JP2001040648A - Positioning and guiding system for soil improving machine using gps - Google Patents

Abstract

PROBLEM TO BE SOLVED: To decrease the number of GPSs to be installed, and to reduce the equipment cost of a system, in which the position of a soil-improvement land- formation device is detected and guided to an aimed position, in a construction method in which mobile stations GPSs are loaded on the working machine body side and the position and depth of forming shaft and pipe are detected, using the working machine body as a reference. SOLUTION: One mobile station GPS is installed onto the coping 5 of a leader 5, the mobile station is reciprocated on a horizontal plane and in the center-line direction of an execution machine body 2, the end point of the process and the hanging center of a land-formation device 6 are conformed on the same line, the positional data of the mobile station GPS are read at each reciprocating end of the GPS, the position and azimuth of the land-formation device at that time are calculated, and an index guiding the soil-improvement land-formation device 6 to an aimed position is imparted in cooperation with a gyro 4 loaded on the working machine body 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning or guidance system for a ground improvement construction machine using GPS.

[0002]

2. Description of the Related Art A sand pile forming method in which various types of sand piles are driven and formed in the ground using a ground improvement device, a ready-made pile intrusion device, etc. To penetrate the construction method, ready-made concrete piles, steel pipe piles,
In the foundation strengthening method such as penetration of seepage control boards, according to the improvement plan, in order to sequentially place a landscaping device, excavation shaft, etc. in the ground, conventionally, a pair of mobile stations GPS is mounted on the construction machine,
The mutual position between the center of the development device and these mobile stations GPS is measured in advance, and each mobile station GPS
By measuring the coordinate position of the current position of the development device,
The direction of the construction machine has been confirmed, and the construction machine has been accurately and efficiently guided to the planned driving position on the plan drawing.

Therefore, in this type of construction method, conventionally, at least two mobile stations GPS per construction machine
It was necessary to install a high-cost mobile station GP
Providing a plurality of S units in one apparatus requires a large amount of equipment cost, and the fixed cost increases, which is not always an advantageous measure.

[0004]

However, only one mobile station GPS is mounted on the construction machine,
Just by adding auxiliary means to the mobile station PS, as with the conventional construction method, the construction device (here, the construction machine,
Refers to a member or device that can be moved in the vertical direction, including a “placement shaft / pipe” to be extracted. It has been found that a system can be developed that can accurately and effectively guide the vehicle to the planned driving position on the plan drawing. Therefore, the present invention
In addition to solving the above-mentioned problems inherent in the conventional construction method, the positioning function of a ground improvement construction machine using a mobile station GPS, which can easily and economically operate and operate the facility without reducing the guidance function and accuracy, It is intended to provide a guidance system.

[0005]

In order to achieve the above object, the present invention comprises the following constituent elements. (1) A mobile station GPS is installed on the construction machine main body side so as to be movable by a predetermined length, and a gyro is mounted on the construction machine, and the GPS is moved to a predetermined length before the construction machine is moved to the next casting target position. Move and measure the GPS coordinates of the mobile station at each end of travel, detect the current position and direction of the construction machine, and determine the change angle of the movement direction of the construction machine based on the gyro based on the detected value. A positioning and guiding system for a ground improvement construction machine using GPS, wherein the construction machine is guided to a next casting target position.

(2) A mobile station GPS is installed on the construction machine main body side so as to be movable for a predetermined length, and the GPS is operated for one stroke of a predetermined length at intervals of several seconds. The mobile station GPS coordinates are measured, the current position and orientation of the construction machine at each time are detected, the traveling direction of the construction machine is corrected based on the detected value, and the construction machine is moved to the next installation target. GP characterized by guiding to a position
Positioning and guidance system for ground improvement construction machine using S.

(3) A mobile station GPS capable of reciprocating a predetermined length along a straight line in a substantially horizontal plane is installed at an appropriate position at the upper end of the reader, and one end of the reciprocating stroke of the GPS is connected to a suspension center of the attachment. A positioning and guiding system for a ground improvement construction machine using the GPS according to the above (1) or (2), wherein the positioning and the guidance are performed on an extension line.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION A mobile station GPS and ancillary equipment are installed on a construction machine (construction vehicle including a leader) having a construction device such as a driving shaft and a pipe that penetrates the ground, and the entire construction machine is determined from the detected values. The direction and movement of the vehicle are detected and grasped, and this is used as a construction management index.

[0009]

FIG. 1 is a schematic side view and a plan view of a main part of a preferred embodiment of the system of the present invention (hereinafter referred to as "embodiment 1"). In FIG. -The construction vehicle main body 2 having an operation room, and a bearing member for supporting a lower end portion of the leader 3 standing in the vertical direction are provided on the front side. A gyro 4 is mounted on the construction vehicle main body 2 at a substantially central portion thereof, and a development device 6 provided on the front side is movable vertically along the leader 3. Although not shown, a pair of length-adjustable stays are bridged between the upper part of the leader 3 and the rear part of the construction vehicle main body 2 to maintain the verticality of the leader 3, Alternatively, the angle is adjusted.

