JP7227863B2 - Compaction quality control system and compaction quality control method by automatic operation of vibrating rollers - Google Patents

Description

TECHNICAL FIELD The present invention relates to a compaction quality control system and a compaction quality control method by automatic operation of vibrating rollers. The present invention relates to a system and method capable of appropriately managing compaction quality.

Construction machines such as vibrating rollers are still mainly operated by qualified personnel. However, due to the shortage of skilled operators and progress in automatic driving technology, construction machines with functions such as semi-automatic and unmanned remote control are appearing. On the other hand, even in the quality control method for ensuring construction quality, the tendency to follow the management method that has been implemented from the past is maintained, and from the viewpoint of labor shortage, technology for labor saving and labor saving Development is required.

Many technological developments related to automatic operation technology and quality control technology have been made so far, but there is still no technology that can integrate the automatic operation and automatic quality control of construction machinery.

As an automatic driving technology that has already been disclosed, for example, there is a technology described in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 10-212705). A vibrating roller automatic operation system described in Patent Document 1 relates to a system for automatically operating a vibrating roller for compaction of ground.

Specifically, based on the position of the vibrating roller measured by the position measuring means and the measurement result of the azimuth by the gyro, the operation control means causes the vibrating roller to travel along the travel route set by the route setting means. Generate control signals. These signals are supplied to travel control means and direction control means mounted on the vibrating roller via communication means of the vibrating roller. Based on these control signals, the travel control means and the direction control means control the forward and backward movement of the vibrating roller and the change of the direction of movement of the vibrating roller.

Further, as a compaction management technique using a vibrating roller, for example, there is a technique described in Patent Document 2 (Japanese Patent No. 3908031). The embankment rolling compaction management method described in Patent Document 2 expresses the change in the vibration acceleration of the vibrating wheel accompanying compaction as a quantitative turbulence rate using the frequency spectrum, and the relationship between this turbulence rate and the compaction density is expressed. Information about the compaction density is obtained from the turbulence rate measured during rolling compaction by the vibrating roller based on the relationships obtained by experiments in advance.

Furthermore, assuming several types of vibrating rollers, it corresponds to the turbulence rate and the distortion of the acceleration waveform of the vibrating wheel obtained based on a simulation model that equivalently expresses the motion of the vibrating roller vibrating on the ground with a two-degree-of-freedom vibration model. The index is obtained from the turbulence rate measured during rolling compaction by the vibrating wheel. Information on ground stiffness is obtained based on the excitation force, and information on the convergence of ground subsidence is obtained based on the measurement of the vertical displacement of the ground due to compaction. Based on these pieces of information about the progress of ground compaction, whether or not the ground has a predetermined quality is evaluated.

JP-A-10-212705 Japanese Patent No. 3908031

At present, the use of ICT is essential, and in the field of civil engineering and construction as well, effective use of ICT is required at each stage of survey/planning, design, construction, and maintenance. As described above, automatic operation technology has already been developed for construction machines such as vibrating rollers, and construction quality control technology is being developed in parallel.

However, even if almost unmanned automated driving can be realized due to advances in automated driving technology, if the method of checking construction quality requires conventional manpower , in the end it will not improve site productivity. can not be expected, and the effect of saving manpower and labor will be halved. On the other hand, even if only the quality control method is automated, it is difficult to ensure the construction quality without an automatic construction method that matches the experience and skills of a skilled operator, and frequent rework and rework will occur.

On-site compaction management of embankment is generally performed by density measurement by sand replacement method or RI method, or ground stiffness measurement by flat plate loading test. It was difficult to accurately evaluate the quality of the entire surface.

The present invention has been proposed in view of the above-mentioned circumstances. The object is to provide a compaction quality control system and a compaction quality control method.

A compaction quality control system and a compaction quality control method by automatic operation of vibrating rollers according to the present invention have the following features in order to achieve the above-mentioned objects. That is, the compaction quality control system and the compaction quality control method by automatic operation of the vibrating roller according to the present invention (hereinafter sometimes abbreviated as compaction quality control system, compaction quality control method) are based on pre-stored travel. A system and method for automatically driving a vibrating roller along a path and controlling compaction quality with the vibrating roller.

