JP2003328390A - Soil improving device - Google Patents
Soil improving deviceInfo
- Publication number
- JP2003328390A JP2003328390A JP2002142170A JP2002142170A JP2003328390A JP 2003328390 A JP2003328390 A JP 2003328390A JP 2002142170 A JP2002142170 A JP 2002142170A JP 2002142170 A JP2002142170 A JP 2002142170A JP 2003328390 A JP2003328390 A JP 2003328390A
- Authority
- JP
- Japan
- Prior art keywords
- soil
- weight
- improved
- volume
- raw material
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、製作した改良土を
搬出コンベヤ等で外部に搬出し、ダンプトラック等に積
み込む作業に好適な土質改良装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a soil improvement device suitable for the work of carrying out the produced improved soil to the outside by a carry-out conveyor or the like and loading it on a dump truck or the like.
【０００２】[0002]
【従来の技術】道路を掘削したときの土等の原料土と、
石灰などの改良材とを解砕、混合して製作する改良土
は、前記掘削した溝などの埋め戻しに用いられている。
この改良土を製作する、例えば自走式の土質改良装置等
は埋め戻し現場の設置スペースの広さや、最大必要処理
量の大小の関係から、前記現場から離れた場所に設置さ
れることも多く、従ってこの場合、土質改良装置で製作
した改良土をダンプトラック等に積載して現場に運搬す
る必要がある。一般的に、土質改良装置からは、改良土
を搬出コンベヤで外部に搬出し、ダンプトラックに積み
込むことが行なわれている。BACKGROUND ART Raw material soil such as soil when excavating a road,
The improved soil produced by crushing and mixing with an improving material such as lime is used for backfilling the excavated trench.
Producing this improved soil, for example, a self-propelled soil improvement device is often installed in a place away from the site due to the size of the installation space at the backfill site and the size of the maximum required treatment amount. Therefore, in this case, it is necessary to load the improved soil produced by the soil improvement apparatus on a dump truck or the like and transport it to the site. Generally, from the soil improvement device, the improved soil is carried out by a carry-out conveyor and loaded on a dump truck.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、ダンプ
トラックへの改良土積載重量が最大積載重量をオーバー
しないようにするために、ダンプトラックに積載後、専
用測定機器（例えば、車両全体の重量を測定する測定機
器）を用いて測定する必要があるので、積込作業の能率
が良くないという問題がある。また、このため、積載重
量オーバーにならない程度に少なめに積載して上記によ
る測定をせず運搬することもあり、このときには、ダン
プトラックの最大積載重量よりも少ないから、運搬の往
復回数が多くなり、運搬コストが高くなると共に、作業
能率が低下する。However, in order to prevent the improved soil loading weight on the dump truck from exceeding the maximum loading weight, after loading on the dump truck, a dedicated measuring device (for example, the weight of the entire vehicle is measured). Therefore, there is a problem that the loading work is not efficient. For this reason, it may be loaded with a small amount so as not to exceed the loaded weight and transported without performing the above measurement.At this time, since it is less than the maximum loaded weight of the dump truck, the number of round trips of transportation increases. However, the transportation cost increases and the work efficiency decreases.
【０００４】本発明は、上記の問題点に着目してなされ
たもので、改良土の遠隔地への運搬作業の能率を向上
し、運搬コストを低減できる土質改良装置を提供するこ
とを目的としている。The present invention has been made in view of the above problems, and an object of the present invention is to provide a soil improvement apparatus capable of improving the efficiency of the operation of delivering the improved soil to a remote place and reducing the transportation cost. There is.
【０００５】[0005]
【課題を解決するための手段、作用及び効果】上記目的
を達成するため、第１発明は、土質改良装置において、
改良土の目標処理重量又は目標処理体積を設定する目標
処理量設定手段と、改良土の実処理重量または実処理体
積を測定または算出により求める実処理量検出手段と、
予め、前記設定した改良土の目標処理重量または目標処
理体積を記憶し、前記求めた改良土の実処理重量または
実処理体積の積算値が前記記憶した目標処理重量または
目標処理体積に達したとき、改良土の搬出を停止させる
指令または報知指令を出力する制御部とを備えた構成と
している。[Means for Solving the Problems, Actions and Effects] In order to achieve the above object, the first invention is to provide a soil improvement device,
Target treated amount setting means for setting the target treated weight or target treated volume of the improved soil, and an actual treated amount detecting means for measuring or calculating the actual treated weight or treated volume of the improved soil,
When the set target treatment weight or target treatment volume of the improved soil is stored in advance, and the integrated value of the obtained actual treatment weight or actual treatment volume of the improved soil reaches the stored target treatment weight or target treatment volume. , And a control unit that outputs a command or a notification command to stop the carry-out of the improved soil.
【０００６】第１発明によると、改良土実処理量（重量
または体積）を測定または演算により求め、これが所定
値（例えば、改良土運搬用のダンプトラックの最大積載
重量に相当する量）に達したとき、土質改良装置の搬出
コンベヤを自動的に停止させる、または警報等により報
知して土質改良装置のオペレータに手動停止させるよう
に促すので、積載後にダンプトラックの積載重量を測定
する必要がなく、作業能率を向上できる。しかも、最大
積載重量限度まで積載して運搬できるので、運搬効率が
良く、運搬コストを低減できる。また、従来、改良土の
搬出量を、搬出コンベヤの先端部に装着したレベルセン
サ（光や超音波の反射波で高さ検出）によって搬出コン
ベヤから搬出された改良土が積み上がったときのその山
の高さ（レベル）として検出するものがあったが、これ
に比べて、埃による誤動作がなく、搬出コンベヤの先端
部に装着したセンサは外部障害物との干渉により破損し
易かったが、この恐れもなくなる。According to the first aspect of the present invention, the amount of improved soil treatment (weight or volume) is obtained by measurement or calculation, and this reaches a predetermined value (for example, the amount corresponding to the maximum load weight of a dump truck for carrying improved soil). At this time, the carry-out conveyor of the soil improvement device is automatically stopped, or an alarm etc. is issued to prompt the operator of the soil improvement device to manually stop it, so there is no need to measure the load weight of the dump truck after loading. , The work efficiency can be improved. In addition, since it can be loaded and transported up to the maximum load weight limit, the transport efficiency is good and the transport cost can be reduced. In addition, conventionally, the amount of improved soil carried out was measured when the improved soil carried out from the carry-out conveyor was piled up by a level sensor mounted on the tip of the carry-out conveyor (the height was detected by reflected waves of light and ultrasonic waves). There was something to detect as the height of the mountain (level), but compared to this, there was no malfunction due to dust, and the sensor attached to the tip of the carry-out conveyor was easily damaged by interference with external obstacles, This fear disappears.
【０００７】第２発明は、第１発明において、前記制御
部が、目標処理量に達したとき、改良土積込車両の運転
手に報知する報知手段を有する構成としている。According to a second aspect of the present invention, in the first aspect of the present invention, the control section has a notifying means for notifying the driver of the improved soil loading vehicle when the target processing amount is reached.
【０００８】第２発明によると、ダンプトラック等の運
搬車両の運転手は、積載目標値に達したことを運転席か
ら離れることなく容易に知ることができ、よって積込完
了時から短時間の間にダンプトラックをスタートさせる
ことができ、能率的に作業できる。According to the second aspect of the invention, the driver of the transportation vehicle such as a dump truck can easily know that the loading target value has been reached without leaving the driver's seat. You can start the dump truck in the meantime and work efficiently.
【０００９】[0009]
【発明の実施の形態】以下に、本発明の実施形態につい
て図面を参照して詳細に説明する。図１は、本発明に係
る土質改良装置の適用例としての自走式土質改良装置の
側面図である。図１において、自走式土質改良装置１は
クローラ式走行装置を有する下部走行体２を備え、下部
走行体２の上部に基台３を取付けている。そして、該基
台３の前後方向一側上部には原料土ホッパ５を備え、原
料土ホッパ５の下方には原料土を搬送するコンベヤ等か
らなる原料土フィーダ８を配設している。また、基台３
の略中央上部には混合機７が搭載されており、前記原料
土フィーダ８の搬送下流側端部は前記混合機７の投入口
に向けて配設されている。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a side view of a self-propelled soil improvement device as an application example of the soil improvement device according to the present invention. In FIG. 1, a self-propelled soil improvement device 1 includes a lower traveling body 2 having a crawler type traveling device, and a base 3 is attached to an upper portion of the lower traveling body 2. A raw material soil hopper 5 is provided on one upper side of the base 3 in the front-rear direction, and a raw material soil feeder 8 including a conveyor for conveying the raw material soil is disposed below the raw material soil hopper 5. Also, the base 3
A mixer 7 is mounted in the substantially central upper part of the above, and the downstream end of the raw material soil feeder 8 in the conveying direction is arranged toward the input port of the mixer 7.
【００１０】原料土ホッパ５と混合機７との間で、原料
土フィーダ８の上方には、改良材を貯溜する改良材ホッ
パ６が設けられている。また、改良材ホッパ６の下部に
は図示しない回転フィーダの回転速度を制御することに
より改良材供給量を制御可能とされた改良材フィーダ６
ｂが配設され、さらに該改良材フィーダ６ｂの図示しな
い改良材排出口には改良材シュータ６ａが設けられてお
り、原料土フィーダ８で搬送される原料土に改良材シュ
ータ６ａを経由して改良材が供給されるようになってい
る。An improvement material hopper 6 for storing the improvement material is provided above the material soil feeder 8 between the material soil hopper 5 and the mixer 7. Further, the improvement material feeder 6 is provided below the improvement material hopper 6 by controlling the rotation speed of a rotary feeder (not shown).
b, and an improved material shooter 6a is provided at an improved material discharge port (not shown) of the improved material feeder 6b. The improved material shooter 6a is provided to the raw material soil conveyed by the raw material soil feeder 8 via the improved material shooter 6a. Improved materials are being supplied.
【００１１】また、混合機７の下方には、混合機７で原
料土と改良材とを解砕、混合して製作した改良土を外部
に搬出する搬出コンベヤ９が配設されており、該搬出コ
ンベヤ９の下流側は基台３より前後方向他端側外方に向
けて上向きに設けられている。そして、搬出コンベヤ９
の中間部の所定区間には、該区間のコンベヤ上の改良土
の重量を測定するコンベヤスケール１２が設けられてい
る。Below the mixer 7, there is provided a carry-out conveyor 9 for carrying out the improved soil produced by crushing and mixing the raw material soil and the improving material with the mixer 7, to the outside. The downstream side of the carry-out conveyor 9 is provided upward from the base 3 toward the other end in the front-rear direction. And carry-out conveyor 9
A conveyor scale 12 for measuring the weight of the improved soil on the conveyor in the section is provided in a predetermined section in the middle of the section.
