JP2006169821A - Automatic attitude control system and construction method for press-in caisson - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic attitude control system for a press-in caisson, which enables the automatic control of the attitude of the press-in caisson, while controlling the total of press-in force of press-in jacks, and a construction method for the press-in caisson. <P>SOLUTION: A press-in caisson system 1 comprises: a caisson skeleton 2; a ground anchor 3 which is fixed to ground around the caisson skeleton 2; a press-in girder 4 which is installed around an upper part of the caisson skeleton 2; the plurality of press-in jacks 5 which are uniquely arranged in the press-in girder 4 so as to hold a cable 3a from the ground anchor 3; an actuator 6 for actuating the press-in jack 5; an attitude measuring device 7 for measuring the attitude of the caisson skeleton 2; a press-in force measuring device 8 for measuring the press-in force of the press-in jack 5; a stroke-amount measuring device 9 for measuring the amount of the stroke of the press-in jack 5; an attitude control device 10 for automatically controlling the actuation of each of the press-in jacks 5 on the basis of data from the device 7; and an excavating device 11 for excavating the ground in the caisson 2. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a press-fitting caisson automatic attitude control system and a press-fitting caisson construction method.

As described in Patent Document 1, a conventional automatic press-fitting caisson attitude control system is provided with a plurality of press-fitting jacks (for example, hydraulic jacks) via press-fitting girders around the upper part of the caisson casing, In this system, posture measuring means for measuring the posture of the housing is installed, and the automatic operation means automatically controls the operating means of each press-fit jack based on the measurement data from the posture measuring means. And with this automatic attitude control system, the maximum oil amount is supplied to the jack on the high slope side and the minimum oil amount is supplied to the jack on the low side to control the caisson posture, and all the jacks are operated. The caisson was pressed into the ground.
Japanese Unexamined Patent Publication No. 09-059994 (paragraphs 0005 to 0007, FIG. 1)

  By the way, when constructing a press-in caisson at a position close to an important structure or the like, it is necessary to reduce the influence on the surrounding ground as much as possible, so that the total pressure input of the press-in jack may be limited. However, the conventional press-in caisson construction method does not consider the restriction on the total pressure input.

  The present invention has been made in view of such circumstances, and provides a press-fitting caisson automatic posture control system and a press-fitting caisson construction method capable of automatically controlling the posture of the press-fitting caisson while managing the total pressure input of the press-fitting jack. The task is to do.

  The invention according to claim 1 is a caisson housing, a press-fitting girder installed around the upper portion of the caisson housing, a plurality of press-fitting jacks arranged in the press-fitting girder and gripping a cable from a ground anchor, and the press-fitting jack. Actuating means for actuating, attitude measuring means for measuring the attitude of the caisson housing, pressure input measuring means for measuring the pressure input of the press-fitting jack, and the amount of operation of each press-fit jack based on data from the attitude measuring means An automatic operation means for automatically controlling the operation of each press-fitting jack, and an automatic attitude control system for the press-fitting caisson, wherein the automatic operation means measures the press-fitting caisson measured by the attitude measurement means. Jack operation amount calculation unit for calculating the operation amount of each press-fitting jack based on posture data, and each measured by the pressure input measuring means A total pressure input calculation unit that calculates the total pressure input by summing the pressure inputs of the input jacks, a total pressure input determination unit that compares the total pressure input with a pre-stored threshold value, and actuates or stops each press-in jack A control signal generation unit that generates a control signal to be generated, and the control signal generation unit generates an operation signal that operates the operation unit based on the operation amount, and the total pressure input determination unit includes the control signal generation unit. An automatic attitude control system for a press-in caisson, wherein a stop signal for stopping the operating means is generated when it is determined that the total pressure input is larger than the threshold value.

