the actual ground improvement machine 1. The number of parts of the VR ground improvement machine 1v is the same as that of the real ground improvement machine 1, and like the real ground improvement machine 1, all virtual components are configured to be removable/reinstallable.

Therefore, the virtual dimensions of the VR ground improvement machine 1v and the actual dimensions of the actual ground improvement machine 1 correspond to each other on a one-to-one basis. Here, "the dimensions have a one-to-one correspondence" means, for example, the distance between any two points of "VR ground improvement machine 1v in the virtual plane rectangular coordinate system X'Y'Z'_v" means that it is equal to the distance between two points of the corresponding "practical ground improvement machine 1 in the plane rectangular coordinate system X'Y'Z'".

Similarly, the coordinates of the position (for example, construction target position PT) of the construction target (for example, ground improvement pile 9) in the plane orthogonal coordinate system X'Y'Z' and the virtual plane orthogonal coordinate system X'Y'Z'_v The coordinates of the positions (for example, the virtual construction target position PTv) related to the corresponding virtual construction object (for example, the virtual ground improvement pile 9v) are configured to be equal to each other.

In this way, "the position, dimensions, and operation of the VR ground improvement machine 1v in the virtual plane rectangular coordinate system X'Y'Z'_v" and "the actual ground improvement machine 1 in the plane rectangular coordinate system X'Y'Z' ``Position, dimensions, movement'' have a one-to-one correspondence with each other, and ``coordinates of the position of the construction object in the plane rectangular coordinate system X'Y'Z'' and ``virtual plane rectangular coordinate system X'Y'' The coordinates of the positions related to the corresponding virtual construction objects in 'Z'_v' are configured to be equal to each other. Note that "virtual plane rectangular coordinate system X'Y'Z'_v" may be used to mean "VR ground improvement construction site 200," and vice versa. Similarly, "plane rectangular coordinate system X'Y'Z' compatible with satellite positioning system" may be used to mean "practical ground improvement construction site 300", and vice versa.

As a result, the operator operates the VR ground improvement machine 1v to guide the VR ground improvement work site 200 to the virtual construction target value PTv, and virtually creates virtual ground improvement piles 9v, thereby improving the actual ground improvement work site 300. The ground improvement pile 9 is actually constructed at the construction target position PT by the construction machine control device 80.

FIG. 17 is a flowchart showing a general procedure for an operator to operate the VR ground improvement machine 1v to actually move the actual ground improvement machine 1.
First, in step S1, the operator starts up the operator terminal device 20, logs into the cloud server 10, and starts the operation management program stored in the storage unit 12 of the cloud server 10. When the operation management program is started, the latest VR ground improvement construction site 200 is transmitted from the cloud server 10 to the terminal device 20 of the operator. As a result, the latest VR ground improvement construction site 200 is displayed on the head mounted display 30.

Next, in step S2, the operator operates the VR ground improvement machine 1v using the operating device 40 while viewing the VR ground improvement construction site 200 displayed on the head-mounted display 30. The operator's operation motion for the VR ground improvement machine 1v is converted into an electrical signal by the operating device 40 as an “operation command for the VR ground improvement machine 1v”, and is transmitted to the operator terminal device 20. Note that the operating device 40 in this embodiment corresponds to the operations of the actual ground improvement machine 1 (forward movement, backward movement, turning, as well as raising and lowering the leader 1b, raising and swinging, and forward and reverse rotation of the swivel head 1a). For example, a control panel consisting of levers, switches, buttons, etc. that simulates an actual cockpit (Fig. 28, Fig. 32), or a control panel consisting of sticks, buttons, or cross pads, or a keyboard. It is possible to use a combination of

Next, in step S3, the "operation command for the VR ground improvement machine 1v" is converted by the operator terminal device 20 into an "operation command for the actual ground improvement machine 1" and transmitted to the construction machine control device 80 via the network 50.

Next, in step S4, the construction machine control device 80 receives the "operation command for the practical soil improvement machine 1" from the operator, and instructs the practical soil improvement machine 1 to perform the operation (target value) related to the operation command. Controls each drive unit.

Next, in step S5, the construction machine control device 80 transmits the state and construction results of the practical soil improvement machine 1 after executing the "operation command to the practical soil improvement machine 1" to machine information and construction information (position information, sensor information, etc.). (measured value) to the cloud server 10.

Next, in step S6, the cloud server 10 that has received the machine information and construction information related to the actual ground improvement machine 1 reflects this information on the VR ground improvement work site 200, and brings the VR ground improvement work site 200 into the latest state. Update to.

Next, in step S7, the cloud server 10 transmits update information of the VR ground improvement construction site 200 to the operator terminal device 20.

Next, in step S8, the operator terminal device 20, which has received the update information of the VR ground improvement work site 200 from the cloud server 10, updates the VR ground improvement work site 200 to the latest state and displays it on the head-mounted display 30. The existing VR 3D images will also be updated to the latest state.

The above steps S2 to S8 are repeated until the operator's operation is completed.

FIG. 18 shows data between the operator terminal device 20, the cloud server 10, and the construction machine control device 80 in the network 50 when the operator operates the VR ground improvement machine 1v to actually move the actual ground improvement machine 1. It is an explanatory diagram showing an exchange.
An “operation command for the actual ground improvement machine 1” is transmitted from the operator terminal device 20 to the construction machine control device 80. From the cloud server 10 to the operator terminal device 20, "update information on the VR ground improvement construction site 200" is mainly transmitted. On the other hand, "machine information and construction information" are mainly transmitted from the construction machine control device 80 to the cloud server 10. In this way, the information exchanged over the network 50 is data with a relatively small amount of information, such as operation commands, machine information, construction information, and update information.

As a result, the communication line required for the network 50 is a low-speed, low-capacity communication line that can transmit and receive relatively small amount of data such as operation commands, machine information, construction information, update information, etc. It will be over. Therefore, in the remote operation management system 600 for soil improvement work according to the present invention, a high-speed, Capacitive communication lines are no longer required.