The compaction quality control system includes travel route information acquisition means, current position information acquisition means, difference information acquisition means, travel control means, turbulence rate acquisition means, ground stiffness/compaction density estimation means, and compaction and end instruction means.

The travel route information acquisition means is means for acquiring prestored travel route information of the vibrating roller, the current position information acquisition means is means for acquiring current position information of the vibrating roller, and difference information acquisition. The means is means for comparing the traveling route information and the current position information to obtain difference information between the current position of the vibrating roller and the pre-stored traveling route, and the traveling control means is based on the difference information. , means for controlling the running of the oscillating roller.

The turbulence rate acquisition means is a means for acquiring the acceleration change of the vibrating wheel that occurs during compaction as a turbulence rate of the frequency spectrum. It is a means for estimating the ground stiffness or compaction density of the ground to be compacted based on the relationship with the density. Means for instructing the completion of compaction by the vibrating roller when it reaches.

In addition to the above-described configuration, the compaction end instruction means stores in advance the current position of the vibrating roller in the difference information in addition to the fact that the estimated ground rigidity or compaction density reaches a predetermined end condition. It is possible to set the end condition that the amount of difference from the travel route becomes equal to or greater than a predetermined value.

In addition to the above-described configuration, the ground stiffness/compaction density estimation means considers the relationship between the turbulence rate and ground stiffness or compaction density in the lower compacted layer in addition to the current compaction layer. , it is possible to estimate the ground stiffness or compaction density of the ground to be compacted.

Furthermore, in addition to the above-described configuration, if there is a location where the termination condition is not satisfied, re-compaction is performed by running the vibrating roller on the location where the termination condition is not satisfied. An indicating means may be provided.

The compaction quality control method is a method that is realized by using the above-described means. Information is compared to acquire difference information between the current position of the vibrating roller and a pre-stored travel route, and the travel of the vibrating roller is controlled based on the difference information. Then, the acceleration change of the vibrating wheel that occurs during compaction is obtained as the turbulence rate of the frequency spectrum, and the ground stiffness or compaction density of the ground to be compacted is estimated based on the relationship between the turbulence rate and the ground stiffness or compaction density. Then, when the estimated ground stiffness or compaction density reaches a predetermined end condition (compaction end ground stiffness or compaction end ground density), an instruction to end compaction by the vibrating roller is given. It is. The vibrating wheel is one of the members constituting the vibrating roller, and refers to a wheel for applying vibration force to the ground surface for compaction.

In addition to the above-described configuration, the end condition for instructing the end of compaction is that a predetermined compaction end ground rigidity or compaction end density has been reached, and the current position of the vibrating roller in the difference information The amount of difference from the pre-stored travel route may be equal to or greater than a predetermined value. That is, the end conditions for instructing the end of compaction include the ground stiffness or compaction density estimated based on the relationship between the turbulence rate and the ground stiffness or compaction density, as well as the current position of the vibrating roller and the pre-stored travel The amount of difference from the route is used.

In addition to the above configuration, in addition to the relationship between the turbulence rate and ground stiffness or compaction density in the current compaction layer, the relationship between the turbulence rate and ground stiffness or compaction density in the lower compacted layer In addition, it is possible to estimate the ground stiffness or compaction density of the ground to be compacted.

Furthermore, in addition to the configuration described above, when there is a location where the termination condition is not satisfied, it is possible to cause the vibrating roller to travel to the location where the termination condition is not satisfied.

According to the compaction quality control system and the compaction quality control method by automatic operation of the vibrating rollers according to the present invention, when compacting embankment or the like, not only the vibrating rollers are automatically operated, but also compaction is performed in parallel. We are implementing construction quality control for solidification.

Therefore, by using the compaction quality control system and the compaction quality control method by automatic operation of the vibrating roller according to the present invention, it is possible to realize both automatic operation of the vibrating roller and construction quality control at the same time. In addition, unlike the sand replacement method and RI method, which estimate the ground stiffness or compaction density by sampling a predetermined number, it is possible to grasp the ground stiffness or compaction density in the entire construction area in real time. Accurate construction quality control becomes possible.