  According to this configuration, the pressure input of each press-fit jack is measured by the pressure input measuring means, the pressure input of each press-fit jack is summed by the total pressure input calculation unit, and the total pressure input and the threshold value are calculated by the total pressure input determination unit. When the total pressure input is larger than the threshold value, a stop signal is generated by the control signal generation unit, and the operation means automatically stops, so the caisson housing is pressed into the ground with the total pressure input larger than the threshold value. It will not be done.

  Here, the threshold value is a value determined from the properties of the ground and the structure, strength, importance, etc. of the surrounding structure, and corresponds to a so-called management reference value.

  The invention according to claim 2 further includes stroke amount measuring means for measuring the stroke amount of each press-fit jack, and the automatic operation means is the maximum of the stroke amounts of each press-fit jack measured by the stroke amount measuring means. A stroke amount determination unit that compares the value with a limit stroke amount, and the control signal generation unit is configured such that the maximum value of the stroke amounts of each press-fitting jack in the stroke amount determination unit is greater than the limit stroke amount. 2. The press-fitting caisson automatic attitude control system according to claim 1, wherein a stop signal for stopping the operating means is generated when it is determined that the operating means is large.

  According to this configuration, the stroke amount of each press-fit jack is measured by the stroke amount measuring means, and the stroke amount determination unit compares the maximum stroke amount of each press-fit jack with the limit stroke amount. When the maximum stroke amount is larger than the limit stroke amount, a stop signal is generated by the control signal generation unit and the operation means automatically stops. Can be detected. Here, the limit stroke amount is a value determined by the performance of the press-fit jack, and is, for example, a value obtained by multiplying the limit extension amount of the jack by a predetermined safety factor.

  The invention according to claim 3 is a press-in caisson construction method using the press-in caisson automatic posture control system according to claim 1, wherein the posture measuring step measures posture data of the press-in caisson by the posture measuring means; A jack operation amount calculating step for calculating an operation amount of each press-fit jack based on the posture data, a jack operation step for operating each press-in jack based on the operation amount of each press-fit jack, and the pressure input measuring means. A jack pressure input measuring step for measuring the pressure input of each press-fit jack, a total pressure input calculating step for calculating the total pressure input by summing up the pressure inputs of each press-fit jack, the total pressure input and a threshold value stored in advance A total pressure input determination step, a jack stop step for stopping the press-fit jack when the total pressure input has reached the threshold, and a press-fit jack stop Later, an excavation step of excavating the ground around the blade edge with the higher top height of the caisson housing, a jack re-operation step of operating each press-fitting jack again based on the operation amount, and each press-fitting after excavation Jack pressure input re-measurement step for re-measurement of jack pressure input, total pressure input re-calculation step for recalculating the total pressure input after excavation by summing up the recalculated pressure inputs of each press-fit jack, And a total pressure input redetermination step of comparing the total pressure input with the threshold value.

  According to this method, the total pressure input of the press-fit jack is calculated (total pressure input calculation step), the total pressure input and the threshold are compared (total pressure input determination step), and when the total pressure input reaches the threshold The press-fit jack is stopped (jack stop process). Then, after stopping the press-fit jack, excavate the ground around the edge of the caisson housing with the higher top height (excavation process), and then actuate each press-fit jack again based on the operation amount (jack re-actuation process) ). Thus, the press-fitting resistance is reduced, so that the press-fitting caisson can be press-fitted into the ground while keeping the total press input below the threshold value.

  According to the present invention, the press-in caisson can be constructed by the automatic attitude control system while managing the total pressure input of the press-in jack.

  The best mode for carrying out the present invention will be described in detail with reference to the drawings. In the description, the same elements are denoted by the same reference numerals, and redundant description is omitted.