Since the amount of information exchanged over the network 50 is relatively small, the "operation command for the actual soil improvement machine 1" transmitted from the operator terminal device 20 is reliably received by the construction machine control device 80. Further, the "machine information/construction information" transmitted from the construction machine control device 80 is reliably received by the cloud server 10. Furthermore, the "updated information on the VR ground improvement construction site 200 that reflects machine information and construction information" transmitted from the cloud server 10 will be reliably received by the operator terminal device 20. As a result, by operating the VR ground improvement machine 1v that is virtually operating at the VR ground improvement work site 200, an operator located in a remote location can It becomes possible to remotely control the improved machine 1 in real time.

Returning to FIG. 16 again, the control unit 11 of the cloud server 10 has a "remote operation support function", "remote construction method support function", "construction target display function", "construction result display function", and "danger prediction function". '', ``moving area deviation prevention function'', and ``operation procedure memory function'' have been added to support remote driving. Each function will be briefly explained below.

The "remote control support function" is a function that assists the operator operating the VR ground improvement machine 1v in efficiently guiding the current pile core position P3' of the casing rod 2 to the construction target position PT. For example, it is possible to view the relative positional relationship (ΔX _MV , ΔY _MV ) between the current virtual pile core position P3'v and the virtual construction target position PTv from a desired viewpoint. This will be described later with reference to FIG. 29.

The "remote construction method support function" is a function that supports an operator in efficiently implementing, for example, a mechanical stirring method and a high-pressure injection stirring method (jet grouting method). For example, the number of section blade cuttings of the stirring blade 3b (times/m), the lifting speed of the leader 1b (m/min), the section flow rate of the solidifying agent (L), the standard discharge amount of the solidifying agent pump 5 (L/min) This function shows the operator important construction information (machine guidance data) such as the cumulative flow rate (L) of the solidifying agent.

"Construction object display function" is a VR ground improvement construction site 200 or This is a function to display it superimposed on the VR ground improvement machine 1v. An example of the "construction target display function" is to highlight the virtual construction target position PTv with a figure, symbol, etc. to indicate to the operator that it is important information.

The "construction result display function" is a function that displays the construction results by the VR ground improvement machine 1v superimposed on the VR ground improvement work site 200 or the VR ground improvement machine 1v.

"Danger prediction function" is a VR ground improvement construction site when a situation that requires alerting occurs, such as deterioration of construction conditions, collision with or interference with objects including people, or other situations where danger is predicted. This is a function to notify the operator using figures, symbols, pictograms, colors, sounds, etc. in the 200 or VR ground improvement machine 1v.

"Moving area deviation prevention function" is a function that allows you to define a movable area on the VR ground improvement construction site 200, and for operations that go outside of that area, it is a function that disables the operation or an operation that stays within the area. This is a function that can be changed.

The "operation procedure memory function" is a function that collectively stores the operation order, operation interval, and operation amount (operation commands for the practical soil improvement machine 1) regarding the drive unit of the practical soil improvement machine 1, and also This is a function of transmitting an operation command to the construction machine control device 80. Note that the "driving section" here means, for example, the rotational driving section 1aD of the swivel head 1a, the lifting/lowering driving section 1bD of the reader 1b, the pump driving section 5D of the solidifying agent pump 5, and the like.

In addition, regarding the three-dimensional shape data of the actual construction site (the construction target, for example, the ground surface of the actual ground improvement construction site 300) stored in the storage unit 12 of the cloud server 10, the coordinates measured by the 3D laser scanner 11 By using "point cloud data" consisting of measurement points and "triangular mesh data" which is a triangular mesh by connecting one coordinate measurement point and other coordinate measurement points adjacent to each other in the "point cloud data" with straight lines, It is configured. By using triangular mesh data as the three-dimensional shape data, the three-dimensional shape of the object to be constructed can be accurately reproduced on the VR ground improvement construction site 200. This triangular mesh data will be described later with reference to FIG. 21.

The construction machine control device 80 automatically controls the actual soil improvement machine 1 according to the "operation command for the actual soil improvement machine 1" transmitted from the operator terminal device 20. Specifically, the construction machine control device 80 automatically controls each operation of the ground improvement machine 1 to be equal to the operation command (operation order, operation interval, operation amount) by operating the drive section of the corresponding actuator. do. The construction machine control device 80 will be explained below.

FIG. 19 is a block diagram showing the configuration of a construction machine control device 80 according to a second embodiment of the present invention.
The construction machine control device 80 has an input section 81 that receives an "operation command for the actual soil improvement machine 1" from the operator terminal device 20, and an input section 81 that receives an "operation command for the practical soil improvement machine 1" from the operator terminal device 20, and controls the operation related to the running of the practical soil improvement machine 1 so that it is equal to the operation command. a travel control section 82 that controls the raising/lowering angle or swing angle of the leader 1b to be equal to the operation command; and a leader inclination control section 83 that controls the raising/lowering direction/speed of the leader 1b or the rotation direction of the swivel head 1a. / A drilling control unit 84 that controls the speed so as to be equal to the operation command, and controls the discharge amount of the solidification agent (cement milk) from the solidification agent pump 5 so that it is equal to the operation command; A measurement unit 85 that converts the measurement signal (electrical signal) measured by each measurement sensor into a desired measurement value, and a determination unit that determines whether the converted measurement value is within a predetermined range of the operation command. 86, and an output unit 87 that transmits each measured value calculated by the measurement unit 85 to the cloud server 10 as “mechanical information of the actual soil improvement machine 1” and “construction information of the actual soil improvement work site 300”. It is composed of Each configuration will be further explained below.

As mentioned above, "the position, dimensions, and operation of the VR ground improvement machine 1v at the VR ground improvement work site 200" and "the position, dimensions, and operation of the actual soil improvement machine 1 at the actual ground improvement work site 300" are one pair each other. It corresponds to 1. Therefore, regarding the position information of the VR ground improvement machine 1v in the VR ground improvement construction site 200 (virtual plane rectangular coordinate system X'Y'Z'_v), the position information of the VR ground improvement machine 1v in the plane rectangular coordinate system X'Y'Z' is It will be automatically calculated from the location information.