The functional block diagram of the compaction quality control system which concerns on embodiment of this invention. 1 is a flowchart of a compaction quality control method according to an embodiment of the present invention; Explanatory drawing of the compaction procedure in the compaction quality control system and compaction quality control method which concern on embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram of a vibrating roller configuration and an acceleration calculation model in a compaction quality control system and a compaction quality control method according to an embodiment of the present invention; FIG. 4 is an explanatory diagram showing a measurement example of an acceleration waveform associated with rolling compaction in the compaction quality control system and the compaction quality control method according to the embodiment of the present invention;

BEST MODE FOR CARRYING OUT THE INVENTION A compaction quality control system and a compaction quality control method by automatic operation of vibrating rollers according to embodiments of the present invention will be described below with reference to the drawings. 1 to 5 illustrate a compaction quality control system and a compaction quality control method by automatic operation of vibrating rollers according to an embodiment of the present invention. FIG. 1 is a functional block diagram of the compaction quality control system. 2 is a flowchart of the compaction quality control method, FIG. 3 is an explanatory diagram of the compaction procedure, FIG. 4 is an explanatory diagram of the configuration of the vibrating roller and the acceleration calculation model, and FIG. It is a diagram.

FIG. 4(a) is a schematic diagram showing the configuration of the vibrating roller, FIG. 4(b) is an explanatory diagram of an acceleration calculation model in the vibrating roller, and FIG. FIG. 5(b) is a graph showing the frequency analysis results for one time of rolling compaction and 16 times of rolling compaction.

<Overview of compaction quality control system and compaction quality control method>
The compaction quality control system and the compaction quality control method according to the present invention are intended to integrate automatic operation and automatic quality control of vibrating rollers used for compacting and rolling earth materials and bituminous materials. is. Vibration rollers are required to switch lanes while repeatedly traveling back and forth to compact compaction within a designated area just enough.

<Vibrating roller>
As shown in FIG. 4, the vibrating roller 10 is attached to a vibrating wheel 11, a support frame 12 for the vibrating wheel 11, a drive wheel 13, a cab 14, a connecting portion 15 between the cab 14 and the support frame 12, and the support frame 12. Anti-vibration rubber 16 and the like are provided. Although not shown, the vibrating wheel 11 is provided with an excitation device so that steering is performed by a steering device. The vibrating roller 10 configured as described above moves forward and backward by the driving force of the driving wheel 13, compacts the ground by the vibrating force of the vibrating wheel 11, and steers in the lateral direction with respect to the traveling direction by the steering device.

In this embodiment, automatic driving is performed by automatically controlling the driving wheels 13 and the steering device. An acceleration sensor 20 for measuring the vibration acceleration of the vibrating wheel 11 is attached to the support frame 12 of the vibrating wheel 11 .

<Automatic running of vibrating rollers>
In the embodiment of the present invention, as shown in FIG. 3, the vibrating roller 10 repeats forward and backward movement within a predetermined area while being unmanned and self-propelled, and rolls a predetermined number of times. Then, after temporarily returning to the parking position outside the area and switching lanes, the vehicle will run unmanned while securing a certain lap width so as not to leave a step on the front lane.

As the rolling work progresses, the rigidity of the rolling surface increases, and the repulsive force from the rolling surface against the vibrating wheel 11 also increases. In that case, it has a function to automatically correct the trajectory to a predetermined driving lane. In addition, when the frequency of deviating from the driving lane increases, it is considered that the rigidity of the rolling surface has increased accordingly. can be estimated.

Furthermore, as for the automatic quality control method, a compaction control method using the acceleration response value of the vibrating roller 10 is used. Specifically, the change in acceleration of the vibrating wheel 11 that occurs during compaction is obtained as the turbulence rate of the frequency spectrum, and the ground stiffness or compaction density is estimated based on the relationship between the turbulence rate and the ground stiffness or compaction density. .