<Configuration of press-fit caisson system 1>
FIG. 1 is a schematic configuration diagram illustrating a configuration of a press-fitting caisson system according to the present embodiment.
As shown in FIG. 1, the press-in caisson system 1 includes a caisson housing 2, a ground anchor 3 fixed to the ground around the caisson housing 2, a press-in girder 4 installed around the upper part of the caisson housing 2, and this press-fitting A plurality of press-fitting jacks 5 that are arranged evenly on the girder 4 and grip the cable 3a from the ground anchor 3, an actuating device 6 that operates the press-fitting jacks 5, and a posture measuring device 7 that measures the posture of the caisson housing 2; Based on data from the pressure input measuring device 8 for measuring the pressure input of the press-in jack 5, the stroke amount measuring device 9 for measuring the stroke amount of the press-in jack 5, and the posture measuring device 7, the operation control of each press-in jack 5 is performed. A posture control device 10 that performs automatically and a drilling device 11 that excavates the ground in the caisson housing 2 are provided.

  The caisson housing 2 is formed by stacking a plurality of rings made of reinforced concrete or steel, and has a hollow cylindrical shape. A blade mouth 2a is formed at the lower end portion of the caisson housing 2 and is easy to enter the ground. The upper end of the caisson housing 2 is open, and the ground inside the caisson can be excavated using a clamshell bucket or the like.

  The ground anchor 3 is for taking the reaction force of the press-fit jack 5, one end of the cable 3 a is fixed in the insertion hole cut around the caisson housing 2, and the other end of the cable 3 a is the press-fit jack. 5 is held.

  The press-fitting girder 4 disperses the pressure input of the press-fitting jack 5 (hereinafter sometimes referred to as “jack pressure”) and transmits it to the caisson housing 2. It is installed at the top of the caisson housing 2 in combination with the shape. A part of the press-fitting girder 4 protrudes from the caisson housing 2, and a press-fitting jack 5 is installed in this protruding part.

  The press-fit jack 5 is constituted by, for example, a hydraulic center hole jack, and is installed on the press-fit girder 4. The press-fit jack 5 holds the cable 3 a of the ground anchor 3, obtains a reaction force from the ground anchor 3, and can apply pressure input to the caisson housing 2 through the press-fit girder 4. . In this embodiment, as shown to Fig.2 (a), eight press-fitting jacks 5 are arrange | positioned 1 pair at a time between east, west, south, and north.

  The actuating device 6 is a device for actuating the press-fitting jack 5, for example, a variable displacement hydraulic pump (hereinafter sometimes simply referred to as a hydraulic pump) 6a, an electric motor 6b for driving the hydraulic pump 6a, and the electric motor 6b. And an inverter 6c for controlling the number of rotations. That is, the operating device 6 can change the pressure input of the press-fitting jack 5 by changing the rotation speed of the hydraulic pump 6a by the inverter 6c. The hydraulic pump 6a and the press-fit jack 5 are connected via a hydraulic pipe 6d. A relief valve 6e is provided in the middle of the hydraulic pipe 6d.

  The posture measuring device 7 is a device that measures how much the caisson housing 2 is tilted with respect to the vertical axis, and in this embodiment, a depth meter that measures the depth of the caisson housing 2 and an inclinometer that measures an inclination angle. It is composed of The posture measurement device 7 is connected to a posture control device 10 described later, and can transmit measurement data to the posture control device 10. The inclinometer can measure the inclination in two orthogonal directions.

  The pressure input measuring device 8 is composed of, for example, a load cell, and is installed in each press-fit jack 5 so as to measure the pressure input of the jack. The pressure input measuring device 8 is connected to the posture control device 10 and can transmit the measured pressure input data of each press-fit jack 5 to the posture control device 10.

  The stroke amount measuring device 9 includes, for example, an extensometer, a distance meter, and the like, and can measure the stroke amount of each press-fit jack 5. The stroke amount measuring device 9 is connected to the posture control device 10 and can transmit the measured stroke amount data of each press-fit jack 5 to the posture control device 10.