In particular, regarding the measurement of the current pile center position (vector O'P3') of the casing rod 2, the "initial pile center position of the casing rod 2 in the plane rectangular coordinate system position (vector O'P3)'', plus the amount of deviation Δ'(Δx',Δy') from the initial pile core position (vector O'P3) in the plane rectangular coordinate system X'Y'Z'. It is accurately calculated using Equation 2. Note that "initial" here means "at the time of calibration (at the time of construction standard posture)". In addition, as shown in FIG. 20, the "plane rectangular coordinate system X'Y'Z'" is a global coordinate system compatible with the GNSS satellite positioning system, and the "mechanical coordinate system OXY" is the This is a local coordinate system constructed on the actual ground improvement machine 1 with 1 antenna 1cA as the origin.
(Formula 1)
(Formula 2)

In addition, the guidance work to guide the current pile core position (vector O'P3') to the construction target position (vector O'PT) is performed using the guidance amount ΔM (ΔX _M , ΔY _M ). The guided amount ΔM (ΔX _M , ΔY _M ) on the machine coordinate system OXY is the construction target position (vector It is equal to the vector quantity shown in the following equation 3, which is obtained by applying the inverse matrix T ^-1 of the "coordinate transformation T that transforms the mechanical coordinate system OXY to the plane orthogonal coordinate system X'Y'Z'" to the vector of Become.
(Formula 3)

Although the details are omitted here, the above-mentioned deviation amount Δ'(Δx',Δy') on the plane orthogonal coordinate system "Initial pile center position (vector OP3) on the mechanical coordinate system OXY" when inclination angles θ1 and θ2 occur and inclination angles θ3 and θ4 with respect to the vertical direction in the left-right direction or front-back direction of the leader 1b occur. The deviation amount Δ(ΔX, ΔY) from the above coordinate transformation T is equal to the coordinates of Equation 4 below.
(Formula 4)
The inclination angles θ1 and θ2 are measured by a main body inclination angle sensor 104 (biaxial inclination sensor) attached to the construction machine main body 1e. Further, the above-mentioned inclination angles θ3 and θ4 are measured by a reader inclination angle sensor 105 (biaxial inclination sensor) attached to the reader 1b. Furthermore, the above-mentioned direction angle θ (azimuth angle measured from the X' axis) during coordinate transformation T is the angle δ (true azimuth It is calculated by subtracting the angle φ formed by the Y-axis of the mechanical coordinate system OXY and the vector OP2 and the meridional aberration angle γ from the angle).
(Formula 5)
θ=δ-φ-γ

In this way, the position information of the actual soil improvement machine 1 at the actual soil improvement construction site 300 is determined by the position of the first antenna 1cA (vector O'P1) and the second antenna 1cB in the plane orthogonal coordinate system X'Y'Z'. (vector O'P2), the inclination angles θ1 and θ2 of the construction machine main body 1e relative to the horizontal plane in the left-right direction or front-rear direction measured by the main body inclination angle sensor 104 (biaxial inclination sensor), and the leader inclination angle sensor 105 The plane orthogonal coordinate system is determined by the inclination angles θ3 and θ4 of the leader 1b with respect to the vertical direction in the left-right direction or front-back direction measured by the (two-axis inclination sensor), and the directional angle θ of the actual soil improvement machine 1 measured from the X' axis. It will be accurately calculated on X'Y'Z' (actual ground improvement construction site 300).

Therefore, the position information of the VR ground improvement machine 1v in the VR ground improvement work site 200 (virtual plane rectangular coordinate system X'Y'Z'_v) is the position information of the actual ground improvement machine 1 in the plane rectangular coordinate system X'Y'Z'. This will be automatically and accurately calculated from location information.

FIG. 21 is an explanatory diagram showing triangular mesh data according to the second embodiment of the present invention.
As shown in FIG. 21(a), the point cloud data is composed of countless coordinate measurement points acquired by the 3D laser scanner 11. Each coordinate measuring point has X, Y, and Z coordinates measured on the measurement coordinate system X"Y"Z" of the 3D laser scanner 11. By performing coordinate transformation to the rectangular coordinate system X'Y'Z', each coordinate station measured by the 3D laser scanner 11 is converted to the same planar rectangular coordinate system X'Y'Z' as the actual ground improvement machine 1. It now has the X, Y, and Z coordinates measured above.

As mentioned above, the "coordinates of the position of the construction object in the plane rectangular coordinate system X'Y'Z'" and the "position of the corresponding virtual construction object in the virtual plane rectangular coordinate system X'Y'Z'_v" The coordinates of ' are configured to be equal to each other.

Therefore, the coordinate point group on the plane rectangular coordinate system X'Y'Z' measured by the 3D laser scanner 11 is the virtual plane rectangular coordinate system X'Y'Z'_v constructed at the VR ground improvement work site 200. It will be displayed using the same coordinates above. However, since there is a blank area between adjacent coordinate measurement points, the three-dimensional shape of the object to be measured (for example, the ground surface of the actual ground improvement construction site 300) can be determined only by the coordinate point group. It may not be possible to recognize it.

On the other hand, as shown in FIG. 21(b), the triangular mesh data is constituted by a triangular network in which one adjacent coordinate measuring point and another coordinate measuring point are connected by straight lines and the mesh is triangular. Since the object to be measured is composed of triangular mesh data, there are no blank areas. As a result, the three-dimensional shape of the object to be measured represented by the triangular mesh data in the virtual plane rectangular coordinate system X'Y'Z'_v can be easily recognized visually by the user.

Further, each vertex P1v, P2v, P3v of each triangle has accurate coordinates in the virtual plane rectangular coordinate system X'Y'Z'_v. Therefore, the normal vector hv perpendicular to each triangle is uniquely calculated. This normal vector hv makes it easy to grasp the inclination state of the surface of the object to be measured.

FIG. 22 is an explanatory diagram showing the main part front of the VR ground improvement machine 1v according to the second embodiment of the present invention.
As mentioned above, the VR ground improvement machine 1v converts the 2D CAD data (for example, 2D drawing data using orthographic projection) of all the components of the practical ground improvement machine 1 into 3D CAD data (3D drawing data). 3D computer graphics (3D model). Therefore, in the VR ground improvement machine 1v, like the actual ground improvement machine 1, all virtual components (VR parts) are configured to be removable/reinstallable.