By using such an automatic construction management method, real-time and comprehensive quality control measurement can be performed for the construction range, compared to the discrete density management by the sand replacement method, which is typical of conventional methods. be able to.

<Components of compaction quality control system>
The compaction quality control system 100 according to the embodiment of the present invention comprises, as shown in FIG. , turbulence rate acquisition means 140 , ground stiffness/compaction density estimation means 150 , and compaction end instruction means 170 , and furthermore, re-compaction instruction means 180 can be provided. Each means will be described below. Each means is composed of a device for performing its function and a program installed in a computer to perform the function of each means.

Further, each means includes one mounted on the vibrating roller 10 and one configured by a computer installed in a management office or the like, and mutual data communication is possible between each means. . Data communication is performed, for example, by wireless communication such as wireless LAN, wireless WAN, or wired communication, and the communication means to be used is appropriately selected according to the mode of each means, the situation of the construction site, and the like.

<Driving Route Information Acquisition Means>
The travel route information acquisition means 110 is a means for acquiring pre-stored travel route information of the vibrating roller 10, and is configured by, for example, a device for acquiring data from a storage device storing the travel route information. The travel route information is information set in advance based on various conditions such as the specifications of the vibrating roller 10 to be used, the compaction target range (area), etc., and the operator inputs data or the computer's calculation result data is input. It is stored in a storage device attached to the computer by importing it.

<Current location information acquisition means>
The current position information acquisition means 120 is a means for acquiring current position information of the vibrating roller 10, and uses GNSS, for example. For this reason, the vibrating roller 10 is equipped with equipment for receiving signals from artificial satellites and associated equipment. Furthermore, Wi-Fi equipment, gyro sensors, accelerometers, etc. may be used to improve positioning accuracy by GNSS or to replace positioning by GNSS.

<Difference Information Acquisition Means>
The difference information acquisition means 130 is a means for comparing the travel route information and the current position information to acquire the difference information between the current position of the vibrating roller 10 and the pre-stored travel route. program. The acquired difference information is information used for automatically driving the vibrating roller 10 along a predetermined travel route.

Further, as described above, as the rigidity of the rolling surface increases, the repulsive force of the rolling surface against the vibrating wheel 11 also increases, so the amount of difference between the travel route information and the current position information increases. That is, when the amount of difference between the travel route information and the current position information is large, it can be inferred that the ground rigidity or compaction density is increasing. In this embodiment , this difference information is used as one of the information for estimating ground stiffness or compaction density.

<Running control means>
Travel control means 160 is means for controlling travel of vibrating roller 10 based on difference information obtained by comparing travel route information and current position information, and comprises a computer and a program installed therein. As described above, the traveling device of the vibrating roller 10 includes a driving device (driving wheels 13) for moving forward and backward, and a steering device for steering in the horizontal direction with respect to the traveling direction. The travel control means 160 controls the driving force of the vibrating roller 10 with respect to the driving device and the steering angle with respect to the steering device, so that the vehicle travels along a desired travel line.

In this embodiment, basically, it is caused to travel on a predetermined travel line based on the travel route information. By controlling the driving force of the vibrating roller 10 with respect to the driving device and the steering angle with respect to the steering device based on the difference information obtained by comparing the positional information, the vibrating roller 10 is controlled to run on a predetermined running line. ing.

<Disturbance rate acquisition means>
The turbulence rate acquisition means 140 is means for acquiring the acceleration change of the vibrating wheel 11 that occurs during compaction as a frequency spectrum turbulence rate, and is composed of the acceleration sensor 20, a computer, and a program installed therein. Specifically, the acceleration sensor 20 receives the acceleration signal of the vibrating wheel 11 and performs predetermined processing to obtain the turbulence rate. That is, the disturbance rate obtaining means 140 obtains the disturbance rate based on the acceleration signal input to the acceleration sensor 20 . From the obtained turbulence rate, the ground stiffness (ground spring constant, ground reaction force coefficient, ground deformation coefficient) and ground density can be estimated.