[0010] At the upper end of the leader 3, the cap 5 is horizontal,
In addition, in the first embodiment, a driving shaft / pipe 7 connecting the upper end to a forming device 6 suspended on the lower front surface of the coping 5 is a leader. 3 are arranged in parallel. The forming device 6 is suspended via a wire on a pulley supported by the coping 5, and the other end of the wire is connected to the winding drum 4 mounted on the construction vehicle main body 2, and formed by operating the drum 4. The apparatus 6 and the driving shaft / pipe 7 are moved up and down along the leader 3, so that the shaft / pipe penetrates into and out of the ground. The formation device 6 is, for example, a rotary drive device or a vibro hammer.

FIG. 1B is a plan view of a cap 5 provided at the upper end of the reader 3. An air cylinder 9 having a mobile station GPS 8 attached to the tip thereof is provided on the upper surface of the cap 5. GP is operated by operating the air cylinder 9.
S8 is designed to be able to reciprocate by a distance of 1 m on a straight line in the direction of the center line of the front and rear of the cap 5. At this time, the position A of the mobile station GPS 8 at the stroke end on the side where the air cylinder 9 is extended.
However, the mutual positions are determined so as to be on the extension of the central axis passing through the forming device 6 and the casting shaft / tube 7, that is, on the suspension center of the attachment.

However, the mutual positional relationship between the position A of the GPS 8 at the stroke end on the side where the air cylinder 9 is extended and the suspension center of the attachment is not necessarily limited to the above-mentioned one. If the moving direction, the start or end position and the mutual positional relationship between the suspension center of the attachment are predetermined, the same result as described above can be obtained simply by adding the known relation value to the detection data. Is clear. In addition, the fact that the mobile station GPS 8 is disposed on the upper surface of the cover 5 at the upper end of the reader 3 merely selects a position where there are few obstacles that may hinder the reception of the GPS 8 as practically as possible. Next, an operation method will be described.

Referring to FIG. 2, the figure is a schematic view showing a method of determining the direction of the ground improvement construction machine and a means of guiding, and the coordinate axis NE is a ground improvement area indicated by a north-east axis. Represents the ground surface. Before moving the construction machine to the next scheduled driving position, the air cylinder 9 is expanded and contracted to move the mobile station GPS8. At the start (original) point B and the end (extend) point A of the expansion and contraction of the cylinder 9, the coordinates of the GPS 8 are measured, and the current position and orientation of the leader and the construction machine at that time are obtained.

In the drawing, B (X0, Y0) is a GPS value obtained when the air cylinder 9 is set at the starting point of the stroke.
A (X1, Y1) is the coordinate position of the air cylinder 9
Is extended and set at the end point A, that is, the coordinate position of the GPS 8 when the position of the mobile station GPS 8 is above the suspension center of the attachment (in this embodiment, the GPS 8 Position A (extension end point) is located on the suspension center of the attachment, but it has been described earlier that this holds true in other cases as well.) B (X0, Y0) -A (X1, Y1) direction is
The azimuth of the entire construction machine at the casting point (X1, Y1) is shown.

[0015] Based on the obtained orientation, the change angle of the construction machine is thereafter obtained from the gyro, and the movement orientation of the construction machine with respect to the next target casting position is calculated. From the coordinates of one mobile station GPS8 and the moving direction of the construction machine, the amount of deviation to the next target casting position is calculated, and the operator is instructed.

Accuracy Determined by the azimuth measurement by the mobile station GPS and the accuracy of the gyro. If the movement is for a short time, the drift of the gyro 4 can be ignored. According to the azimuth detecting means of the positioning and guidance system of the present embodiment, the guidance error can be reduced as the position approaches the target position. In the system of the present embodiment, only one mobile station GPS 8 is required, so that the cost of the mechanical device including the gyro is reduced to nearly 比較 compared with the conventional device. However, the above costs do not include equipment costs for GPS fixed stations.

If the positioning and guidance system by the mobile station GPS 8 and the gyro 4 is further simplified, the mobile station GP
Guidance and positioning can be performed with the S1 unit. That is, the mobile station GPS8 mounted on the construction machine is intermittently reciprocated in a cycle of several seconds to measure the GPS coordinate value for each stroke end, thereby obtaining the position and orientation of the construction machine at each time, A method to calculate the amount of induced displacement has been developed.

FIG. 3 is a schematic side view and a plan view of a main part of another preferred embodiment of the system of the present invention (referred to as "embodiment 2"). The attached members are the same as those of the first embodiment. Further, the positional relationship between the components and the stroke length of the air cylinder 9 are not different from those of the first embodiment. However, in the second embodiment, no gyro is required. Instead, Kasagi 5
The air cylinder 9 installed above is reciprocated intermittently at intervals of several seconds, and the position and orientation of the construction machine are measured at each stroke end by detecting the coordinates of the GPS 8 each time. Here, as described above, the position of the mobile station GPS 8 mounted on the construction machine main body does not necessarily need to be set on the Kasagi 5 of the leader.