【００１２】図２〜図６に基づき、第１実施形態を説明
する。まず、図２に示す制御装置のハード構成ブロック
図により、ハード構成を説明する。目標処理量設定手段
２１は、バッチ処理でのトータルの改良土の目標処理重
量又は目標処理体積（以下、両者を総称して目標処理量
と呼ぶ）や、途中報知回数ｎを設定するものであり、例
えばキーボード、設定専用スイッチ、ダイヤル付設定ボ
リュームなどで構成されている。ここで、バッチ処理と
は、ダンプトラック等の運搬車両の１台に１回運搬分の
改良土を積み込む作業のことであり、途中報知回数ｎと
は、積込完了までの途中で所定量に達したときに報知す
る回数のことである。設定された目標処理量データおよ
び途中報知回数ｎは、制御器１０に入力される。前記コ
ンベヤスケール１２の測定した改良土重量値は、制御器
１０に入力される。The first embodiment will be described with reference to FIGS. First, the hardware configuration will be described with reference to the hardware configuration block diagram of the control device shown in FIG. The target processing amount setting means 21 sets a target processing weight or a target processing volume of the total improved soil in the batch processing (hereinafter, both are collectively referred to as a target processing amount), and an in-progress notification number n. , A keyboard, a dedicated switch for setting, a setting dial with a dial, and the like. Here, the batch processing is a work of loading the improved soil for one transportation onto one transportation vehicle such as a dump truck, and the halfway notification number n is a predetermined amount on the way until the loading is completed. It is the number of times to notify when it reaches. The set target processing amount data and the in-progress notification number n are input to the controller 10. The improved soil weight value measured by the conveyor scale 12 is input to the controller 10.
【００１３】第１流量制御弁１３ａは、制御器１０が後
述の制御処理に基づき演算して求めた原料土フィーダ８
の駆動油圧モータ１４の流量指令を受けて、図示しない
油圧ポンプから吐出された圧油を制御して前記流量指令
（停止指令も含む）に応じた流量を出力し、駆動油圧モ
ータ１４の回転数を制御している。また、第２制御弁１
３ｂは、制御器１０から改良材フィーダ６ｂの駆動油圧
モータ１５の流量指令を受けて、図示しない油圧ポンプ
から吐出された圧油を制御して前記流量指令（停止指令
も含む）に応じた流量を出力し、駆動油圧モータ１５の
回転数を制御している。これらの駆動油圧モータ１４，
１５の回転数は速度センサ１６，１７によりそれぞれ検
出され、制御器１０にフィードバックされている。ま
た、切換弁２３は搬出コンベヤ９の駆動油圧モータ２４
を駆動または停止するものであり、制御器１０からの駆
動または停止指令を受けて、図示しない油圧ポンプから
吐出された圧油を制御して前記駆動または停止指令に応
じた流量を出力し、駆動油圧モータ２４を駆動してい
る。The first flow control valve 13a has a raw material soil feeder 8 which is calculated by the controller 10 based on a control process described later.
In response to the flow rate command of the drive hydraulic motor 14, the pressure oil discharged from a hydraulic pump (not shown) is output to output a flow rate corresponding to the flow rate command (including a stop command), and the rotation speed of the drive hydraulic motor 14 is increased. Are in control. In addition, the second control valve 1
3b receives a flow rate command of the drive hydraulic motor 15 of the improved material feeder 6b from the controller 10, controls the pressure oil discharged from a hydraulic pump (not shown), and responds to the flow rate command (including a stop command). Is output to control the rotation speed of the drive hydraulic motor 15. These drive hydraulic motors 14,
The rotation speed of 15 is detected by speed sensors 16 and 17, respectively, and is fed back to the controller 10. Further, the switching valve 23 is a drive hydraulic motor 24 of the carry-out conveyor 9.
In response to a drive or stop command from the controller 10, the pressure oil discharged from a hydraulic pump (not shown) is controlled to output a flow rate according to the drive or stop command to drive the The hydraulic motor 24 is driven.
【００１４】制御器１０はコンピュータ等の高速演算装
置及び図示しない記憶装置を有しており、前記目標処理
量設定手段２１から入力した目標処理量データをこの記
憶装置に予め記憶する。そして、実制御時には、前記コ
ンベヤスケール１２が所定時間毎に測定した改良土重量
値を入力し、この入力データに基づき後述の所定の演算
処理を行ない、改良土重量積算値が前記記憶した目標処
理量に達したかの比較結果に基づいて、原料土フィーダ
８、改良材フィーダ６ｂ及び搬出コンベヤ９の起動、停
止を制御し、また報知手段２２に報知指令を出力してい
る。The controller 10 has a high-speed computing device such as a computer and a storage device (not shown), and stores the target processing amount data input from the target processing amount setting means 21 in this storage device in advance. Then, at the time of actual control, the conveyor scale 12 inputs the improved soil weight value measured at every predetermined time, and based on the input data, the predetermined arithmetic processing to be described later is performed, and the improved soil weight integrated value is stored as the target processing. Based on the comparison result of whether or not the amount has been reached, the starting and stopping of the raw material soil feeder 8, the improvement material feeder 6b, and the carry-out conveyor 9 are controlled, and a notification command is output to the notification means 22.
【００１５】報知手段２２は、制御器１０からの報知指
令を受けて、土質改良装置のオペレータに、改良土重量
積算値が前記目標処理量設定値に対して所定の判定閾値
に達したかを報知するものであり、ブザーやチャイム等
の警報器、パトライトやランプ表示器等の表示器、及び
報知メッセージやエラー番号等を表示する文字表示器の
組み合わせにより構成されている。また、この報知手段
２２はダンプトラック等の運転手にも上記同様に報知が
可能なように、前記警報器の設置位置や音量、前記表示
器や文字表示器の設置位置や向きがそれぞれ設定されて
いる。なお、この報知手段２２として、ダンプトラック
等の運転室に上記の警報器や表示器等を設け、前記報知
指令を無線送受信によって該運転室の警報器や表示器等
に送信して報知するようにしてもよい。The notification means 22 receives the notification command from the controller 10 and asks the operator of the soil improvement apparatus whether the improved soil weight integrated value has reached a predetermined judgment threshold value with respect to the target processing amount set value. The information is provided by a combination of an alarm device such as a buzzer or a chime, a display device such as a patrol light or a lamp display device, and a character display device that displays a notification message or an error number. Further, the notification unit 22 sets the installation position and volume of the alarm device and the installation position and orientation of the display device and the character display device, respectively, so that a driver such as a dump truck can also be notified in the same manner as above. ing. As the notification means 22, the above-mentioned alarm device or display device is provided in the driver's cab such as a dump truck, and the notification command is transmitted to the alarm device or display device in the driver's cab by wireless transmission / reception to notify the driver. You may
【００１６】次に、図３に示す制御機能ブロック図によ
り、制御装置の各制御機能を説明する。実処理量検出手
段は実作業での改良土の処理重量（実処理重量と言う）
または処理体積（実処理体積と言う）を検出するもの
で、本実施例ではコンベヤスケール１２により実処理重
量を測定しており、以後、簡易のため、実処理量検出手
段１２と言う。また、処理重量及び処理体積を総称して
処理量と呼ぶ。なお、処理体積を測定する場合には、原
料土の供給体積を、例えば原料土フィーダ８の搬送原料
土高さを一定値に制限して、その原料土高さとそのとき
の搬送速度とから算出し、また改良材フィーダ６ｂの改
良材添加体積を、改良材フィーダ６ｂの回転速度から算
出し、これらの原料土の供給体積と改良材処理体積とを
加算して測定することができる。Next, each control function of the control device will be described with reference to the control function block diagram shown in FIG. The actual processing amount detecting means is the processing weight of the improved soil in the actual work (called the actual processing weight)
Alternatively, the processing volume (referred to as the actual processing volume) is detected, and the actual processing weight is measured by the conveyor scale 12 in the present embodiment. Hereinafter, for the sake of simplicity, it is referred to as the actual processing amount detecting means 12. Further, the treated weight and treated volume are collectively referred to as a treated amount. When measuring the treatment volume, the feed volume of the raw material soil is calculated from the raw material soil height and the transport speed at that time, for example, by limiting the transport raw material soil height of the raw material soil feeder 8 to a constant value. In addition, it is possible to calculate the added volume of the improved material in the improved material feeder 6b from the rotation speed of the improved material feeder 6b, and to add and measure the supply volume of the raw material soil and the processed volume of the improved material.
【００１７】実処理量積算手段５２は、上記実処理量検
出手段１２にて求めた実処理量をバッチ処理開始時より
積算した積算値ΣＷｉを求める。The actual processing amount integrating means 52 obtains an integrated value ΣWi by integrating the actual processing amount obtained by the actual processing amount detecting means 12 from the start of batch processing.
【００１８】目標処理量設定手段は、バッチ処理の目標
処理量Ｗと、途中で警報等により報知する回数ｎ（ただ
し、ｎ≧０）とを設定するものである。前記目標処理量
設定手段２１で構成され、以下同一符号２１で呼ぶ。閾
値演算手段５１は、前記設定された目標処理量Ｗと警報
回数ｎとから、各ｍ回目の累積処理量閾値Ｚｍを次式に
より求める。
Ｚｍ＝Ｗ×ｍ／（ｎ＋１） （１）
ただし、ｍ＝１〜ｎの整数とする。The target processing amount setting means sets the target processing amount W of batch processing and the number of times n (where n ≧ 0) to be notified by an alarm or the like on the way. The target processing amount setting means 21 is constituted, and hereinafter referred to as the same reference numeral 21. The threshold value calculation means 51 obtains the m-th cumulative processing amount threshold value Zm by the following equation from the target processing amount W and the number of warnings n that have been set. Zm = W × m / (n + 1) (1) However, m = 1 to an integer of n.
【００１９】次に、処理量比較手段５３は、制御が進む
に伴って上記で求めた実処理量積算値ΣＷｉと前記累積
処理量閾値Ｚｍとを順次比較してゆき、実処理量積算値
ΣＷｉが累積処理量閾値Ｚｍに達したかをチェックす
る。そして、累積処理量閾値Ｚｍに達したとき、報知指
令を出力する。また、目標処理量Ｗに達したとき、原料
土フィーダ８、改良材フィーダ６ｂ及び搬出コンベヤ９
を停止させ、改良土の搬出を停止させる。Next, the processing amount comparing means 53 sequentially compares the actual processing amount integrated value ΣWi determined above with the cumulative processing amount threshold value Zm as the control proceeds, and the actual processing amount integrated value ΣWi is obtained. Has reached the cumulative processing amount threshold Zm. Then, when the cumulative processing amount threshold Zm is reached, a notification command is output. When the target processing amount W is reached, the raw material soil feeder 8, the improvement material feeder 6b, and the carry-out conveyor 9 are also provided.
To stop carrying out the improved soil.
【００２０】次に、図４に示すフローチャートに基づ
き、図５および図６を参照して、制御手順を説明する。
なお、図５は、分割積込時の運搬車両移動説明図であ
り、土質改良装置１およびダンプトラック６０の平面図
で示している。また、図６は、分割積込時の運搬車両の
積込位置説明図であり、警報回数ｎ＝２の例である。ま
ず、ステップＳ１では、予め目標処理量Ｗ及び警報回数
ｎを設定しておく。（目標処理量設定手段２１）そし
て、ステップＳ２で、ｎ≧１と設定されている場合、バ
ッチ処理途中でｍ回目の警報を発するときの判定のため
の累積処理量閾値Ｚｍを、前記（１）式で求める。（閾
値演算手段５１）さらに、ステップＳ３で、引数ｍの初
期値を１にセットする。（処理量比較手段５３）Next, the control procedure will be described based on the flowchart shown in FIG. 4 and with reference to FIGS. 5 and 6.