The vibrating wheel 11 of the vibrating roller 10 is a heavy iron rigid body, and is vibrated by an excitation device (not shown) to compact the ground. When the acceleration sensor 20 measures the acceleration during compaction of the ground, the harder the ground, the higher the high-frequency component. Therefore, by measuring the frequency spectrum from the signal input to the acceleration sensor 20, performing fast Fourier analysis, and defining the turbulence rate, it is possible to quantitatively express the vibration acceleration of the vibrating wheel 11 corresponding to the hardness of the ground. can. The turbulence rate can be expressed by the following formula (1). That is, as the ground rigidity increases due to the progress of rolling compaction, the acceleration waveform of the vibrating wheel 11 (roller) is disturbed as shown in FIG. It can be seen that the wave spectra S ^{1 ,} S ^{2 ,} . Utilizing this property, the "turbulence rate (F _t )" shown in the following equation (1) is defined. The larger the turbulence rate, the more compact the ground.

The turbulence rate varies depending on the mass, vibration force, and frequency of the vibrating ring 11, but the behavior of the vibrating ring 11 vibrating on the ground is expressed by the equation of motion of the two-degree-of-freedom vibration model (equation (2) below). ) based on the theoretically derived relationship between the turbulence rate and the index, and the relationship between the index and the ground spring constant. Can be obtained continuously. FIG. 4(b) shows an acceleration calculation model.

Furthermore, if the relationship between the turbulence rate and the compaction density is determined in advance by experiments, the compaction density can be estimated from the acceleration signal received by the acceleration sensor 20 . Furthermore, since these pieces of information can be obtained at the same time as the compaction of the ground, there is no need to perform manual work such as sampling tests.

More specifically, the change in the vibration acceleration of the vibrating wheel 11 due to compaction is expressed as a quantitative turbulence rate using the frequency spectrum, and the relationship between this turbulence rate and compaction density is obtained in advance through experiments. . Then, based on the relationship between the turbulence rate and the compaction density, information on the compaction density of the ground is acquired from the turbulence rate measured during rolling compaction by the vibrating wheel 11 .

On the other hand, assuming a plurality of types of vibrating rollers 10, the turbulence rate and the vibration of the vibrating wheel 11 obtained based on a simulation model that equivalently expresses the motion of the vibrating wheel 11 vibrating on the ground with a two-degree-of-freedom vibration model. The relationship with the index corresponding to the distortion of the acceleration waveform is obtained in advance.

Then, an index is obtained from the turbulence rate measured during rolling by the vibration wheel 11, and the obtained index, the mass (m1) of the frame (support frame 12) of the vibration roller 10, and the mass (m2) of the vibration wheel 11 ), the frequency (f) of the vibrating wheel 11, and the vibrating force (F) to obtain information on the ground stiffness (k2), and to measure the amount of change in the vertical direction of the ground due to rolling compaction. Obtain information on the convergence of land subsidence based. From these pieces of information representing the progress of ground compaction, it is possible to evaluate whether or not the ground has a predetermined quality. The relational expression of the turbulence rate, the specifications of the vibrating roller, and the ground deformation coefficient is shown in the following formula (3). Note that E is the ground deformation coefficient, and ν is the Poisson's ratio.

<Ground stiffness/compaction density estimation method>
The ground stiffness/compaction density estimation means 150 is a means for estimating the ground stiffness or compaction density of the ground to be compacted based on the relationship between the turbulence rate and the ground stiffness or compaction density. consists of programs installed in As described above, the soil stiffness or compaction density can be estimated by obtaining the turbulence rate associated with compaction of the ground. It can be determined whether the end compaction soil stiffness or end compaction density to end compaction has been reached.

It is also known that the obtained turbulence rate can be used to estimate the soil stiffness or compaction density in the lower layer than the current compaction layer. Since the ground is compacted over multiple layers, the relationship between the turbulence rate and ground stiffness or compaction density in not only the current compaction layer but also the compaction layers below the current compaction layer is considered. By doing so, the soil stiffness or compaction density can be estimated more accurately. Depending on the thickness of the dumping layer and the material to be dumped, it may not be possible to acquire the turbulence rate of the compaction layer below the current compaction layer.In this case, only the turbulence rate of the current compaction layer is used. to estimate soil stiffness or compaction density.