Further, as shown in FIG. 23, the operator can freely change the viewpoint position of the operator with respect to the VR ground improvement machine 1v while operating the VR ground improvement machine 1v. Note that the "viewpoint position" herein includes the height of the line of sight, the direction of the line of sight, and the range of the visual field.

As mentioned above, "the position, dimensions, and operation of the VR ground improvement machine 1v at the VR ground improvement work site 200" and "the position, dimensions, and operation of the actual soil improvement machine 1 at the actual ground improvement work site 300" are one pair each other. It corresponds to 1. Therefore, by operating the VR ground improvement machine 1v while freely changing the viewpoint position, the operator can consequently operate the actual ground improvement machine 1 while freely changing the viewpoint position. The virtual parts moving function of the VR ground improvement machine 1v will be briefly explained below.

FIG. 24 is an explanatory diagram showing the virtual parts moving function of the VR ground improvement machine 1v.
The VR ground improvement machine 1v shown in FIG. 24 has the "virtual cabin frame" and "virtual windshield" removed from the virtual cabin part of the VR ground improvement machine 1v shown in FIG. It corresponds to 1bv with the "virtual leader frame" removed. By using this virtual parts moving function, it is possible to view the internal structure of the practical soil improvement machine 1 without removing the real parts from the practical soil improvement machine 1, that is, without actually preparing the practical soil improvement machine 1. It becomes possible.

A VR component removed by the virtual component moving function can be deleted or restored (reset). Furthermore, it is also possible to use a "virtual parts transparency function" as another function for viewing the internal structure of the actual ground improvement machine 1. The virtual component transparency function of the VR ground improvement machine 1v will be briefly explained below.

FIG. 25 is an explanatory diagram showing the virtual parts transparency function of the VR ground improvement machine 1v.
The VR ground improvement machine 1v shown in FIG. 25 makes the "virtual cabin frame" and "virtual windshield" transparent from the virtual cabin part of the VR ground improvement machine 1v shown in FIG. It corresponds to the "VR leader frame" made transparent from the leader 1bv. By making the VR parts transparent, it is possible to see the internal structure of the practical soil improvement machine 1 without removing the real parts from the practical soil improvement machine 1, that is, without actually preparing the practical soil improvement machine 1. Become. Next, construction of the ground improvement pile 9 using the VR ground improvement machine 1v will be explained.

FIG. 26 is a flowchart showing automatic construction of the ground improvement pile 9 using the VR ground improvement machine 1v. FIG. 27 is an explanatory diagram showing data exchange in the network 50 during automatic construction of the automatically improved pile 9.

First, in step S1, the operator uploads the latest machine guidance data to the cloud server 10. Specifically, the latest machine guidance data is transmitted from the operator terminal device 20 to the cloud server 10. The cloud server 10 overwrites and stores the latest received machine guidance data in the storage unit 12.

The "machine guidance data" referred to here refers to construction data in which the pile coordinates (Figure 33) for the pile number of each pile to be created and the "pile condition settings 430 and process settings 440" (Figure 30) are linked. It is. That is, if the pile number is known, the "pile coordinates, pile condition settings, and process settings" for the ground improvement pile 9 can be known.

“Pile condition settings and process settings” are also referred to as “pile improvement data” or “construction patterns,” and include “finished form specifications of the soil improvement pile 9 (drill depth 9a, improvement length 9b, pile diameter 9c, cement specific gravity, cement addition amount, water/cement mixing ratio, etc.), each process ('pouring down', 'stagnation', 'bottoming part kneading up', 'bottoming part kneading down', 'stirring up')', and ' The cumulative flow rate (L) of the solidifying agent (slurry, etc.) in each process, the section flow rate of the solidifying agent (L/m), the standard discharge rate of the solidifying agent pump 5 (L/min), the vertical speed of the leader 1b (m/m) min), the number of blade cuttings per section (times/m), the rotational direction of the stirring device 3, etc.".

The "pile coordinates" are the coordinates of the location where the ground improvement pile 9 is to be constructed (construction target position PT) in the plane rectangular coordinate system X'Y'Z' compatible with a satellite positioning system such as GNSS.

Next, in step S2, the construction machine control device 80 requests the cloud server 10 to download the latest machine guidance data. When the construction machine control device 80 is started, it checks the updated state (version) of the machine guidance with the cloud server 10. If the machine guidance data it owns is an old version, it issues a download request to the cloud server 10 to send the latest machine guidance data.

Next, in step S3, the cloud server 10 transmits the latest machine guidance data to the construction machine control device 80. The construction machine control device 80 overwrites and saves the latest machine guidance transmitted from the cloud server 10 in its own storage unit.

Next, in step S4, the operator operates the VR ground improvement machine 1v to guide the current virtual pile core position P3'v of the virtual casing rod 2v to the virtual construction target position PTv (so-called "pile core position setting"). . As mentioned above, "the position, dimensions, and operation of the VR soil improvement machine 1v at the VR soil improvement work site 200" and "the position, dimensions, and operation of the practical soil improvement machine 1 at the actual soil improvement work site 300" are one pair each other. It corresponds to 1. Therefore, when the operator guides the "current virtual pile core position P3'v of the virtual casing rod 2v" to the "virtual construction target position PTv", the construction machine control device 80 will eventually The "core position P3'" is guided to the "construction target position PT." The pile core position guidance work for guiding the "current virtual pile core position P3'v" of the virtual casing rod 2v to the virtual construction target position (pile coordinates) PTv will be described later with reference to FIGS. 28 and 29.

Next, in step S5, the operator issues a construction start command to the construction machine control device 80. Specifically, the operator will transmit the pile number of the ground improvement pile 9 to be constructed to the construction machine control device 80.