Note that FIG. 5 is an explanatory diagram of movement of the transportation vehicle at the time of split loading, and is a plan view of the soil improvement device 1 and the dump truck 60. Further, FIG. 6 is a diagram for explaining the loading position of the transport vehicle at the time of split loading, and is an example of the number of alarms n = 2. First, in step S1, the target processing amount W and the number of warnings n are set in advance. (Target processing amount setting means 21) If n ≧ 1 is set in step S2, the cumulative processing amount threshold value Zm for determination when the m-th alarm is issued during the batch processing is set to the above (1). ) Equation. (Threshold calculation means 51) Further, in step S3, the initial value of the argument m is set to 1. (Processing amount comparison means 53)
【００２１】次に、実作業での制御時には、まずステッ
プＳ４で、原料土フィーダ８、改良材フィーダ６ｂ、混
合機７および搬出コンベヤ９をそれぞれ駆動して土質改
良作業を行い、製作した改良土を搬出コンベヤ９で搬出
して、ダンプトラックに積み込む。（処理量比較手段５
３、各駆動部１３ａ，１３ｂ，２３）このとき、ダンプ
トラックは、図５及び図６に示すように、搬出コンベヤ
９の先端部がベッセル（荷台）の前側位置になるように
停車させておく。そして、ステップＳ５で、改良土の実
処理量を検出する。（実処理量検出手段１２）さらに、
ステップＳ６で、この検出した実処理量を積算し、積算
値ΣＷｉを演算する。（実処理量積算手段５２）Next, at the time of control in actual work, first, in step S4, the raw material soil feeder 8, the improvement material feeder 6b, the mixer 7 and the carry-out conveyor 9 are driven to perform soil improvement work, and the produced improved soil is produced. Are carried out by the carry-out conveyor 9 and loaded on the dump truck. (Processing amount comparison means 5
3, each drive unit 13a, 13b, 23) At this time, as shown in FIGS. 5 and 6, the dump truck is stopped so that the leading end of the carry-out conveyor 9 is at the front position of the vessel (packing platform). . Then, in step S5, the actual processing amount of the improved soil is detected. (Actual throughput detection means 12) Furthermore,
In step S6, the detected actual processing amounts are integrated to calculate the integrated value ΣWi. (Actual throughput integrating means 52)
【００２２】次に、ステップＳ７でｎが０かチェック
し、０のときには途中での報知は無いのでステップＳ１
２へ処理を移行し、ｎが０でないとき、即ちｎ≧１のと
きは、ステップＳ８でｍ＝ｎ＋１かをチェックする。そ
して、ｍ＝ｎ＋１のときには、ステップＳ１２へ処理を
移行し、ｍ≠ｎ＋１のときには、ステップＳ９で前記積
算値ΣＷｉが累積処理量閾値Ｚｍに達したかをチェック
する。積算値ΣＷｉが累積処理量閾値Ｚｍに達していな
いときには、ステップＳ４へ戻って処理を繰り返し、積
算値ΣＷｉが累積処理量閾値Ｚｍに達した（すなわちΣ
Ｗｉ≧Ｚｍ）ときには、ステップＳ１０で、土質改良装
置のオペレータおよびダンプトラックの運転手へ、報知
手段２２によりｍ回目の累積処理量閾値Ｚｍに達したこ
とを報知する。ダンプトラックの運転手は、これを受け
て図５の矢印方向にダンプトラックを前進させて２点鎖
線で示す位置に停車させ、図６に示すように次の積込位
置に搬出コンベヤ９から搬出される改良土を積み込む。
なお、このとき、土質改良装置のオペレータは改良土の
搬出を手動で停止させてもよいし、または継続させても
よい。次に、ステップＳ１１で、引数ｍを１だけ増加し
て累積処理量閾値Ｚｍのレベルを上げ、ステップＳ４へ
戻る。（処理量比較手段５３）Next, in step S7, it is checked whether n is 0. If it is 0, there is no notification in the middle, so step S1
When n is not 0, that is, when n ≧ 1, it is checked in step S8 whether m = n + 1. Then, when m = n + 1, the process proceeds to step S12, and when m ≠ n + 1, it is checked in step S9 whether the integrated value ΣWi has reached the cumulative processing amount threshold Zm. When the integrated value ΣWi has not reached the cumulative processing amount threshold Zm, the process returns to step S4 and the processing is repeated until the integrated value ΣWi reaches the cumulative processing amount threshold Zm (that is, Σ
When Wi ≧ Zm), the operator of the soil improvement device and the driver of the dump truck are informed by the informing means 22 that the mth cumulative processing amount threshold Zm has been reached in step S10. In response to this, the driver of the dump truck advances the dump truck in the direction of the arrow in FIG. 5 to stop the dump truck at the position indicated by the chain double-dashed line, and unloads it from the unloading conveyor 9 to the next loading position as shown in FIG. Load the improved soil.
At this time, the operator of the soil improvement device may manually stop or continue to carry out the improved soil. Next, in step S11, the argument m is increased by 1 to increase the level of the cumulative processing amount threshold Zm, and the process returns to step S4. (Processing amount comparison means 53)
【００２３】ステップＳ１２では、前記実処理量積算値
ΣＷｉが目標処理量Ｗに達したかチェックし、達してな
いときにはステップＳ４に戻る。そして、達していると
きには、土質改良装置のオペレータおよびダンプトラッ
クの運転手へ、報知手段２２により目標処理量Ｗに達し
たことを報知すると共に、原料土フィーダ８、改良材フ
ィーダ６ｂおよび搬出コンベヤ９を自動停止して、改良
土の搬出を停止させる。（処理量比較手段５３）なお、
このとき、土質改良装置のオペレータが、改良土の搬出
を手動停止するようにしてもよい。In step S12, it is checked whether or not the actual processing amount integrated value ΣWi has reached the target processing amount W. If not, the process returns to step S4. Then, when it has reached, the operator of the soil improvement device and the driver of the dump truck are notified by the notifying means 22 that the target processing amount W has been reached, and the raw material soil feeder 8, the improvement material feeder 6b and the carry-out conveyor 9 are provided. Automatically stops the unloading of improved soil. (Processing amount comparison means 53)
At this time, the operator of the soil improvement device may manually stop the delivery of the improved soil.
【００２４】上記第１実施形態によると、以下の効果が
得られる。各ダンプトラックの積載重量や容積に応じ
て、バッチ処理毎の改良土の目標処理量（重量または体
積）を設定可能とし、このバッチ処理中の実処理量積算
値がこの設定された目標処理量に達したら、警報等でオ
ペレータに報知して改良土搬出を手動停止させるように
促したり、または自動的に改良土搬出を停止させるの
で、ダンプトラックの積載重量を精度良く管理できる。
このため、積込み後に積載重量の測定の必要がないの
で、積込作業が能率良く行なえる。また、ダンプトラッ
ク等の運搬車両の最大積載重量限度まで積み込み可能と
なるので、運搬効率が良くなり、運搬コストを低減でき
る。According to the first embodiment, the following effects can be obtained. It is possible to set the target processing amount (weight or volume) of the improved soil for each batch processing according to the loaded weight and volume of each dump truck, and the actual processing amount integrated value during this batch processing is the set target processing amount. When it reaches, the operator is notified by an alarm or the like to urge the operator to stop the improved soil unloading manually, or the improved soil unloading is automatically stopped, so that the loaded weight of the dump truck can be accurately managed.
For this reason, it is not necessary to measure the loaded weight after loading, so that loading work can be performed efficiently. Further, since it is possible to load up to the maximum load weight limit of a transportation vehicle such as a dump truck, the transportation efficiency is improved and the transportation cost can be reduced.
【００２５】また、従来、搬出コンベヤの先端部に装着
したレベルセンサ（光や超音波の反射波で高さ検出する
もの）によって、搬出コンベヤから搬出された改良土が
積み上がったときのその山の高さ（レベル）を検出し、
このレベルに基づき改良土の搬出量を検出するものがあ
ったが、これに比べて、埃や振動等による誤動作がな
く、さらに搬出コンベヤの先端部にセンサが装着してあ
ることによるセンサと外部障害物との干渉による破損も
発生しなくなる。Conventionally, the level sensor (which detects the height by the reflected wave of light or ultrasonic waves) attached to the tip of the carry-out conveyor piles up the improved soil carried out from the carry-out conveyor. The height (level) of
There was one that detects the amount of improved soil carried out based on this level, but compared to this, there is no malfunction due to dust, vibration, etc. Damage due to interference with obstacles will not occur.
【００２６】目標処理量を所定回数に分割してその分割
した処理量に実処理量積算値が達したときに警報等で土
質改良装置のオペレータに報知するようにし、このとき
分割する警報回数ｎを設定可能としたので、運搬車両の
ベッセルの大きさや形状に応じて上記警報回数ｎを設定
することにより、報知手段からの途中の報知の度に運搬
車両の積込位置を順次変えて、目標処理量を分割してベ
ッセルに積み込むことができる。したがって、積込後の
ベッセル上の改良土の均し作業の手間を最小限にできて
積込作業の能率向上ができると共に、ベッセルに略均一
に万遍無く積み込めるので、ダンプトラックの最大積載
重量まで確実に積み込むことができる。The target amount of treatment is divided into a predetermined number of times, and when the integrated amount of actual amount of treatment reaches the divided amount of treatment, the operator of the soil improvement apparatus is notified by an alarm or the like, and at this time the number of times of alarm n to be divided. Since the number of warnings n can be set according to the size and shape of the vessel of the transport vehicle, the loading position of the transport vehicle can be sequentially changed at every notification from the notification means to set the target. The throughput can be divided and loaded into the vessel. Therefore, it is possible to minimize the trouble of leveling the improved soil on the vessel after loading and improve the efficiency of loading work.Also, it is possible to load the vessel almost evenly and evenly. You can reliably load up to the weight.
【００２７】また、途中の分割処理量に達したとき、ま
たはダンプトラック等の運搬車両の最大積載量（重量ま
たは体積）に達したときに、報知手段２２で運搬車両の
運転手にも報知するようにしたため、運転手は運転席か
ら離れなくてもこれを容易に知ることができ、報知に従
ってすぐに運搬車両を次の積込位置へ移動させる、また
は運搬目的地に向けて出発できるので、積込作業を短時
間で終了でき、作業能率を向上できる。Further, when the amount of divisional processing in the middle is reached, or when the maximum loading amount (weight or volume) of a transportation vehicle such as a dump truck is reached, the notification means 22 also notifies the driver of the transportation vehicle. As a result, the driver can easily know this without leaving the driver's seat and can immediately move the transport vehicle to the next loading position or depart for the transport destination according to the notification, Loading work can be completed in a short time, and work efficiency can be improved.
【００２８】次に、図７〜図１３により第２実施形態を
説明する。図７は、第２実施形態に係る改良材ホッパ取
付部の正面図であり、図１のＸ視図である。本実施形態
の土質改良装置１の構成は、前記図１に示したものに対
して、さらに図７に示すように、改良材ホッパ６の下部
には改良材添加重量を測定するロードセル１１が設けら
れており、改良材ホッパ６はロードセル１１を介して基
台３上に搭載されている。このロードセル１１は、改良
材ホッパ６及び改良材フィーダ６ｂの重量と該改良材ホ
ッパ６及び改良材フィーダ６ｂ内の改良材の重量とを測
定している。Next, a second embodiment will be described with reference to FIGS. FIG. 7 is a front view of the improved material hopper mounting portion according to the second embodiment, and is a view as seen from X in FIG. 1. In contrast to the structure shown in FIG. 1, the soil improvement device 1 of the present embodiment has a load cell 11 provided below the improvement material hopper 6 for measuring the addition weight of the improvement material, as shown in FIG. The improvement material hopper 6 is mounted on the base 3 via the load cell 11. The load cell 11 measures the weight of the improved material hopper 6 and the improved material feeder 6b and the weight of the improved material in the improved material hopper 6 and the improved material feeder 6b.