FIG. 4A shows a procedure for measuring the position and orientation of the construction machine. In the figure, the x-axis represents the passage of time (the same applies to FIGS. 4B and 4C). , A0, B on axis
.. Are signals indicating the mobile station GPS position. When the mobile station GPS is at the start point B or end point A of the stroke of the air cylinder 9, it is necessary to operate the switch to indicate the current position of the GPS. In this embodiment, the time required for the mobile station GPS8 to move from the A0 position to the B1 position is 1.5 seconds, and this time is the time required for the cylinder 9 to expand and contract. While the GPS 8 occupies the A0 position, for example, a plurality of GPS data are taken in 0.5 seconds, the values are averaged, and the A0 coordinates are detected.

For example, the air cylinder 9 is intermittently expanded and contracted at intervals of 2 seconds, and the mobile station GPS8 is stopped at the start point B or the end point A for 0.5 seconds each time. A plurality of station GPS position data are fetched, their values are averaged, and the position of the construction machine at that point is measured in one direction. FIG.
(B) indicates that the mobile station GPS8 has A0, B1, and A, respectively.
1..., The reading cycle of the position data of each mobile station GPS8 at the time. 0.5 second after the signal indicating that the mobile station GPS8 is located at B1
It indicates that a value obtained by averaging a plurality of position data captured by the PS 8 is (X0, Y0). FIG. 4 (c)
Indicates the cycle of displaying the amount of deviation from the target.
For example, if the reference position of the displacement display is changed at intervals of 2 seconds, the guidance effect can be enhanced without wasting the expansion and contraction time of the cylinder 9 during the procedure of measuring the mobile station GPS position and azimuth.

FIG. 4D is a schematic diagram showing the relationship between the operation of the air cylinder 9 and the GPS position data, illustrating the current position and orientation of the construction machine, B1 (X0, Y0).
Is a coordinate position measurement based on GPS data when the mobile station GPS occupies the stroke start point B of the air cylinder 8;
1 (X1, Y1) indicates the end point A of the stroke of the air cylinder 9, that is, the coordinates based on the GPS data when the mobile station GPS occupies the suspension center position. The azimuth of the construction machine and the point A1 coordinates indicate the current position of the construction machine. From these displays, the amount of deviation from the target position can be determined. While moving the construction machine,
In this embodiment, the position after the new movement and the line A1-
Since the B1 information is displayed, the shift amount between the construction machine and the target position is calculated based on the information, and the construction machine is guided. The guidance accuracy at that time is not much different from that of the first embodiment.

[0022]

As described above, the system of the present invention is
Mobile station G while maintaining guidance accuracy equal to that of the conventional system
The number of PSs used can be reduced, and the equipment cost of the system can be reduced. In addition, GP was placed at the top suspension center of the leader.
When S is arranged, the accuracy of position measurement and guidance can be improved. For example, a special function and effect that cannot be expected with a conventionally used system can be obtained.

[Brief description of the drawings]

FIG. 1 shows a schematic side view and a main part plan view of a preferred embodiment of the system of the present invention.

FIG. 2 is a schematic diagram showing the relationship between the azimuth detection of the construction machine and the gyro detection angle in the system of the present invention, the position of the construction machine,
Indicates the direction.

FIG. 3 shows a schematic side view and a main part plan view of another preferred embodiment of the system of the present invention.

FIG. 4 is a schematic diagram showing a procedure for measuring the position and orientation of the construction machine, and exemplifies the current position and orientation of the construction machine.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling device 2 Construction machine main body 3 Leader 4 Gyro 5 Kasagi 6 Development device 7 Casting shaft (pipe) 8 Mobile station GPS 9 Air cylinder

Claims (3)

[Claims] A mobile station GPS is installed on a construction machine main body side so as to be movable by a predetermined length, and a gyro is mounted on the construction machine, and the GPS is moved before moving the construction machine to a next casting target position.
Is moved a predetermined length to measure the mobile station GPS coordinates at each end of the stroke, to detect the current position and direction of the construction machine, and to change the movement angle of the construction machine's movement direction to the gyro based on the detected value. A positioning and guiding system for a ground improvement construction machine using a GPS, wherein the system is obtained based on the guidance and guides the construction machine to a next casting target position. 2. A mobile station GPS is installed on the construction machine main body side so as to be movable for a predetermined length, and the GPS is operated for one stroke of a predetermined length every several seconds,
The mobile station GPS coordinates at each end of the stroke are measured at each stroke, the current position and orientation of the construction machine at each time are detected, and the movement orientation of the construction machine is corrected based on the detected value. A positioning and guiding system for a ground improvement construction machine using GPS, wherein the construction machine is guided to a next casting target position. 3. A mobile station GPS capable of reciprocating a predetermined length along a straight line in a substantially horizontal plane at an appropriate position at the upper end of the reader, and extending one end of the reciprocating stroke of the GPS to an extension of a suspension center of an attachment. The positioning and guidance system for a ground improvement construction machine using a GPS according to claim 1 or 2, wherein the positioning and the guidance are performed on a line.