Next, in step S6, the construction machine control device 80 executes the construction pattern of the corresponding pile number. The construction machine control device 80 extracts the construction pattern of the corresponding pile number from the machine guidance data, and according to the extracted construction pattern, the rotation speed (times/min) of the swivel head 1a and the lifting/lowering speed (m/min) of the leader 1b. , the standard discharge rate (L/min) of the solidifying agent pump 5, etc. to automatically create the ground improvement piles 9. For manual operation of these swivel head 1a, leader 1b, and solidifying agent pump 5, please refer to the ``switch lever'', ``switch switch'', and ``adjustment volume'' (hereinafter referred to as ``adjustment volume'') on the ``hydraulic operation panel'' shown in FIG. (referred to as "operating equipment") is operated by each operator.

However, in the automatic operation mode by the construction machine control device 80, the operation order, operation interval, and operation amount of each operation device such as "swivel head 1a, reader 1b, solidifying agent pump 5, etc." are collectively data as a collective operation command. has been made into The collective operation command is transmitted from the operator terminal device 20 to the construction machine control device 80. Alternatively, it is stored in advance in the storage unit 12 of the cloud server 10 and transmitted from the cloud server 10 to the construction machine control device 80 in response to a download request from the construction machine control device 80.

In addition, the collective operation command is linked to the construction pattern of the machine guidance data. Therefore, the construction machine control device 80 that has received the machine guidance data operates the swivel head 1a, the reader 1b, the solidifying agent pump 5, etc. based on the collective operation command.

As shown in FIG. 30, the operator immerses himself in the VR ground improvement work site 200 and moves into the virtual ground, thereby making the virtual ground improvement pile 9v (i.e. , you can see the ground improvement piles 9) actually being built underground.

For example, the fact that the virtual casing rod 2v is parallel to the virtual vertical direction (virtual Z' axis) (that is, the casing rod 2 is parallel to the vertical direction (Z' axis)) is indicated by " This can be confirmed by the fact that the "current pile core virtual position P3'v" matches the "initial pile core virtual position P3v".

Similarly, the solidification agent is sufficiently stirred into the soil if the section flow rate (L/m) of the solidification agent at the VR ground improvement work site 200 is equal to or higher than the target value (256), and the number of section blade cuttings ( It can be confirmed that the rotational speed/m) is equal to or higher than the target value (350), and that the vertical direction and rotational direction of the virtual stirring blade 3av match the 440 process settings. Note that the section flow rate (L/m) of the solidifying agent, the number of section blade cuttings (times/m), etc. are included in the machine information/construction information and are transmitted from the construction machine control device 80 to the cloud server 10. The cloud server 10 is supposed to reflect "section flow rate of solidifying agent (L/m), section blade cutting frequency (times/m), etc." to the VR ground improvement construction site 200.

Next, in step S7, it is determined whether there is a request to change the plan for the construction pattern. The construction of the ground improvement piles 9 is performed by the construction machine control device 80 executing a "batch operation command corresponding to the construction pattern." However, any item in the pile coordinates or construction pattern (for example, changing the pile coordinates, adding or deleting the pile number, the lifting speed (m/min) of the leader 1b, the standard discharge rate (L/min) of the solidifying agent pump 5) min) etc.) may be changed. In such a case, the machine guidance data after the plan change is transmitted from the operator terminal device 20 to the cloud server 10.

If there is a request to change the plan for the construction pattern (YES), step S3 is repeatedly executed. On the other hand, if there is no request to change the plan for the construction pattern (NO), step S8 is executed.

In step S8, it is determined whether there is a pile number that has not yet been constructed. Pile numbers that have already been constructed are marked with a check mark in the checkbox on the machine guidance data (Figure 33). On the other hand, for unbuilt pile numbers, the checkboxes on the machine guidance data (Figure 33) are blank. Therefore, if there is a blank checkbox on the machine guidance data (YES), step S4 is repeatedly executed. On the other hand, if there is no blank checkbox (NO), the automatic construction of the ground improvement piles 9 is ended.

FIG. 28 is an explanatory diagram showing a virtual field of view seen from the virtual cabin section of the VR ground improvement machine 1v.
In the virtual cabin section, virtual levers and virtual switches for virtually running and turning the VR ground improvement machine 1v or raising and swinging the virtual leader 1bv are virtually provided. For example, when the operator presses the virtual starter switch SSv and tilts the virtual safety lever LSv toward the operator, the VR ground improvement machine 1v can run, turn, operate the leader, etc. In this case, the "operator's operation command for the VR soil improvement machine 1v" is converted by the operator terminal device 20 into "the operation command for the practical soil improvement machine 1" and transmitted to the construction machine control device 80, so that the actual soil improvement The actual soil improvement machine 1 at the construction site 300 also becomes capable of running, turning, operating a leader, etc.

When the virtual right crawler lever LCRv and the virtual left crawler lever LCLv are pushed to the back side at the same time, the VR ground improvement machine 1v travels straight. In this case, the actual soil improvement machine 1 at the actual soil improvement construction site 300 also travels straight.

On the other hand, when the virtual right crawler lever LCRv and the virtual left crawler lever LCLv are simultaneously pushed forward, the VR ground improvement machine 1v travels backward. In this case, the actual soil improvement machine 1 at the actual soil improvement construction site 300 also travels backwards.

Further, when the virtual leader lever LLv is tilted to the back side, the virtual leader 1bv is tilted forward according to the amount of lever operation. In this case, the leader 1b of the actual soil improvement machine 1 at the actual soil improvement construction site 300 also falls forward in accordance with the lever operation amount.

On the other hand, when the virtual leader lever LLv is tilted toward the user, the virtual leader 1bv is tilted backward according to the lever operation amount. In this case, the leader 1b of the actual soil improvement machine 1 at the actual soil improvement work site 300 also falls backwards in accordance with the amount of lever operation.

Furthermore, when the virtual leader lever LLv is tilted to the right, the virtual leader 1bv swings to the right in accordance with the lever operation amount. In this case, the leader 1b of the actual soil improvement machine 1 at the actual soil improvement construction site 300 also swings to the right in accordance with the lever operation amount.

On the other hand, when the virtual leader lever LLv is tilted to the left, the virtual leader 1bv swings to the left according to the lever operation amount. In this case, the leader 1b of the actual soil improvement machine 1 at the actual soil improvement construction site 300 also swings to the left in accordance with the lever operation amount.