【００２９】図８は、第２実施形態に係る制御装置の構
成ブロック図であり、ここでは図２に示す第１実施形態
と異なる構成のみを説明する。前記ロードセル１１によ
り所定時間毎に測定した重量値は、制御器１０に入力さ
れる。制御器１０は、この測定した重量値及び前記コン
ベヤスケール１２が所定時間毎に測定した改良土重量値
をそれぞれ入力し、これらの入力データに基づき後述の
所定の演算処理を行ない、改良材フィーダ６ｂの回転数
及び原料土フィーダ８の搬送速度を制御する。また、こ
のときの演算により求めた改良土の実処理量積算値が前
記記憶した目標処理量に達したかの比較結果に基づい
て、原料土フィーダ８、改良材フィーダ６ｂ及び搬出コ
ンベヤ９の起動、停止を制御し、また報知手段２２に報
知指令を出力している。なお、本例では、原料土フィー
ダ８の搬送速度及び改良材フィーダ６ｂの回転数の制御
を行う場合について説明するが、いずれか一方のみの制
御でもよい。FIG. 8 is a configuration block diagram of a control device according to the second embodiment, and here, only the configuration different from that of the first embodiment shown in FIG. 2 will be described. The weight value measured by the load cell 11 every predetermined time is input to the controller 10. The controller 10 inputs the measured weight value and the improved soil weight value measured by the conveyor scale 12 at predetermined time intervals, respectively, and performs predetermined arithmetic processing described later based on these input data to improve the improved material feeder 6b. The number of rotations and the feeding speed of the raw material soil feeder 8 are controlled. Further, based on the comparison result as to whether the actual processed amount integrated value of the improved soil obtained by the calculation at this time has reached the stored target processed amount, the starting soil feeder 8, the improved material feeder 6b and the carry-out conveyor 9 are started and stopped. And outputs a notification command to the notification means 22. In this example, the case where the conveyance speed of the raw material soil feeder 8 and the rotation speed of the improving material feeder 6b are controlled will be described, but only one of them may be controlled.
【００３０】また、データ入力のための操作部１８を備
えており、オペレータの操作によって操作部１８から後
述のような作業量（単位時間当りの原料土処理量）目標
値、原料土比重、添加率（原料土処理重量に対する改良
材添加重量の比）、原料土の含水比（単位重量の原料土
に含まれる水の重量）、及び改良材比重（改良材比重の
初期値）などの値が入力され、作業開始前に予め制御器
１０に設定される。Further, an operating section 18 for inputting data is provided, and by the operation of the operator, a target amount of work (amount of treated raw material per unit time), a specific gravity of the raw material, and addition are performed from the operating section 18 as described later. Values such as rate (ratio of added weight of raw material to treated soil), water content of raw soil (weight of water contained in raw soil per unit weight), and specific gravity of improved material (initial value of specific gravity of improved material) It is input and set in the controller 10 in advance before the work is started.
【００３１】次に、図９に示す制御機能ブロック図に基
づき、制御器１０の演算処理手順を説明する。なお、図
９で、各機能を表すブロック内にはオペレータにより設
定されるデータ、演算により求められるそれぞれのデー
タ名、またはその機能等を記載している。Next, the arithmetic processing procedure of the controller 10 will be described based on the control function block diagram shown in FIG. Note that, in FIG. 9, data set by an operator, respective data names obtained by calculation, functions thereof, and the like are described in blocks representing respective functions.
【００３２】オペレータは、予め原料土重量Ｗｊ、原料
土密度ｑ、重量添加率Ｖｊ、含水比ｊ、原料土体積修正
係数Ｋｗ、改良材比重Ｃ及び改良材比重修正係数Ｋｖを
制御器１０に設定しておく。ここで、原料土重量Ｗｊは
目標作業量の時間当りの原料土重量Ｗｊ（単位：例えば
ｔ／Ｈ）であり、原料土密度ｑは単位体積当りの原料土
重量（単位：例えばｔ／ｍ３）を表し、重量添加率Ｖｊ
は単位重量の原料土に対する改良材の重量添加割合（単
位：例えば％）を表し、また含水比ｊは単位重量の原料
土内の水分の重量比（単位：例えば％）を表している。
また、原料土体積修正係数Ｋｗは、詳細は後述するよう
に使用原料土重量の実績（実測値に略近い）と計算値と
のずれに応じて目標作業量の原料土体積を修正するため
の係数で、その初期値は通常１に設定される。さらにま
た、改良材比重Ｃは単位体積当りの改良材の重量（単
位：例えばｔ／ｍ３）であり、改良材比重修正係数Ｋｖ
は、目標改良材添加体積を演算するために用いる前記改
良材比重Ｃを、改良材添加重量の実測値と計算値とのず
れに応じて修正するための係数で、その初期値は通常１
に設定される。The operator previously sets the raw material soil weight Wj, the raw material soil density q, the weight addition rate Vj, the water content ratio j, the raw material soil volume correction coefficient Kw, the improved material specific gravity C and the improved material specific gravity correction coefficient Kv in the controller 10. I'll do it. Here, the raw material soil weight Wj is the raw material soil weight Wj per unit time of the target work amount (unit: eg t / H), and the raw material soil density q is the raw material soil weight per unit volume (unit: eg t / m 3). ), And the weight addition rate Vj
Represents the weight addition ratio (unit: eg%) of the improving material to the unit weight of the raw material soil, and the water content ratio j represents the weight ratio (unit: eg%) of the water in the unit weight of the raw material soil.
Further, the raw material soil volume correction coefficient Kw is used for correcting the target work amount of the raw material soil volume in accordance with the difference between the actual value of the used raw material soil weight (approximately close to the actual measurement value) and the calculated value, as will be described later in detail. A coefficient whose initial value is usually set to 1. Furthermore, the improved material specific gravity C is the weight of the improved material per unit volume (unit: for example, t / m 3 ), and the improved material specific gravity correction coefficient Kv
Is a coefficient for correcting the specific gravity C of the improved material used to calculate the target added volume of the improved material according to the difference between the measured value and the calculated value of the added weight of the improved material, the initial value of which is usually 1
Is set to.
【００３３】制御器１０は制御開始時に、まず、原料土
体積演算部２７で、前記設定された原料土重量Ｗｊ及び
原料土密度ｑに基づき、目標作業量として、時間当り処
理する原料土体積ＷＴ（単位：例えばｍ３／Ｈ）を数式
「ＷＴ＝Ｗｊ／ｑ」により求める。At the start of control, the controller 10 first uses the raw material soil volume calculation unit 27 as a target work amount on the basis of the preset raw material soil weight Wj and the raw material soil density q to process the raw material soil volume WT per hour. (Unit: for example, m 3 / H) is calculated by the mathematical expression “WT = Wj / q”.
【００３４】そして、制御時は、まず理論原料土体積演
算部２８で、この時間当り処理する原料土体積ＷＴと、
前記設定された原料土体積修正係数Ｋｗとに基づき、時
間当り処理する理論原料土体積Ｗ０を数式「Ｗ０＝ＷＴ
／Ｋｗ」によって求める。次に、原料土フィーダ目標速
度演算部２９で、前記求めた時間当りの理論原料土体積
Ｗ０を満たす原料土フィーダ８の目標速度を演算し、こ
れを速度指令Ｃａとして出力する。そして、原料土フィ
ーダ速度制御部３０は、この速度指令Ｃａと、原料土フ
ィーダ８の速度センサ１６からの速度フィードバック信
号との偏差値に応じて前記流量制御弁１３の第１制御弁
１３ａの流量を制御し、原料土フィーダ８の駆動油圧モ
ータ１４の回転数を制御する。At the time of control, first, in the theoretical raw material soil volume calculating section 28, the raw material soil volume WT to be processed per this time,
Based on the set raw material soil volume correction coefficient Kw, the theoretical raw material soil volume W0 to be processed per hour is calculated by the mathematical expression "W0 = WT".
/ Kw ". Next, the raw material soil feeder target speed calculation unit 29 calculates the target speed of the raw material soil feeder 8 that satisfies the calculated theoretical raw material soil volume W0 per hour, and outputs this as the speed command Ca. Then, the raw material soil feeder speed control unit 30 determines the flow rate of the first control valve 13a of the flow rate control valve 13 according to the deviation value between the speed command Ca and the speed feedback signal from the speed sensor 16 of the raw material soil feeder 8. To control the rotation speed of the drive hydraulic motor 14 of the raw soil feeder 8.
【００３５】また、制御器１０は制御開始時に、まず改
良材添加重量比演算部３２で、前記設定された原料土密
度ｑ、重量添加率Ｖｊ及び含水比ｊに基づき、単位体積
当りの原料土から水分を除いた真の原料土に対する改良
材の添加重量比Ｖ（単位：例えばｋｇ／ｍ３）を、数式
「Ｖ＝ｑ×Ｖｊ×（１−ｊ）」によって求める。At the start of control, the controller 10 first causes the improving material addition weight ratio calculation unit 32 to calculate the raw material soil per unit volume based on the raw material soil density q, the weight addition rate Vj and the water content ratio j. The addition weight ratio V (unit: eg kg / m 3 ) of the improving material to the true raw soil obtained by removing water from is calculated by the mathematical expression “V = q × Vj × (1-j)”.
【００３６】そして、制御時は、まず理論改良材添加体
積比演算部３４で、前記求めた真の原料土に対する改良
材の添加重量比Ｖと、前記設定された改良材比重修正係
数Ｋｖによって修正された改良材比重Ｃｎ（＝Ｃｎ-1×
Ｋｖ、但しｎは所定サーボ演算周期時間毎の演算回数を
表す）に基づき、原料土に対する改良材添加体積を表す
理論改良材添加体積比ＶL （単位：例えばリットル／ｍ
３）を数式「ＶL ＝Ｖ／Ｃｎ」によって演算する。次
に、改良材添加速度演算部３５で、この求めた理論改良
材添加体積比ＶL と、前記求めた時間当り処理する原料
土体積Ｗとに基づき、時間当りに要する改良材添加速度
Ｑ（単位：例えばリットル／Ｈ）を数式「Ｑ＝Ｗ×ＶL
」によって演算し、これを改良材添加速度目標値とし
て出力する。At the time of control, first, the theoretical improved material addition volume ratio calculation unit 34 corrects it by the obtained added material weight ratio V of the improved material to the true raw material soil and the set improved material specific gravity correction coefficient Kv. Specific gravity of improved material Cn (= Cn-1 ×
Kv, where n represents the number of calculations for each predetermined servo calculation cycle time), and the theoretical improvement material addition volume ratio VL (unit: liter / m 2
3 ) is calculated by the mathematical expression "VL = V / Cn". Next, in the improving material addition rate calculation unit 35, based on the obtained theoretical improving material addition volume ratio VL and the obtained raw material soil volume W to be treated per hour, the improving material addition rate Q (unit: : For example, the formula “Q = W × VL
", And this is output as the target value for the improvement material addition speed.