  The posture control device 10 is an automatic posture control means for automatically controlling the press-fit jack 5 via the operation device 6 based on the measurement data sent from the posture measurement device 7, for example, a central processing unit or a storage device. It is comprised from the computer provided with. The attitude control device 10 is connected to the inverter 6c of the operating device 6, and can control the inverter 6c.

FIG. 3 is a block diagram showing the configuration of the attitude control device 10.
The posture control device 10 includes a height difference calculation unit 101 that calculates the height difference of each press-fitting jack 5 based on the posture data of the press-fitting caisson measured by the posture measurement device 7, and each press-fitting based on the height difference of each press-fitting jack 5. A jack operation amount calculation unit 102 that calculates an operation amount of the jack 5, a control signal generation unit 103 that generates a control signal for operating or stopping each press-fitting jack, and each press-fitting jack 5 sent from the pressure input measuring device 8. The total pressure input calculation unit 104 that calculates the total pressure input by summing the pressure input data of the two, the total pressure input determination unit 105 that compares the threshold value stored in advance with the total pressure input, and the stroke amount measuring device 9 A stroke amount determination unit 106 that compares the stroke amount of each press-fitted jack 5 with a limit stroke amount stored in advance, and a data storage unit 107 that stores various data. It has been made.

  The height difference calculation unit 101 calculates the position and height (height difference) of the highest point and the lowest point of the top edge of the caisson housing 2 (see FIG. 1) based on the depth data and the inclination data transmitted from the attitude measurement device 7. It is to calculate. The positions of the highest point and the lowest point can be obtained based on the combined horizontal angle of the two-way inclinometer. The height (height difference) between the highest point and the lowest point can be obtained from the combined vertical angle of the two-way inclinometer and the diameter of the caisson housing 2.

The jack operation amount calculation unit 102 calculates the operation amount of each press-fitting jack 5 based on the position and height of the highest point and the lowest point of the top end of the caisson housing 2 calculated by the height difference calculation unit 101.
As a calculation method, for example, the position of each press-fitting jack 5 is projected on a straight line connecting the highest point and the lowest point of the top end of the caisson housing 2, and according to the distance (separation) from the highest point (or lowest point). It is determined by proportionally distributing the operation amount. The maximum operation amount and the minimum operation amount per jack are determined in advance.

The control signal generator 103 generates an operation signal corresponding to each press-fit jack 5 based on the operation amount of each press-fit jack 5. The generated operation signal is transmitted to the inverter 6 c of the operation device 6. Thereby, the inverter 6c rotates at the rotation speed designated by the operation signal, and each press-fit jack 5 operates with a predetermined operation amount.
The control signal generation unit 103 generates a stop signal according to the determination results of the total pressure input determination unit 105 and the stroke amount determination unit 106 described later. The generated stop signal is transmitted to the inverter 6c of the actuating device 6, and the inverter 6c and consequently the press-fit jack 5 are stopped.
For convenience of explanation, the “operation signal” and the “stop signal” may be collectively referred to as “control signal”.

  The total pressure input calculation unit 104 calculates the total pressure input of the jack by summing the pressure input data of each press-fit jack 5 measured by the pressure input measuring device 8. The calculated total pressure input data is transmitted to the total pressure input determination unit 105.

  The total pressure input determination unit 105 plays a role of comparing the calculated total pressure input with a reference value (threshold value) stored in the data storage unit 107. When the caisson housing 2 is press-fitted close to an important structure, it is necessary to manage so that the total pressure input of the jack does not exceed the reference value. The total pressure input determination unit 105 determines such a condition. When the calculated total pressure input exceeds a threshold (total pressure input ≧ threshold), the control signal generation unit 103 generates a stop signal. Is to be ordered.

  The stroke amount determination unit 106 plays a role of comparing the stroke amount of each press-fit jack 5 measured by the stroke amount measuring device 9 with the limit stroke amount stored in the data storage unit 107. When the maximum stroke amount (hereinafter sometimes referred to as “maximum stroke amount”) of each press-fit jack 5 reaches the limit stroke amount (maximum stroke amount ≧ limit stroke amount), the stroke amount determination unit 106 The control signal generator 103 is instructed to generate a stop signal.