Further, when the virtual turning lever LTv is tilted to the right, the machine body 1ev of the VR ground improvement machine 1v turns clockwise. In this case, the machine body 1e of the actual soil improvement machine 1 at the actual soil improvement work site 300 also rotates clockwise.

On the other hand, when the virtual turning lever LTv is tilted to the left, the machine body 1ev of the VR ground improvement machine 1v turns counterclockwise. In this case, the machine body 1e of the actual soil improvement machine 1 at the actual soil improvement work site 300 also rotates counterclockwise.

The virtual construction target position PTv that guides the "current virtual pile core position P3'v" of the virtual casing rod 2v is marked with a cylinder that resembles an improved pile so that the operator can easily recognize it. And it is highlighted. Further, a "virtual boundary line BLv" defining a movable area of the VR ground improvement machine 1v is displayed. In addition, if the VR ground improvement machine 1v exceeds the virtual boundary line by BLv, the operator's operation command for the VR ground improvement machine 1v is invalidated, and at the same time, the operation command for the actual soil improvement machine 1 is also invalidated. It has become. Furthermore, the virtual construction completion position PEv corresponding to the construction completion position where the construction of the ground improvement piles 9 has been completed is also highlighted.

In addition, the virtual construction target position PTv is also displayed on the virtual monitor screen 107av, and at the same time, the amount of deviation on the machine coordinate system OXY between the "current virtual pile center position P3'v" and the "virtual construction target position PTv" is displayed. ΔMv (ΔX _Mv , ΔY _Mv ) is also displayed.

In addition, the operator can also view images G1, G2, and G3 of the positional relationship between the "current virtual pile core position P3'v" and the "virtual construction target position PTv" when viewed from different viewpoints other than the virtual cabin part. displayed in the virtual field of view. Therefore, the operator guides the "current virtual pile core position P3'v" of the virtual casing rod 2v to the "virtual construction target position PTv" while viewing the virtual monitor screen 107av or images G1, G2, and G3. . Note that it is also possible to guide the "current virtual pile core position P3'v" to the "virtual construction target position PTv" using the virtual turning circle Ctv.

FIG. 29 is an explanatory diagram showing a VR three-dimensional image when the operator's viewpoint position with respect to the virtual construction target position PTv is changed.
FIG. 29(a) shows a VR three-dimensional image when the virtual construction target position PTv is viewed from the operator's viewpoint position behind the VR ground improvement machine 1v and at the height of the virtual swivel head 1av. At this viewpoint position, the virtual deviation amount ΔX _M v in the virtual X-axis direction Xv with respect to the virtual construction target position PTv can be clearly seen. On the other hand, little is known about the virtual deviation amount ΔY _M v in the virtual Y-axis direction Yv.

FIG. 29(b) shows a VR three-dimensional image when the virtual construction target position PTv is viewed from the operator's viewpoint position to the left of the VR ground improvement machine 1v and at the height of the virtual swivel head 1av. At this viewpoint position, the virtual deviation amount ΔY _M v in the virtual Y-axis direction Yv with respect to the virtual construction target position PTv can be clearly seen. The inclination of the virtual reader 1b in the front-back direction is also clearly understood.

FIG. 29(c) shows a VR three-dimensional image when the virtual construction target position PTv is viewed from the operator's viewpoint position in front of the VR ground improvement machine 1v and at the height of the tip of the virtual casing rod 2v. At this viewpoint position, both the virtual deviation amount ΔX _M v in the virtual X-axis direction Xv and the virtual deviation amount ΔY _M v in the virtual Y-axis direction Yv with respect to the virtual construction target position PTv can be clearly seen.

In this way, at the VR ground improvement construction site 200, the operator can operate the VR ground improvement machine 1v while freely changing the viewpoint position. Therefore, by guiding the "current virtual pile center position P3'v" to the "virtual construction target position PTv" using the VR ground improvement machine 1v at the VR ground improvement construction site 200, It becomes possible to perform the actual pile core position guidance work efficiently.

As described above, in the remote operation management system 600 for ground improvement work of the present invention, "the position, dimensions, and operation of the VR ground improvement machine 1v at the VR ground improvement work site 200" and "the actual ground improvement work at the actual ground improvement work site 300", The positions, dimensions, and operations of the improved machine 1 correspond to each other on a one-to-one basis. In addition, the "coordinates of the position of the construction object at the actual ground improvement construction site 300" and the "coordinates of the position of the corresponding virtual construction object at the VR soil improvement machine exhibition hall 200" are configured to be equal to each other. ing. As a result, even if the object directly operated by the operator is the VR ground improvement machine 1v, the actual ground improvement machine 1 can be guided to the construction target position PT and the ground improvement pile 9 can be created. In particular, in the VR ground improvement machine exhibition hall 200, the operator can operate the VR ground improvement machine while freely changing the viewpoint position, which makes it easier to operate the VR ground improvement machine 1 whose viewpoint position is fixed. It becomes possible to guide the current pile core position P3' of the ground improvement machine 1 to the construction target position PT.

In addition, since the object directly operated by the operator is the VR ground improvement machine 1v, the data exchanged on the network 50 includes operation commands, machine information/construction information, update information of the VR ground improvement work site 200, and machine guidance data. Both the information and the updated information are data with a small amount of information. Therefore, for the communication line required for the network 50, it is possible to use a communication line with relatively low speed and low capacity.

In addition, since the point cloud data regarding three-dimensional objects around the actual ground improvement machine 1 is reproduced by triangular mesh data at the VR ground improvement work site 200, the object to be directly operated is the VR ground improvement machine 1v. The operator can easily recognize the shape characteristics (tilt situation) of the three-dimensional object.

In addition, regarding the automatic creation of soil improvement piles 9 by the construction machine control device 80, the operation order, operation interval, and operation amount of each operation device such as the swivel head 1a, leader 1b, and solidification agent pump 5 are determined as a collective operation command. Since it is compiled into data, the operator can concentrate on guiding the actual soil improvement machine 1 to the construction target position PT, and can repeatedly create soil improvement piles 9 of the same quality. becomes possible.