【００３７】次に、改良材フィーダ目標速度演算部３６
で、上記改良材添加速度Ｑを満たす改良材フィーダ６ｂ
の駆動油圧モータ１５の速度を求め、これを速度指令Ｃ
ｂとして出力する。なお、この速度指令Ｃｂは、改良材
フィーダ６ｂの駆動油圧モータ１５の回転速度と改良材
添加量との関係を表す関係式又はデータテーブルに基づ
いて求められる。そして、改良材フィーダ速度制御部３
７で、この求めた速度指令Ｃｂと、改良材フィーダ６ｂ
の速度センサ１７からの速度フィードバック信号との偏
差値に応じて前記流量制御弁１３の第２制御弁１３ｂの
流量を制御し、改良材フィーダ６ｂの駆動油圧モータ１
５の回転数を制御する。Next, the improved material feeder target speed calculation unit 36
And the improvement material feeder 6b that satisfies the improvement material addition rate Q
The speed of the drive hydraulic motor 15 is calculated and the speed command C
Output as b. The speed command Cb is obtained based on a relational expression or a data table representing the relationship between the rotation speed of the drive hydraulic motor 15 of the improvement material feeder 6b and the amount of addition of the improvement material. Then, the improved material feeder speed control unit 3
7, the obtained speed command Cb and the improved material feeder 6b
The flow rate of the second control valve 13b of the flow rate control valve 13 is controlled according to the deviation value from the speed feedback signal from the speed sensor 17 to drive the improvement material feeder 6b to drive the hydraulic motor 1.
Control the number of rotations of 5.
【００３８】さらに、積分器３９で、速度センサ１７か
らの速度フィードバック信号に基づく改良材フィーダ６
ｂの速度の積分値Ｓ１を演算する。次に、改良材添加重
量積算値演算部４０で、この積算値Ｓ１と、前記改良材
比重Ｃｎとから、前記駆動油圧モータ１５の回転速度と
改良材添加量との関係に基づき、改良材添加重量の積算
計算値Ｖｓを数式「Ｖｓ＝Ｓ１×Ｃｎ」によって求め
る。この改良材添加重量の積算計算値Ｖｓは、図示しな
い表示器に表示される。Further, in the integrator 39, the improved material feeder 6 based on the velocity feedback signal from the velocity sensor 17 is used.
The integral value S1 of the speed b is calculated. Next, in the improved material addition weight integrated value calculation unit 40, based on this integrated value S1 and the improved material specific gravity Cn, based on the relationship between the rotation speed of the drive hydraulic motor 15 and the improved material addition amount, the improved material addition amount is added. The integrated calculation value Vs of the weight is obtained by the mathematical expression “Vs = S1 × Cn”. The integrated calculation value Vs of the added weight of the improving material is displayed on a display device (not shown).
【００３９】次に、積分器３１で速度センサ１６からの
速度フィードバック信号に基づく原料土フィーダの積分
値Ｓ２を演算する。そして、原料土体積積算値演算部４
２で、この積算値Ｓ２と前記原料土体積修正係数Ｋｗと
から、原料土体積積算値Ｗａを数式「Ｗａ＝Ｓ２×Ｋ
ｗ」によって求める。Next, the integrator 31 calculates the integrated value S2 of the raw material soil feeder based on the speed feedback signal from the speed sensor 16. The raw soil material volume integrated value calculation unit 4
2, the raw material soil volume integrated value Wa is calculated by the mathematical expression “Wa = S2 × K” from the integrated value S2 and the raw material soil volume correction coefficient Kw.
w ”.
【００４０】そして、第１原料土重量積算値演算部４３
で、この求めた原料土体積積算計算値Ｗａと前記原料土
密度ｑとに基づき、第１原料土重量積算値Ｗｗを数式
「Ｗｗ＝Ｗａ×ｑ」によって演算する。Then, the first raw material soil weight integrated value calculation unit 43
Then, based on the calculated raw material soil volume integrated value Wa and the raw material soil density q, the first raw material soil weight integrated value Ww is calculated by the mathematical expression “Ww = Wa × q”.
【００４１】また一方、搬出コンベヤ９に設けられたコ
ンベヤスケール１２により測定された改良土重量値を、
改良土測定重量積算値演算部４５で作業開始時から積分
して改良土測定重量積算値を求める。そして、次に、第
２原料土重量積算値演算部４７で、この求めた改良土測
定重量積算値から前記演算した改良材添加重量積算計算
値Ｖｓを差し引いた原料土重量の積算値を第２原料土重
量積算計算値Ｗｓとして求める。On the other hand, the improved soil weight value measured by the conveyor scale 12 provided on the carry-out conveyor 9 is
The improved soil measured weight integrated value calculation unit 45 integrates from the start of work to obtain an improved soil measured weight integrated value. Then, in the second raw material soil weight integrated value calculation unit 47, the integrated value of the raw material soil weight obtained by subtracting the above-calculated improved material addition weight integrated calculation value Vs from the obtained improved soil measured weight integrated value Calculated as the cumulative value Ws of the raw soil material weight.
【００４２】さらに、原料土重量補正率演算部４８で、
この求めた第２原料土重量積算計算値Ｗｓと、前記求め
た第１原料土重量積算値Ｗｗとの比Ｍを求める。次に、
原料土体積修正係数演算部２５で、この求めた比Ｍを新
たな原料土体積修正係数Ｋｗとして更新する。これによ
り、原料土の供給重量が、設定された原料土重量Ｗｊと
等しくなるように制御する。Further, in the raw soil material weight correction rate calculation unit 48,
The ratio M between the calculated second raw material soil weight integrated value Ws and the determined first raw material soil weight integrated value Ww is determined. next,
The raw material soil volume correction coefficient calculation unit 25 updates the obtained ratio M as a new raw material soil volume correction coefficient Kw. Thus, the supply weight of the raw material soil is controlled to be equal to the set raw material soil weight Wj.
【００４３】また、実測改良材添加重量積算値演算部４
６は、ロードセル１１で測定した重量値から実測改良材
添加重量積算値Ｖａを演算する。すなわち、所定時間毎
の重量測定値と前回測定値との差がその間の改良材添加
重量であり、この添加重量の積算値を求めている。次
に、改良材比重補正率演算部４９で、この求めた実測改
良材添加重量積算値Ｖａと、前記求めた改良材添加重量
積算計算値Ｖｓとの比Ｐを求める。そして、改良材比重
修正係数演算部２６で、この求めた比Ｐを新たな改良材
比重修正係数Ｋｖとして更新する。Further, the measured improvement material addition weight integrated value calculation unit 4
6 calculates an actually measured improvement material addition weight integrated value Va from the weight value measured by the load cell 11. That is, the difference between the weight measurement value at each predetermined time and the previous measurement value is the improvement material addition weight during that time, and the integrated value of this addition weight is obtained. Next, the improved material specific gravity correction rate calculation unit 49 obtains a ratio P between the obtained measured improved material added weight integrated value Va and the obtained improved material added weight integrated calculated value Vs. Then, the improved material specific gravity correction coefficient calculation unit 26 updates the obtained ratio P as a new improved material specific gravity correction coefficient Kv.
【００４４】本実施形態の目標処理量設定手段２１は、
バッチ処理の目標処理量Ｗと、バッチ処理途中で報知す
るための処理量Ｗｍとを設定するものである。ただし、
０＜Ｗｍ＜Ｗで、引数ｍは正の整数であり、Ｗｋ＜Ｗk+
1 ；ｋ＝１〜(ｎ−１)の整数で、ｎはＷｍの設定個数と
する。すなわち、処理量Ｗｍの各設定値は、バッチ処理
途中で報知するための判定閾値である。The target processing amount setting means 21 of this embodiment is
The target processing amount W of the batch processing and the processing amount Wm for notifying during the batch processing are set. However,
0 <Wm <W, the argument m is a positive integer, and Wk <Wk +
1; k is an integer of 1 to (n-1), and n is the set number of Wm. That is, each set value of the processing amount Wm is a determination threshold for notifying during the batch processing.
【００４５】本実施形態の実処理量積算手段５２は、前
記改良材添加重量積算値演算部４０で求めた改良材添加
重量積算計算値Ｖｓと、前記第１原料土重量積算値演算
部４３で求めた第１原料土重量積算値Ｗｗとを加算し
て、バッチ処理開始時より積算した改良土実処理量の積
算値ΣＷｉを求める。そして、処理量比較手段５３は、
制御が進むに伴って上記で求めた改良土実処理量積算値
ΣＷｉと前記途中報知処理量Ｗｍとを順次比較してゆ
き、実処理量積算値ΣＷｉが処理量Ｗｍに達したかをチ
ェックする。そして、処理量Ｗｍに達したとき、報知指
令を報知手段２２に出力する。また、前記目標処理量Ｗ
に達したとき、原料土フィーダ８、改良材フィーダ６ｂ
及び搬出コンベヤ９を停止させ、改良土の搬出を停止さ
せる。In the actual processing amount accumulating means 52 of the present embodiment, the improved material added weight integrated value Vs obtained by the improved material added weight integrated value calculating section 40 and the first raw material soil weight integrated value calculating section 43 are used. The obtained first raw material soil weight integrated value Ww is added to obtain the integrated value ΣWi of the improved soil actual processing amount integrated from the start of the batch processing. Then, the throughput comparing means 53
As the control progresses, the improved soil actual processing amount integrated value ΣWi and the midway notification processing amount Wm obtained above are sequentially compared to check whether the actual processing amount integrated value ΣWi reaches the processing amount Wm. . Then, when the processing amount Wm is reached, a notification command is output to the notification means 22. Also, the target processing amount W
When reaching, the raw material soil feeder 8 and the improved material feeder 6b
And, the carry-out conveyor 9 is stopped, and the carry-out of the improved soil is stopped.
【００４６】以上の処理を繰り返すことにより、改良材
添加重量の実測値と計算値（制御値）とのずれの大きさ
に応じて、制御演算時に用いる改良材比重の大きさを補
正することができ、また改良土重量の実測値と改良材添
加重量の実測値との差から求めた原料土重量の実測値と
計算値（制御値）とのずれの大きさに応じて、制御演算
時に用いる原料土体積すなわち制御作業量目標値の大き
さを適正に補正することができる。このため、改良材比
重の設定値が実際値と異なっていても、適正値に補正さ
れ、これに基づいて改良材添加量及び原料土供給量が補
正されて制御されるので、図１１に示すように改良材添
加重量すなわち改良材重量実測値の減少カーブが目標に
略等しくなるように制御される。この結果、混合比精度
が良い改良土を製作できる。By repeating the above processing, the magnitude of the specific gravity of the improved material used in the control calculation can be corrected according to the amount of deviation between the measured value and the calculated value (control value) of the added weight of the improved material. It is possible, and it is used at the time of control calculation according to the size of the deviation between the measured value of the raw soil material calculated from the difference between the measured value of the improved soil weight and the measured value of the additive weight It is possible to properly correct the raw soil material volume, that is, the magnitude of the control work amount target value. Therefore, even if the set value of the improved material specific gravity is different from the actual value, it is corrected to an appropriate value, and the added amount of the improved material and the feed amount of the raw material soil are corrected and controlled based on the corrected value. In this way, the weight of the improved material added, that is, the decrease curve of the actually measured value of the improved material is controlled to be substantially equal to the target. As a result, it is possible to produce improved soil with a high mixing ratio accuracy.