The data storage unit 107 is constituted by a memory device, for example, and plays a role of storing a threshold value that is a determination criterion for total pressure input and a limit stroke amount that is a determination criterion for the stroke amount. The data storage unit 107 is connected to the total pressure input determination unit 105 and the stroke amount determination unit 106, and can read the reference value and limit stroke amount of the total pressure input in response to these requests.
The threshold value that is a criterion for determining the total pressure input is a value determined by the properties of the ground and the structure / strength / importance of the structure, and is determined by comprehensively considering these conditions. The limit stroke amount is a value determined by the performance of the press-fit jack 5.

As shown in FIG. 1, the excavator 11 is an excavator 11 b attached to a lifting machine 11 a such as a crawler crane. The excavator 11 can excavate and collect the ground around the edge 2a of the caisson housing 2 by suspending the bucket 11b in the hollow portion of the caisson housing 2.
In the present embodiment, the bucket type is adopted as the excavator 11, but the invention is not limited to this as long as the press-fitting resistance of the caisson blade edge 2 a can be reduced. You may make it suck | inhale with a mud pump after grind | pulverizing.

<Press-in caisson construction method>
Next, a method for constructing the press-in caisson will be described with reference to FIG. Here, a description will be given by taking as an example the period from immediately after the press-fit jack 5 is refilled to the next refill.

(Attitude measurement step: Step S1)
First, the attitude measurement device 7 measures the attitude of the caisson housing 2. For example, the tilt angle and depth of the caisson housing 2 (hereinafter sometimes referred to as “posture data”) are measured by an inclinometer and a depth meter. The measured posture data is transmitted to the posture control device 10.

(Elevation difference calculation process: Step S2)
When posture data is transmitted from the posture measurement device 7 to the posture control device 10, the height difference calculation unit 101 calculates the height difference between the highest point and the lowest point of the top edge of the caisson housing 2 based on the posture data. To do.

(Jack operation amount calculation process: Step S3)
The jack operation amount calculation unit 102 calculates the operation amount of each press-fitting jack 5 based on the position and height difference between the highest point and the lowest point of the top end of the caisson housing 2. Here, the operation amount may be determined in any unit, but in the present embodiment, it is determined by the rotation speed (Hz) of the inverter 6c. For example, as shown in FIG. 2B, when the highest point is the east side, the lowest point is the west side, and the height difference h is 100 mm, the maximum value of the operation amount is 60 Hz, and the minimum value is 30 Hz. The operation amount of the press-in jacks 5a and 5b whose separation in the east-west direction from the center is substantially the same as the highest point is 60 Hz, and the operation amount of the press-in jacks 5e and 5f whose separation in the east-west direction from the center point O is substantially the same as the lowest point. Is 30 Hz, the distance from the center point O in the east-west direction is approximately half of the highest point, and the operation amount of the press-in jacks 5c, 5h is 52.5 Hz, the distance in the east-west direction from the center point O is approximately half of the lowest point. The operation amount of the press-in jacks 5d and 5g is 37.5 Hz.

(Jack operation process: Step S4)
When the operation amount of the jack is calculated, the control signal generation unit 103 generates an operation signal based on the operation amount. The generated operation signal is transmitted to the operation device 6, and the inverter 6 c rotates based on the operation signal, and each press-fitting jack 5 (5 a to 5 h) operates with an appropriate pressure input.

(Jack pressure input measuring step: step S5)
When the press-fit jack 5 is operated, the pressure input measuring device 8 installed in each press-fit jack 5 measures the pressure input of each press-fit jack 5. The measured pressure input data is transmitted to the total pressure input calculation unit 104 of the attitude control device 10.