<Compaction end instruction means>
The compaction end instruction means 170 is means for instructing the end of compaction by the vibrating roller 10 when a predetermined end condition is satisfied, and comprises a computer and a program installed therein. The end condition is that a predetermined compaction end ground stiffness or compaction end density has been reached, and the amount of difference between the current position of the vibrating roller 10 and the pre-stored travel route in the difference information is greater than or equal to a predetermined value. can be added to the termination condition.

As described above, as the compaction progresses and the rigidity of the rolling surface increases, the repulsive force from the rolling surface against the vibrating ring 11 also increases. There is also a correlation between turbulence rate and ground stiffness or compaction density. Therefore, the turbulence rate is used to determine whether or not the final compaction ground stiffness or compaction density has been reached. A hardening end instruction signal is transmitted. Furthermore, since the amount of difference between the travel route information and the current position information is also related to the rigidity of the rolling surface, the difference amount between the current position of the vibrating roller 10 in the difference information and the pre-stored travel route is equal to or greater than a predetermined value. You may add what happened to the termination condition.

<Soil stiffness at the end of compaction or density at the end of compaction>
The final compaction ground stiffness or the final compaction density is appropriately determined based on various factors such as the type of civil engineering structure to be compacted, the type of material to be compacted, and the like. In addition, since the strength of the civil engineering structure decreases when excessive rolling compaction occurs, the necessary and sufficient ground rigidity or compaction density must be selected for the final compaction soil rigidity or compaction completion density so as not to cause excessive compaction. not.

<Recompaction instruction means>
The re-compaction instructing means 180 is a means for performing re-compaction by running the vibrating roller 10 on the location where the termination condition is not satisfied when there is a location where the termination condition is not satisfied. consists of a computer and programs installed on it. As described above, when the compaction end condition is satisfied, a compaction end instruction signal is transmitted to the traveling control means 160, and the compaction by the vibrating roller 10 is terminated.

However, if there are places in the area to be compacted that do not satisfy the completion conditions for compaction (places where compaction is insufficient), further compaction should be carried out for those places. , it is necessary to perform appropriate compaction over the entire area to be compacted. Therefore, an instruction signal is output from the re-compaction instruction means 180 to the travel control means 160 so that the vibrating roller 10 travels over a portion where the compaction end condition is not satisfied (a portion where compaction is insufficient). This ensures that the soil stiffness or compaction density is appropriate throughout the area to be compacted.

<Compaction quality control method>
The compaction quality control method according to the embodiment of the present invention is a method for performing compaction quality control while automatically operating the vibration roller 10 using the compaction quality control system 100 described above. In this compaction quality control method, as shown in FIG. 2, prestored travel route information of the vibrating roller 10 is acquired (S1), current position information of the vibrating roller 10 is acquired (S2), and travel route information and Difference information between the current position of the vibrating roller 10 and the obtained travel route is obtained by comparing with the current position information (S3), and the travel of the vibrating roller 10 is controlled based on the difference information (S4).

Subsequently, the change in acceleration of the vibration wheel 11 that occurs during compaction is acquired as the turbulence rate of the frequency spectrum (S5), and the ground stiffness or compaction density is estimated based on the relationship between the turbulence rate and the ground stiffness or compaction density. (S6).

Subsequently, it is determined whether or not a predetermined end condition is satisfied (S7), and if the end condition is satisfied, an instruction to end compaction by the vibrating roller 10 is issued (S8). On the other hand, if there is a place where the termination condition is not satisfied, a re-compaction instruction is given (S9), and the vibrating roller 10 is caused to travel to the place where the termination condition is not satisfied.

The end condition is that a predetermined compaction end ground stiffness or compaction end density is reached, or in addition, the amount of difference between the current position of the vibrating roller 10 and the pre-stored travel route in the difference information is greater than or equal to a predetermined value. This is what happened. In the flowchart shown in FIG. 2, after instructing re-compaction, the process returns to the travel route information acquisition step (S1) and the subsequent processing is performed. Re-compaction treatment should be carried out only at locations where the conditions are not satisfied.