【００４７】ここで、実測改良材添加重量積算値演算部
４６での演算処理方法について図１１〜図１３により詳
細に説明する。図１１は、ロードセル１１で測定した重
量値の経過時間に対する変化を示している。ロードセル
１１で測定した重量値は改良材ホッパ６と改良材フィー
ダ６ｂ及びその中に貯溜されている改良材の合計重量を
示しており、土質改良作業で改良材が添加されるに従っ
てその添加量に応じた傾斜角度で減少する。所定のサー
ボ演算周期時間Δｔの間隔を有する時刻ｔ１，ｔ２の時
に読み込まれたロードセル１１の測定値の差値が、前回
演算処理時から今回演算処理時までの間の改良材添加重
量ΔＶに相当する。そして、この改良材添加重量ΔＶの
積算値を実測改良材添加重量積算値Ｖａとする。Here, the calculation processing method in the measured improvement material addition weight integrated value calculation unit 46 will be described in detail with reference to FIGS. 11 to 13. FIG. 11 shows a change in weight value measured by the load cell 11 with respect to elapsed time. The weight value measured by the load cell 11 indicates the total weight of the improved material hopper 6, the improved material feeder 6b, and the improved material stored therein, and the added amount is increased as the improved material is added in the soil improvement work. Decreases with a corresponding tilt angle. The difference value of the measured values of the load cell 11 read at the times t1 and t2 having the predetermined servo operation cycle time Δt corresponds to the improvement material addition weight ΔV from the time of the previous operation processing to the time of the current operation processing. To do. Then, the integrated value of the improvement material addition weight ΔV is set as the actually measured improvement material addition weight integration value Va.
【００４８】一方、改良材ホッパ６内の貯溜改良材量が
減少すると、作業員は新たな改良材袋から改良材ホッパ
６内に投入するので、重量測定値は図１２に示すように
ステップ状に増加する。また、作業員が改良材ホッパ６
回りの監視やメンテナンス等を行なう場合には改良材ホ
ッパ６部に昇降して作業することがあり、この場合にも
図１３に示すようにステップ状の重量測定値の増減が起
こる。また、自走式土質改良装置の場合、走行しながら
改良作業を行っている時に車体の振動に伴って重量測定
値が変動することもある。このような重量測定値の急激
な増減は、前述の実測改良材添加重量積算値Ｖａの演算
処理においては誤差要因（ノイズ）となるので、この影
響を除去するために以下の処理が成される。On the other hand, when the amount of the storage improving material in the improving material hopper 6 decreases, the worker puts it into the improving material hopper 6 from a new improving material bag, so that the weight measurement value is stepwise as shown in FIG. Increase to. In addition, the worker is
When the surroundings are monitored or maintained, the improvement material hopper 6 may be moved up and down to perform work, and in this case as well, the step-like weight measurement value increases or decreases as shown in FIG. In addition, in the case of the self-propelled soil improvement device, the weight measurement value may fluctuate due to the vibration of the vehicle body during the improvement work while traveling. Such a sudden increase / decrease in the weight measurement value causes an error factor (noise) in the above-described calculation processing of the actually measured improvement material addition weight integrated value Va, and therefore the following processing is performed to eliminate this influence. .
【００４９】（誤差要因の発生判定）下記の少なくとも
いずれかの場合に、誤差要因の発生と判定される。
（１）重量測定値がこれまでの減少傾向による予測ライ
ンから所定値以上大きく外れたとき
（２）重量測定値が所定値以上の傾斜角で急激に変化し
たとき(Determination of Occurrence of Error Factor) It is determined that an error factor has occurred in at least one of the following cases. (1) When the weight measurement value deviates significantly from the prediction line due to the decreasing tendency so far by a predetermined value or more (2) When the weight measurement value changes abruptly at an inclination angle of the predetermined value or more
【００５０】（誤差要因の除去処理）誤差要因の発生と
判定したら、次のような処理が行なわれる。
（１）その時の急激な変化分の測定値は無視し、前述の
原料土体積修正係数Ｋｗ及び改良材比重修正係数Ｋｖの
更新による補正演算を中止し、それまでの係数を用いて
制御演算処理を行う。補正演算の中止の間は、チャイム
等を鳴らしたり、警告ランプ等を点灯したり、警告メッ
セージを表示したりなど、オペレータに対して注意を促
すようにする。
（２）誤差要因の発生後、重量測定値の急激な変化が安
定したら、上記補正演算中止処理を自動的に解除し、測
定値に基づく改良材添加重量及び実測改良材添加重量積
算値Ｖａの演算を行ない、これによる上記各係数の更
新、及びこの更新による補正演算を再開する。
なお、補正演算中止処理の解除方法としては上記に限ら
ず、例えば、図示しない解除スイッチ等を設けてオペレ
ータが改良材投入の完了後やメンテナンスで改良材ホッ
パ６部から降りた後にこの解除スイッチ等を手動で操作
したとき、または所定時間経過後に自動的に、解除する
ようにしても構わない。(Error Factor Removal Process) When it is determined that an error factor has occurred, the following process is performed. (1) Ignoring the measured value of the abrupt change at that time, stopping the correction calculation by updating the above-mentioned raw material soil volume correction coefficient Kw and improved material specific gravity correction coefficient Kv, and using the coefficients up to that point, control calculation processing I do. While the correction calculation is stopped, the operator is alerted by sounding a chime, turning on a warning lamp, displaying a warning message, or the like. (2) When the sudden change in the weight measurement value becomes stable after the occurrence of the error factor, the correction calculation stop processing is automatically canceled, and the improvement material addition weight and the actually measured improvement material addition weight integrated value Va based on the measurement values are calculated. The calculation is performed, the above-mentioned updating of each coefficient by this, and the correction calculation by this update are restarted. The method for canceling the correction calculation canceling process is not limited to the above, and for example, a release switch or the like (not shown) may be provided, and the release switch or the like may be provided after the operator completes the introduction of the improved material or after the operator descends from the improved material hopper 6 for maintenance. May be manually released or automatically after a lapse of a predetermined time.
【００５１】このようにして、改良材重量の測定値に外
乱が生じても、この外乱の影響を除去するように演算処
理しているので、正確に改良材重量を測定でき、精度の
良い混合比の改良土を製作できる。また、エア圧送によ
って改良材を投入する場合の比重の変化や、改良材ホッ
パの上部と下部での比重の変化等があっても、正確に改
良材の供給重量を管理できる。In this way, even if a disturbance occurs in the measured value of the improved material, the arithmetic processing is performed so as to eliminate the influence of this disturbance, so that the weight of the improved material can be accurately measured and the mixing with high accuracy can be performed. Can make improved soil with a certain ratio. Further, even if there is a change in the specific gravity when the improving material is introduced by air pressure feeding, a change in the specific gravity between the upper portion and the lower portion of the improving material hopper, and the like, the supply weight of the improving material can be accurately managed.
【００５２】次に、第２実施形態での改良土実処理量の
監視に係る制御手順を、図１０に示すフローチャートに
より説明する。なお、前述の図４のフローチャートでの
処理と同じ処理内容のステップには同一符号を付し、こ
こでは、簡単に説明する。まず、ステップＳ２１では、
予め目標処理量Ｗ及び途中での報知処理量Ｗｍを設定し
ておく。ただし、報知処理量Ｗｍの設定個数をｎとす
る。（目標処理量設定手段２１）そして、ステップＳ２
２で、引数ｍの初期値を１にセットする。（処理量比較
手段５３）Next, the control procedure relating to the monitoring of the improved soil processing amount in the second embodiment will be described with reference to the flowchart shown in FIG. It should be noted that steps having the same processing contents as those in the above-described flowchart of FIG. 4 are denoted by the same reference numerals and will be briefly described here. First, in step S21,
The target processing amount W and the notification processing amount Wm on the way are set in advance. However, the set number of the notification processing amount Wm is n. (Target processing amount setting means 21) And step S2
At 2, the initial value of the argument m is set to 1. (Processing amount comparison means 53)
【００５３】次に、実作業での制御時には、ステップＳ
４で、土質改良作業を行い、製作した改良土を搬出コン
ベヤ９で搬出してダンプトラックに積み込み（処理量比
較手段５３、各駆動部１３ａ，１３ｂ，２３）、そして
ステップＳ２３で、この間の原料土重量積算値Ｗｗ及び
改良材添加重量積算値Ｖｓを演算により求める。（第１
原料土重量積算値演算部４３、改良材添加重量積算値演
算部４０）さらに、ステップＳ６で、この求めた各積算
値の加算により改良土実処理量の積算値ΣＷｉを演算す
る。（実処理量積算手段５２）Next, at the time of control in actual work, step S
In 4, the soil improvement work is carried out, and the produced improved soil is carried out by the carry-out conveyor 9 and loaded on the dump truck (processing amount comparison means 53, each driving unit 13a, 13b, 23), and in step S23, the raw material in this period. The soil weight integrated value Ww and the improving material addition weight integrated value Vs are calculated. (First
The raw soil material weight integrated value calculation unit 43, the improved material addition weight integrated value calculation unit 40) Further, in step S6, the integrated value ΣWi of the improved soil actual processing amount is calculated by adding the calculated integrated values. (Actual throughput integrating means 52)
【００５４】次に、ステップＳ２４で報知処理量Ｗｍが
設定されているかチェックし、設定されていないとき、
すなわち設定値が無いときには途中での報知は無いので
ステップＳ１２へ処理を移行し、報知処理量Ｗｍが設定
されているときは、ステップＳ８でｍ＝ｎ＋１かをチェ
ックする。そして、ｍ＝ｎ＋１のときには、ステップＳ
１２へ処理を移行し、ｍ≠ｎ＋１のときには、ステップ
Ｓ２５で前記積算値ΣＷｉが報知処理量Ｗｍに達したか
をチェックする。積算値ΣＷｉが報知処理量Ｗｍに達し
ていないときには、ステップＳ４へ戻って処理を繰り返
し、積算値ΣＷｉが報知処理量Ｗｍに達したときには、
ステップＳ１０で、土質改良装置のオペレータおよびダ
ンプトラックの運転手へ、報知手段２２によりｍ回目の
報知処理量Ｗｍに達したことを報知する。ダンプトラッ
クの運転手は、これを受けて前述と同様にダンプトラッ
クを所定距離前進させ、次の積込位置に搬出コンベヤ９
から搬出される改良土を積み込む。なお、このとき、土
質改良装置のオペレータは改良土の搬出を手動で停止さ
せてもよいし、または継続させてもよい。次に、ステッ
プＳ１１で、引数ｍを１だけ増加して報知処理量Ｗｍの
レベルを上げ、ステップＳ４へ戻る。（処理量比較手段
５３）Next, in step S24, it is checked whether the notification processing amount Wm is set, and when it is not set,
That is, when there is no set value, there is no notification in the middle, so the process moves to step S12, and when the notification processing amount Wm is set, it is checked in step S8 whether m = n + 1. When m = n + 1, step S
When the processing shifts to 12, and m ≠ n + 1, it is checked in step S25 whether the integrated value ΣWi reaches the notification processing amount Wm. When the integrated value ΣWi has not reached the notification processing amount Wm, the process returns to step S4 and the processing is repeated. When the integrated value ΣWi reaches the notification processing amount Wm,
In step S10, the operator of the soil improvement apparatus and the driver of the dump truck are notified by the notification means 22 that the m-th notification processing amount Wm has been reached. In response to this, the driver of the dump truck advances the dump truck by a predetermined distance in the same manner as described above, and moves the dump truck 9 to the next loading position.