(Third embodiment)
FIG. 31 is an explanatory diagram showing a VR ground improvement machine exhibition hall 700 according to the third embodiment of the present invention.
This VR ground improvement machine exhibition hall 700 replaces the area around the VR ground improvement machine 1v at the VR ground improvement work site 200 with a VR exhibition hall that reproduces the actual exhibition hall, and the VR ground improvement machine 1v is placed in the VR exhibition hall. This is a virtual exhibition of

As mentioned above, the VR ground improvement machine 1v converts the 2D CAD data (for example, 2D drawing data using orthographic projection) of all the components of the practical ground improvement machine 1 into 3D CAD data (3D drawing data). 3D computer graphics (3D model). The number of parts of the VR ground improvement machine 1v is the same as that of the real ground improvement machine 1, and like the real ground improvement machine 1, all virtual components are configured to be removable/reinstallable.

In the VR ground improvement machine exhibition hall 700, all VR ground improvement machines 1v corresponding to all the models listed in the catalog can be virtually exhibited. Therefore, for example, when a manufacturer representative (D avatar) and a visitor (E avatar) immerse themselves in the VR ground improvement machine exhibition hall 700 via the user terminal device 20, the manufacturer representative (D avatar) (E avatar) can virtually prepare the desired VR ground improvement machine 1v and explain the functions, performance, etc. of the actual machine. That is, by using this VR ground improvement machine exhibition hall 700, all the work for transporting actual machines to the exhibition hall becomes unnecessary. As a result, all the work costs and manpower associated with bringing in the actual machine can be reduced. In addition, the area of the exhibition booth will also be smaller. This can significantly reduce the cost of participating in exhibitions.

Although a plurality of embodiments of the present invention have been described above with reference to the drawings, the embodiments of the present invention are not limited to the above. That is, various modifications and changes can be made without departing from the technical scope of the present invention. For example, regarding the point group data acquired by the 3D laser scanner 11, the figure formed by connecting one adjacent measurement point and another measurement point with a straight line may be a quadrilateral other than a triangle. Furthermore, the measuring device that acquires point cloud data may be a measuring device that uses a proximity sensor, LIDAR, RADER, or stereo camera.

1 Ground improvement machine (construction machine)
1a Swivel head 1b Reader 1cA GNSS antenna 1cB GNSS antenna 1d Network communication antenna 1e Construction machine body 1v VR ground improvement machine (virtual construction machine)
2 Casing rod 3 Stirring device 3a Excavation blade 3b Stirring blade 3c Co-rotation prevention blade 4 Solidifying agent generating device 5 Solidifying agent pump 6 Hose 7 Flow meter 8 Hydrometer 9 Ground improvement pile (column-shaped improvement body)
9a Hollow depth 9b Improved length 9c Pile diameter 10 Cloud server (server device)
11 Control unit 12 Storage unit 13 Input/output unit 14 3D laser scanner (distance/angle measurement device)
20 User terminal device (operator terminal device)
21 Input/output section 22 Data processing section 23 Storage section 24 Display section 30 Head-mounted display 31 Input/output section 32 Data processing section 33 Display section 34 Microphone/headphones 40 Controller 41 Input/output section 42 Data processing section 43 Motion detection section 44 Operation unit 50 Network 60 Construction machine communication device 70 Solidifying agent communication device 80 Construction machine control device (machine control device)
100 Remote construction management system for ground improvement work (Remote construction management system for ground improvement work using VR technology)
200 VR ground improvement construction site (virtual ground improvement construction site)
300 Actual ground improvement work site (actual ground improvement work site)
400 Avatar A (virtual person)
410 Avatar B (virtual person)
420 Avatar C (virtual person)
430 Pile condition setting 431 Pile construction history 440 Process setting 450 Amount management chart 451 Achievement control chart 452 Construction calendar 453 Time input screen 454 Future construction performance management chart 500 Time series seek bar 600 Remote operation management system for ground improvement work (VR technology) Remote construction management system for ground improvement work using
700 VR ground improvement machine exhibition hall (remote construction management system for ground improvement work using VR technology)

Claims (19)