<Advantageous effects of the present invention>
Since the compaction target of the compaction quality control system and compaction quality control method by automatic operation of the vibrating roller according to the present invention is not particularly limited, using the ground stiffness or compaction density estimated from the turbulence rate, almost all Appropriate compaction can be performed for compaction targets. Moreover, when CSG is targeted for compaction, it is possible to directly evaluate the target stiffness (rigidity determined from the design strength).

10 vibration roller 11 vibration wheel 12 support frame 13 driving wheel 14 cab 15 connection part 16 anti-vibration rubber 20 acceleration sensor 100 compaction quality control system 110 travel route information acquisition means 120 current position information acquisition means 130 difference information acquisition means 140 turbulence Ratio Acquisition Means 150 Ground Stiffness/Compaction Density Estimation Means 160 Travel Control Means 170 Compaction End Instruction Means 180 Re-compaction Instruction Means

Claims (6)

A system for automatically operating vibrating rollers according to a pre-stored travel route and for managing compaction quality with the vibrating rollers,
Travel route information acquisition means for acquiring travel route information of the vibrating roller stored in advance;
current position information acquiring means for acquiring current position information of the vibrating roller;
difference information acquisition means for comparing the travel route information and the current position information to acquire difference information between the current position of the vibrating roller and a pre-stored travel route;
travel control means for controlling travel of the vibrating roller based on the difference information;
a turbulence rate acquiring means for acquiring a change in acceleration of the vibrating wheel that occurs during compaction as a turbulence rate of the frequency spectrum;
a ground stiffness/compaction density estimation means for estimating the ground stiffness or compaction density of the ground to be compacted based on the relationship between the turbulence rate and the ground stiffness or compaction density;
compaction end instruction means for instructing the end of compaction by the vibrating roller when the estimated ground stiffness or compaction density reaches a predetermined end condition;
A compaction quality control system by automatic operation of vibrating rollers, characterized by comprising: The compaction end instruction means indicates that the estimated ground rigidity or compaction density has reached a predetermined end condition, and the amount of difference between the current position of the vibrating roller in the difference information and the pre-stored travel route. has reached a predetermined value or more as a termination condition,
The compaction quality control system by automatic operation of the vibrating roller according to claim 1, characterized in that: A re-compaction instructing means for performing re-compaction by running a vibrating roller on the location where the termination condition is not satisfied when there is a location where the termination condition is not satisfied,
3. A compaction quality control system by automatic operation of vibrating rollers according to claim 1 or 2, characterized in that: A method for automatically driving a vibrating roller according to a pre-stored travel route and for managing compaction quality by the vibrating roller,
Acquiring the traveling route information of the vibrating roller stored in advance,
Get the current position information of the vibrating roller,
comparing the travel route information and the current position information to acquire difference information between the current position of the vibrating roller and a pre-stored travel route;
Based on the difference information, controlling the running of the vibrating roller,
Acquire the acceleration change of the vibrating wheel that occurs during compaction as the turbulence rate of the frequency spectrum,
Based on the relationship between turbulence rate and ground stiffness or compaction density, estimate the ground stiffness or compaction density of the ground to be compacted,
When the estimated ground stiffness or compaction density reaches a predetermined end condition, instruct the end of compaction by the vibrating roller,
A compaction quality control method by automatic operation of a vibrating roller characterized by: The end condition for instructing the end of compaction is that a predetermined compaction end ground stiffness or compaction end density is reached, and in addition, the current position of the vibrating roller in the difference information and the prestored travel route. The amount of difference is equal to or greater than a predetermined value,
The compaction quality control method by automatic operation of the vibrating roller according to claim 4 , characterized in that: If there is a place where the end condition is not satisfied, running the vibrating roller on the place where the end condition is not satisfied;
6. The compaction quality control method by automatic operation of the vibrating roller according to claim 4 or 5, characterized in that:

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