Load the improved soil delivered from. At this time, the operator of the soil improvement device may manually stop or continue to carry out the improved soil. Next, in step S11, the argument m is increased by 1 to increase the level of the notification processing amount Wm, and the process returns to step S4. (Processing amount comparison means 53)
【００５５】ステップＳ１２では、前記実処理量積算値
ΣＷｉが目標処理量Ｗに達したかチェックし、達してな
いときにはステップＳ４に戻る。そして、達していると
きには、土質改良装置のオペレータおよびダンプトラッ
クの運転手へ、報知手段２２により目標処理量Ｗに達し
たことを報知すると共に、原料土フィーダ８、改良材フ
ィーダ６ｂおよび搬出コンベヤ９を自動停止して、改良
土の搬出を停止させる。（処理量比較手段５３）なお、
このとき、土質改良装置のオペレータが、改良土の搬出
を手動停止するようにしてもよい。In step S12, it is checked whether or not the actual processing amount integrated value ΣWi has reached the target processing amount W. If not, the process returns to step S4. Then, when it has reached, the operator of the soil improvement device and the driver of the dump truck are notified by the notifying means 22 that the target processing amount W has been reached, and the raw material soil feeder 8, the improvement material feeder 6b and the carry-out conveyor 9 are provided. Automatically stops the unloading of improved soil. (Processing amount comparison means 53)
At this time, the operator of the soil improvement device may manually stop the delivery of the improved soil.
【００５６】なお、上記実施形態では、改良土実処理量
の積算値を、演算して求めた原料土重量積算値と改良材
添加重量積算値との加算により求めたが、演算により改
良土実処理量の積算値を求める方法はこれに限定され
ず、等価的に求めることができる方法であればよい。In the above embodiment, the integrated value of the improved soil processing amount is obtained by adding the calculated raw material soil weight integrated value and the improved material addition weight integrated value. The method for obtaining the integrated value of the processing amount is not limited to this, and any method capable of obtaining the equivalent value may be used.
【００５７】また、改良材重量の測定手段にロードセル
を用いた例で説明したが、これに限定されず、例えば歪
ゲージ、又はコンベヤスケール等を用いてもよい。ま
た、自走式土質改良装置としてクローラ式走行装置を有
する例で説明したが、車輪式であってもよい。Although the load cell is used as the means for measuring the weight of the improved material, the present invention is not limited to this, and a strain gauge, a conveyor scale, or the like may be used. Moreover, although the example in which the crawler type traveling device is provided as the self-propelled soil improvement device has been described, it may be a wheel type.
【００５８】さらに、実施形態では、改良材重量の実測
値と演算値（制御値）とのずれ量に基づいて、このずれ
量が小さくなるように改良材添加量の制御量を補正して
いるが、これに限らず、目標の混合比を満たすように改
良材重量の前記実測値に応じた原料土供給重量とする制
御を行なっても構わないことは勿論である。また、改良
材の添加重量を測定し、この測定値と改良材添加重量の
計算値（制御値）とのずれ量に基づいて、このずれ量が
小さくなるように改良材添加の制御量又は原料土供給制
御量を補正するための演算方法は、上記に限定するもの
ではない。例えば、改良材添加重量積算値Ｖｓと改良材
添加重量比Ｖとに基づき、前記原料土体積積算値Ｗａを
求めるようにしてもよい。Further, in the embodiment, based on the deviation amount between the actually measured value and the calculated value (control value) of the improvement material weight, the control amount of the improvement material addition amount is corrected so as to reduce the deviation amount. However, the present invention is not limited to this, and it goes without saying that control may be performed such that the raw material soil supply weight is in accordance with the actual measurement value of the improving material weight so as to satisfy the target mixing ratio. Further, the additive weight of the improving material is measured, and based on the deviation amount between the measured value and the calculated value (control value) of the improving material addition weight, the control amount of the improving material addition or the raw material is adjusted so that the deviation amount becomes small. The calculation method for correcting the soil supply control amount is not limited to the above. For example, the raw material soil volume integrated value Wa may be obtained based on the improved material added weight integrated value Vs and the improved material added weight ratio V.
【００５９】第２実施形態によると、演算して求めた原
料土重量積算値と改良材添加重量積算値との加算により
改良土実処理量の積算値を求め、この積算値が予め設定
した目標処理量に達したときに報知するので、第１実施
形態と同様の効果が得られ、運搬車両への改良土積込作
業の能率向上、運搬効率向上、および運搬コスト低減が
できる。このとき、改良材の添加重量の実測値と上記演
算値との差異に応じて、上記演算に用いる改良材比重を
補正しているため、上記演算により求めた改良土実処理
量の積算値の精度が良く、改良土運搬量を精度良く管理
できる。According to the second embodiment, the integrated value of the improved soil actual treatment amount is obtained by adding the calculated integrated value of the raw material soil weight and the integrated value of the improved material addition weight, and the integrated value is a preset target. Since the notification is given when the processing amount is reached, the same effect as that of the first embodiment can be obtained, and the efficiency of the improved soil loading work on the transportation vehicle, the transportation efficiency, and the transportation cost can be reduced. At this time, according to the difference between the measured value of the added weight of the improved material and the calculated value, since the improved material specific gravity used in the above calculation is corrected, the integrated value of the improved soil processing amount obtained by the above calculation is calculated. The accuracy is good and the improved soil transportation amount can be managed accurately.
【００６０】また、積込完了までの途中で報知する処理
量レベルをそれぞれ設定可能としたので、積込む対象の
ダンプトラック等運搬車両の最大積載重量、ベッセルの
大きさや形状、積込位置等に応じて前記報知処理量レベ
ルをそれぞれ設定し、積込位置を変更すべき時に適切に
報知できるから、積込後のベッセル上の改良土の均し作
業の手間を最小限にできて積込作業の能率向上ができる
と共に、ベッセルに略均一に万遍無く積み込めるので、
ダンプトラックの最大積載重量まで確実に積み込むこと
ができる。さらに、ダンプトラック等の運転手にこのと
きの積込位置変更時点や、積込完了時点を報知するの
で、運転手は運転席から離れなくても容易にこれを知
り、報知に従って運搬車両を移動できるから、作業性が
良い。その他の効果は、第１実施形態と同様である。Further, since it is possible to set the processing amount levels to be notified during the loading process, it is possible to set the maximum loading weight of the transportation vehicle such as the dump truck to be loaded, the size and shape of the vessel, and the loading position. According to the above, the notification processing amount level can be set accordingly, and when the loading position should be changed, it can be appropriately notified, so that the labor for leveling the improved soil on the vessel after loading can be minimized Since the efficiency of can be improved and it can be loaded almost uniformly on the vessel,
It is possible to reliably load up to the maximum load weight of the dump truck. Further, the driver of the dump truck or the like is informed of the loading position change time and the loading completion time at this time, so the driver can easily know this without having to leave the driver's seat and move the transport vehicle according to the notification. Workability is good because it can be done. Other effects are similar to those of the first embodiment.
【００６１】次に、図１４により第３実施形態を説明す
る。図１４は、第３実施形態に係る制御装置の構成ブロ
ック図である。図２に示した第１実施形態の構成と異な
る構成を説明する。本実施形態は、演算により実処理体
積及び実処理重量を求め、この求めた結果に基づいて途
中警報を出力する方法である。制御装置は操作部１８ａ
を備えており、この操作部１８ａから上記実処理体積及
び実処理重量を求めるための以下のような制御定数を入
力可能となっている。制御定数としては、原料土フィー
ダ８のすり切り高さｈ、原料土フィーダ８の幅Ａ、原料
土比重α等があり、これらは予め操作部１８ａで設定さ
れて制御器１０内に記憶されている。なお、原料土フィ
ーダ８のすり切り高さｈは、原料土フィーダ８の原料土
搬出口の上部に設けたかき出しロータ５ａ（図１参照）
によって擦り切られた搬出原料土の高さを表しており、
原料土フィーダ８の幅Ａは、原料土フィーダ８の搬送方
向に対して左右方向幅を表している。Next, a third embodiment will be described with reference to FIG. FIG. 14 is a configuration block diagram of a control device according to the third embodiment. A configuration different from the configuration of the first embodiment shown in FIG. 2 will be described. The present embodiment is a method of calculating an actual processing volume and an actual processing weight by calculation and outputting a midway alarm based on the calculated result. The control device is the operation unit 18a.
The following control constants for determining the actual processing volume and the actual processing weight can be input from the operating section 18a. The control constants include the cutting height h of the raw material soil feeder 8, the width A of the raw material soil feeder 8, the specific gravity of the raw material soil α, and the like, which are set in advance by the operation unit 18a and stored in the controller 10. . In addition, the scraping height h of the raw material soil feeder 8 is determined by the scraping rotor 5a (see FIG. 1) provided above the raw material soil carry-out port of the raw material soil feeder 8.
Represents the height of the raw material soil carried out by
The width A of the raw material soil feeder 8 represents the width in the left-right direction with respect to the conveying direction of the raw material soil feeder 8.
【００６２】実作業時に、制御器１０は、原料土フィー
ダ８の速度センサ１６から入力した原料土フィーダ速度
Ｖｆと、前記記憶している原料土フィーダ８のすり切り
高さｈおよび幅Ａとに基づき、単位時間時間当りの実処
理体積を数式「実処理体積＝ｈ×Ａ×Ｖｆ」により演算
して求める。そして、実処理重量積算値ΣＷを、数式
「実処理重量積算値ΣＷ＝Σ（実処理体積×原料土比重
α）」により求める。次に、以下第１実施形態と同様に
して、この求めた実処理重量積算値ΣＷと、前記ｍ回目
の累積処理量閾値Ｚｍとを順次比較してゆき、実処理重
量積算値ΣＷが累積処理量閾値Ｚｍに達したかをチェッ
クし、累積処理量閾値Ｚｍに達したとき、ｍ回目の報知
を行う。なお、本例での累積処理量閾値Ｚｍとしては、
混合比を考慮した改良材の累積重量分を差し引いた値を
設定している。At the time of actual work, the controller 10 is based on the raw material soil feeder speed Vf input from the speed sensor 16 of the raw material soil feeder 8 and the stored cutting height h and width A of the raw material soil feeder 8. , The actual processing volume per unit time is calculated by the mathematical expression “actual processing volume = h × A × Vf”. Then, the actual processing weight integrated value ΣW is obtained by the mathematical expression “actual processing weight integrated value ΣW = Σ (actual processing volume × material soil specific gravity α)”. Next, similarly to the first embodiment, the obtained actual processing weight integrated value ΣW is sequentially compared with the m-th accumulated processing amount threshold value Zm, and the actual processing weight integrated value ΣW is accumulated. It is checked whether the quantity threshold value Zm is reached, and when the cumulative processing quantity threshold value Zm is reached, the m-th notification is given. In addition, as the cumulative processing amount threshold value Zm in this example,
The value is set by subtracting the cumulative weight of the improved material considering the mixing ratio.