A remote construction management system (100) for ground improvement work related to a columnar improvement body (9) constructed underground,
a server device (10) that provides a virtual ground improvement work site (200) that is virtually reproduced by a predetermined computer program that imitates an actual ground improvement work site (300);
a user terminal device (20) for a user to access the server device (10) via a network (50);
a display (30) for a user to view the virtual ground improvement construction site (200);
an operating device (40) for a user to operate virtually at the virtual ground improvement construction site (200);
comprising a communication device (60, 70) that transmits various information related to the construction machine (1) and various information related to the columnar improved body (9) to the server device (10),
The columnar improvement body (9) is constructed as a part of the virtual ground improvement work site (200) by the computer program based on various information related to the construction machine (1) and various information related to the columnar improvement body (9). A remote construction management system for ground improvement work using VR technology, which is virtually reproduced and displayed as a VR three-dimensional image on the display (30). In the remote construction management system for ground improvement work using VR technology according to claim 1,
The user appears as a virtual person (400, 410, 420) at the virtual ground improvement work site (200) and can be displayed on the display (30). Remote construction management system. In the remote construction management system for ground improvement work using VR technology according to claim 1,
Using VR technology, the user is able to interact with other users at the virtual ground improvement work site (200), and the content of the interaction can be displayed as text on the virtual ground improvement work site (200). Remote construction management system for ground improvement work. In the remote construction management system for ground improvement work using VR technology according to claim 1,
A remote construction management system for ground improvement work using VR technology, characterized in that files posted by one user at the virtual ground improvement work site (200) can be viewed by other users. In the remote construction management system for ground improvement work using VR technology according to claim 1,
The user is able to virtually move underground at the virtual ground improvement work site (200). A remote construction management system for ground improvement work using VR technology. In the remote construction management system for ground improvement work using VR technology according to claim 1,
The columnar improvement body (9) is displayed in color based on the section flow rate of the solidifying agent per predetermined depth and the number of section blade cuttings of the stirring blade (3b) per predetermined depth at the virtual ground improvement work site (200), Remote construction management of ground improvement work using VR technology, characterized in that it is also possible to display the volume/form control chart (450, 450', 451, 451') related to the columnar improvement body (9). system. In the remote construction management system for ground improvement work using VR technology according to claim 1,
The virtual ground improvement construction site (200) includes a time-series seek bar (500) relating to a time axis from the start of construction to the present, and the user moves the time-series seek bar (500) to the start of the construction. A remote construction management system for ground improvement work using VR technology, wherein the virtual construction site (200) at a certain point in the past is virtually reproduced. In the remote construction management system for ground improvement work using VR technology according to claim 1,
The server device (10) is characterized in that the history from the start of construction to the completion of construction for the specific columnar improvement body (9) specified by the user is reproduced on the virtual ground improvement construction site (200). A remote construction management system for ground improvement work using VR technology. In the remote construction management system for ground improvement work using VR technology according to claim 1,
The server device (10) selects the improved columnar body (9) whose construction is expected to be completed by a certain time in the future specified by the user, based on the past to present construction results of the improved columnar body (9). A remote construction management system for ground improvement work using VR technology, which is characterized by being able to predict the number of construction works. In the remote construction management system for ground improvement work using VR technology according to claim 9,
The server device (10) determines that the columnar improved body (9) whose construction is expected to be delayed or ahead of the construction plan is different from other columnar improved bodies (9) whose construction is predicted to be completed according to the construction plan. A remote construction management system for ground improvement work using VR technology, characterized in that the virtual ground improvement work site (200) is reproduced in color. In the remote construction management system for ground improvement work using VR technology according to claim 1,
A virtual construction machine (1v) that "operates virtually at the virtual ground improvement construction site (200)" and corresponds to the construction machine (1) is displayed virtually on the display (30) by the operation device (40). operably configured to
The operation command by the operating device (40) for the virtual construction machine (1v) is converted into an operation command for the construction machine (1) by the user terminal device (20), and is sent to the machine control device of the construction machine (1). (80),
The machine control device (80) that has received the operation command controls the construction machine (1) based on the operation command, and also updates machine information regarding the construction machine (1) after executing the operation command. and transmitting construction information to the server device (10),
The server device (10) that has received the machine information and construction information updates the virtual ground improvement construction site (200) to the latest state and sends the updated information to the user terminal device (20). A remote construction management system for ground improvement work using VR technology. In the remote construction management system for ground improvement work using VR technology according to claim 11,
The user terminal device (20) stores machine guidance data including "number, coordinates, pile condition settings (430) and process settings (440)" for the columnar improved body (9) created by the construction machine (1). or transmitting the updated information to the server device (10),
The server device (10) transmits the machine guidance data or its update information to the machine control device (80) based on a request from the machine control device (80),
The machine control device (80) stores the machine guidance data or its updated information in a predetermined storage unit, and automatically creates the columnar improved body (9) based on a start command from the user terminal device (20). A remote construction management system for ground improvement work using VR technology. In the remote construction management system for ground improvement work using VR technology according to claim 11,
The actual ground improvement work site (300) has a plane rectangular coordinate system (X'Y'Z') corresponding to a predetermined satellite positioning system (GNSS),
The virtual ground improvement construction site (200) has a virtual plane rectangular coordinate system (X'Y'Z'_v) corresponding to the plane rectangular coordinate system (X'Y'Z'),
"Dimensions, coordinates, movement direction, and movement amount of the virtual construction machine (1v) in the virtual plane rectangular coordinate system (X'Y'Z'_v)" are "the dimensions, coordinates, movement direction, and movement amount of the virtual construction machine (1v) in the plane orthogonal coordinate system (X'Y'Z'_v)" A remote construction management system for ground improvement work using VR technology, characterized in that the system is configured so that the dimensions, coordinates, direction of movement, and amount of movement in a coordinate system (X'Y'Z') are equal to each other. In the remote construction management system for ground improvement work using VR technology according to claim 11,
The virtual construction machine (1v) converts the two-dimensional drawing data related to the orthographic projection method for all the component parts of the construction machine (1) into three-dimensional drawing data, and converts the three-dimensional drawing data for each component into three-dimensional drawing data. It corresponds to a three-dimensional computer graphic model of the construction machine (1) that is virtually assembled according to an actual assembly process on a predetermined three-dimensional design application and reproduces not only the external structure but also the internal structure. A remote construction management system for ground improvement work using VR technology. In the remote construction management system for ground improvement work using VR technology according to claim 11,
A part or all of the virtual ground improvement construction site (200) uses the coordinate measurement point group data acquired by the distance measurement/angle measurement device (11) to connect one adjacent measurement point and another measurement point in a straight line. A remote construction management system for ground improvement work using VR technology, which is represented by polygonal mesh data connected by . In the remote construction management system for ground improvement work using VR technology according to claim 11,
The virtual ground improvement construction site (200) superimposes figures, symbols, pictograms, numerical values, graphs, or colors on the virtual position (PTv), virtual construction means (Ctv), or virtual construction object (9v) related to construction. A remote construction management system for ground improvement work using VR technology, which is characterized in that it is possible to display or highlight. In the remote construction management system for ground improvement work using VR technology according to claim 11,
The server device (10) or the user terminal device (20) sets a virtual boundary line (BLv) that defines a movable area of the virtual construction machine (1v) at the virtual ground improvement work site (200), A remote construction management system for ground improvement work using VR technology, characterized in that the virtual construction machine (1v) can invalidate operations by the operating machine (40) that deviate from the virtual boundary line (BLv). . In the remote construction management system for ground improvement work using VR technology according to claim 11,
The server device (10) or the user terminal device (20) stores the operation order, operation interval, and operation amount for the construction machine (1) as a collective operation command, and as necessary, the machine control device (80) ) and
The machine control device (80) stores the batch operation command. A remote construction management system for ground improvement work using VR technology. In the remote construction management system for ground improvement work using VR technology according to claim 11,
The virtual construction machine (1v) is virtually exhibited in a virtual exhibition hall (700) that is virtually reproduced by the predetermined computer program that imitates an actual exhibition hall. A remote construction management system for ground improvement work was used.