【００６３】本実施形態によると、原料土重量または改
良土重量の測定に、コンベヤスケールを用いることな
く、所定の演算により求めているので、コンベヤスケー
ルが不要となり、構成が簡単で、製造コストを安くでき
る。また、演算処理が非常に簡単になり、処理時間がか
からない。なお、改良材の単位時間当りの実処理体積お
よび実処理重量を改良材フィーダ６ｂの回転速度から演
算により求め、この改良材の実処理重量積算値と、上記
で求めた原料土実処理重量積算値との加算から改良土の
実処理重量積算値を求め、これとｍ回目の累積処理量閾
値Ｚｍとの比較を行なうようにしてもよい。According to the present embodiment, the weight of the raw material soil or the weight of the improved soil is measured by a predetermined calculation without using the conveyor scale. Therefore, the conveyor scale is not required, the structure is simple, and the manufacturing cost is low. Can be cheap. In addition, the arithmetic processing becomes very simple and the processing time is short. The actual treatment volume and the actual treatment weight per unit time of the improved material were calculated from the rotation speed of the improved material feeder 6b, and the actual treated weight integrated value of this improved material and the raw material actual treated weight integrated obtained above were calculated. You may make it calculate | require the actual processing weight integrated value of the improved soil from addition with a value, and compare this with the mth accumulated processing amount threshold value Zm.
【００６４】以上説明したように、本発明によると、以
下の効果を奏する。土質改良装置において、改良土を運
搬する運搬車両の最大積載重量または最大積載容量に応
じて、予め目標処理量（重量または体積）を設定してお
き、実作業時に改良土の実処理量（重量または体積）を
測定または演算により求め、この求めた実処理量が前記
目標処理量に達したときに報知するようにしたため、運
搬車両の積載重量を精度良く管理することができ、従っ
て、改良土の運搬車両への積込後に運搬車両の積載重量
を測定する必要がなくなり、積込作業の能率を向上でき
ると共に、運搬効率向上および運搬コスト低減ができ
る。また、搬出コンベヤの先端部に装着する処理量レベ
ルセンサが不要となるので、埃等による誤動作がなく、
センサ破損もなく、実処理量検出の信頼性を向上でき
る。As described above, the present invention has the following effects. In the soil improvement device, the target treatment amount (weight or volume) is set in advance according to the maximum load weight or the maximum load capacity of the transport vehicle that transports the improved soil, and the actual treatment amount of the improved soil (weight Or the volume) is obtained by measurement or calculation, and when the obtained actual processing amount reaches the target processing amount, the notification is made, so that the loaded weight of the transport vehicle can be accurately controlled, and therefore the improved soil It is no longer necessary to measure the loaded weight of the transport vehicle after loading the transport vehicle, and the efficiency of the loading operation can be improved, and the transport efficiency and transport cost can be improved. Also, since the throughput level sensor attached to the tip of the carry-out conveyor is not required, there is no malfunction due to dust, etc.
The reliability of actual processing amount detection can be improved without sensor damage.
【００６５】さらに、目標処理量までの途中の報知処理
量または報知回数を設定し、これに基づき、前記実処理
量が所定の報知処理量に達したときに報知するようにし
たため、目標処理量を分割してベッセルに積み込むこと
が精度良くできる。したがって、積込後のベッセル上の
改良土の均し作業の手間を最小限にできて積込作業の能
率向上ができると共に、ベッセルに略均一に万遍無く積
み込めるので、ダンプトラックの最大積載重量まで確実
に積み込むことができる。また、途中の報知処理量に達
したとき、または運搬車両の最大積載量（重量または体
積）に達したときに、運搬車両の運転手にも報知するよ
うにしたため、運転手は運転席から離れなくてもこれを
容易に知ることができ、報知に従って作業することによ
り積込作業の能率を向上できる。Further, the notification processing amount or the number of times of notification in the middle of the target processing amount is set, and based on this, the notification is made when the actual processing amount reaches the predetermined notification processing amount. Can be divided and loaded in the vessel with high precision. Therefore, it is possible to minimize the trouble of leveling the improved soil on the vessel after loading and improve the efficiency of loading work.Also, it is possible to load the vessel almost evenly and evenly. You can reliably load up to the weight. In addition, when the notification processing amount on the way is reached, or when the maximum load capacity (weight or volume) of the transport vehicle is reached, the driver of the transport vehicle is also notified, so that the driver can move away from the driver's seat. Even without it, this can be easily known, and the efficiency of the loading work can be improved by performing the work according to the notification.
【図１】本発明に係る自走式土質改良装置の側面図であ
る。FIG. 1 is a side view of a self-propelled soil improvement device according to the present invention.
【図２】本発明の第１実施形態に係る制御装置の構成ブ
ロック図である。FIG. 2 is a configuration block diagram of a control device according to the first embodiment of the present invention.
【図３】第１実施形態の制御機能ブロック図である。FIG. 3 is a control function block diagram of the first embodiment.
【図４】第１実施形態の制御フローチャートである。FIG. 4 is a control flowchart of the first embodiment.
【図５】本発明に係る分割積込時の運搬車両移動説明図
である。FIG. 5 is a diagram for explaining movement of a transportation vehicle during split loading according to the present invention.
【図６】本発明に係る分割積込時の運搬車両の積込位置
説明図である。FIG. 6 is an explanatory view of the loading position of the transport vehicle at the time of split loading according to the present invention.
【図７】第２実施形態に係る改良材ホッパ取付部の正面
図である。FIG. 7 is a front view of an improved material hopper mounting portion according to a second embodiment.
【図８】第２実施形態に係る制御装置の構成ブロック図
である。FIG. 8 is a configuration block diagram of a control device according to a second embodiment.
【図９】第２実施形態の制御機能ブロック図である。FIG. 9 is a control function block diagram of a second embodiment.
【図１０】第２実施形態の制御フローチャートである。FIG. 10 is a control flowchart of the second embodiment.
【図１１】ロードセルで測定した重量値の経過時間に対
する変化図である。FIG. 11 is a change diagram of a weight value measured by a load cell with respect to elapsed time.
【図１２】改良材投入時の重量測定値の変化図である。FIG. 12 is a graph showing changes in weight measurement values when an improved material is added.
【図１３】改良材ホッパ部に人が昇降した場合の重量測
定値の変化図である。FIG. 13 is a change diagram of weight measurement values when a person moves up and down on the improved material hopper unit.
【図１４】本発明の第３実施形態に係る制御装置の構成
ブロック図である。FIG. 14 is a configuration block diagram of a control device according to a third embodiment of the present invention.
１…自走式土質改良装置、２…下部走行体、３…基台、
５…原料土ホッパ、６…改良材ホッパ、６ａ…改良材シ
ュータ、６ｂ…改良材フィーダ、７…混合機、８…原料
土フィーダ、９…搬出コンベヤ、１０…制御器、１１…
ロードセル、１２…コンベヤスケール（実処理量検出手
段）、１３，１３ａ，１３ｂ…流量制御弁、１４，１５
…駆動油圧モータ、１６，１７…速度センサ、１８，１
８ａ…操作部、２１…目標処理量設定手段、２２…報知
手段、２３…切換弁、２４…駆動油圧モータ、２５…原
料土体積修正係数演算部、２６…改良材比重修正係数演
算部、２７…原料土体積演算部、２８…理論原料土体積
演算部、２９…原料土フィーダ目標速度演算部、３０…
原料土フィーダ速度制御部、３２…改良材添加重量比演
算部、３４…理論改良材添加体積比演算部、３５…改良
材添加速度演算部、３６…改良材フィーダ目標速度演算
部、３７…改良材フィーダ速度制御部、３９…積分器、
４０…改良材添加重量積算値演算部、４１…、４２…原
料土体積積算値演算部、４３…第１原料土重量積算値演
算部、４４…、４５…改良土測定重量積算値演算部、４
６…実測改良材添加重量積算値演算部、４７…第２原料
土重量積算値演算部、４８…原料土重量補正率演算部、
４９…改良材比重補正率演算部、５１…閾値演算手段、
５２…実処理量積算手段、５３…処理量比較手段（制御
部）、６０…ダンプトラック。1 ... Self-propelled soil improvement device, 2 ... Lower traveling body, 3 ... Base,
5 ... Raw material soil hopper, 6 ... Improved material hopper, 6a ... Improved material shooter, 6b ... Improved material feeder, 7 ... Mixer, 8 ... Raw material soil feeder, 9 ... Outgoing conveyor, 10 ... Controller, 11 ...
Load cell, 12 ... Conveyor scale (actual throughput detection means), 13, 13a, 13b ... Flow control valve, 14, 15
... Drive hydraulic motor, 16, 17 ... Speed sensor, 18, 1
8a ... Operation part, 21 ... Target processing amount setting means, 22 ... Notification means, 23 ... Switching valve, 24 ... Drive hydraulic motor, 25 ... Raw material soil volume correction coefficient calculation part, 26 ... Improved material specific gravity correction coefficient calculation part, 27 Raw material soil volume calculation unit, 28 ... Theoretical raw material soil volume calculation unit, 29 ... Raw soil material feeder target speed calculation unit, 30 ...
Raw material soil feeder speed control unit, 32 ... Improvement material addition weight ratio calculation unit, 34 ... Theoretical improvement material addition volume ratio calculation unit, 35 ... Improvement material addition speed calculation unit, 36 ... Improvement material feeder target speed calculation unit, 37 ... Improvement Material feeder speed controller, 39 ... Integrator,
40 ... Improved material added weight integrated value calculation unit, 41 ..., 42 ... Raw material soil volume integrated value calculation unit, 43 ... First raw material soil weight integrated value calculation unit, 44 ..., 45 ... Improved soil measurement weight integrated value calculation unit, Four
6 ... Measured improvement material addition weight integrated value calculation unit, 47 ... Second raw material soil weight integrated value calculation unit, 48 ... Raw material soil weight correction rate calculation unit,
49 ... Improved material specific gravity correction factor calculation unit, 51 ... Threshold value calculation means,
52 ... Actual throughput integrating means, 53 ... Throughput comparing means (control section), 60 ... Dump truck.
Claims (2)
理重量又は目標処理体積を設定する目標処理量設定手段
(21)と、改良土の実処理重量または実処理体積を測定ま
たは算出により求める実処理量検出手段(12)と、予め、
前記設定した改良土の目標処理重量または目標処理体積
を記憶し、前記求めた改良土の実処理重量または実処理
体積の積算値が前記記憶した目標処理重量または目標処
理体積に達したとき、改良土の搬出を停止させる指令ま
たは報知指令を出力する制御部(53)とを備えたことを特
徴とする土質改良装置。1. In a soil improvement device, target treatment amount setting means for setting a target treatment weight or target treatment volume of improved soil.
(21), the actual treatment weight or the actual treatment volume of the improved soil is obtained by measuring or calculating the actual treatment amount detecting means (12), in advance,
Storing the set target treatment weight or target treatment volume of the improved soil, and when the integrated value of the obtained actual treatment weight or actual treatment volume of the improved soil reaches the stored target treatment weight or target treatment volume, A soil improvement device comprising: a control unit (53) that outputs a command to stop the discharge of soil or a notification command.
とき、改良土積込車両の運転手に報知する報知手段(22)
を有することを特徴とする請求項１記載の土質改良装
置。2. The informing means (22) for informing the driver of the improved soil loading vehicle when the control section (53) reaches the target processing amount.
The soil improvement device according to claim 1, further comprising:
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|---|---|---|---|
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002142170A JP4017144B2 (en) | 2002-05-16 | 2002-05-16 | Soil improvement device |
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|---|---|
| JP2003328390A true JP2003328390A (en) | 2003-11-19 |
| JP4017144B2 JP4017144B2 (en) | 2007-12-05 |
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