(Total pressure input calculation process: Step S6)
The total pressure input calculation unit 104 calculates the total pressure input by summing the pressure inputs of the press-fit jacks 5.

(Total pressure input determination step: Step S7)
When the total pressure input of the press-fit jack 5 is calculated, the total pressure input determination unit 105 reads the reference value (threshold value) of the total pressure input from the data storage unit 107, and compares the total pressure input with the reference value.
Here, when the total pressure input of the press-fit jack 5 is less than the reference value (No in Step S7), the process returns to Step 4 to continue the extension of the press-fit jack 5.

(Jack stop process: Step S8)
On the other hand, when the total pressure input of the press-fit jack 5 is equal to or higher than the reference value (step S7, Yes), the control signal generator 103 generates a stop signal and stops the actuator 6 (press-fit jack 5).

(Drilling process: Step S9)
When the press-in jack 5 is stopped along with the stop of the actuating device 6, the ground near the blade edge 2 a corresponding to the position where the height of the top end of the caisson housing 2 is highest is excavated by the excavator 11. This reduces ground resistance and reduces total pressure input.
When excavating, be careful not to excavate deeper than the caisson blade 2a.

(Jack reactivation process: Step S10)
When excavation is completed, the press-fit jack 5 is re-actuated based on the operation amount calculated in step S3.

(Jack pressure input re-measurement step: step S11)
Then, the pressure input measuring device 8 remeasures the pressure input of each re-actuated press-fit jack 5. The re-measured pressure input data of each press-fit jack 5 is transmitted to the total pressure input calculation unit 104. The total pressure input calculation unit 104 recalculates the total pressure input by adding the remeasured pressure input data of each press-fit jack 5 (total pressure input recalculation step).

(Total pressure input re-determination step: Step S12)
When the total pressure input of the press-fit jack 5 is recalculated, the total pressure input determination unit 105 reads the reference value (threshold value) of the total pressure input from the data storage unit 107, and compares the total pressure input with the reference value again. .

  At this time, when the total pressure input of the press-fit jack 5 is equal to or greater than the reference value (Yes in step S12), the control signal generation unit 103 generates a stop signal and stops the press-fit jack 5 (actuating device 6) again ( Step S8). That is, the attitude control device 10 repeats Steps S8 to S12 until the total pressure input of the press-fit jack 5 becomes less than the reference value. As a result, the caisson housing 2 is not press-fitted into the ground with a total pressure input equal to or higher than the reference value, and the safety of construction can be ensured.

  When the total pressure input of the press-fit jack 5 is less than the reference value (No at Step S12), the press-fit jack 5 is expanded without stopping and the caisson housing 2 is press-fitted into the ground.

(Stroke amount determination step: Step S13)
The degree of expansion of each press-fit jack 5 is measured by a stroke amount measuring device 9 attached to each press-fit jack 5, and the measurement data is transmitted to the stroke amount determination unit 106 of the attitude control device 10.

  Then, the stroke amount determination unit 106 reads the limit stroke amount of the press-fit jack 5 from the data storage unit 107 and compares it with the maximum stroke amount (maximum stroke amount) among the stroke amounts of the press-fit jacks 5. As a result of the comparison, when the maximum stroke amount is less than the limit stroke amount (No in step S13), the process returns to step S4 and the press-fitting of the caisson housing 2 is continued.

(Step S14)
On the other hand, when the maximum stroke amount reaches the limit stroke amount (step S13, Yes), the stroke amount determination unit 106 instructs the control signal generation unit 103 to generate a stop signal. The instructed control signal generation unit 103 generates a stop signal and stops the press-fit jack 5 (actuating device 6).

(Step S15)
When the press-fit jack 5 is stopped, the jack is replaced, the process returns to step S1, and the above steps S1 to S15 are repeated.

  Thereby, the caisson housing 2 can be press-fitted into the ground without controlling the total pressure input while the posture control device 10 controls the posture and pressure input of the caisson housing 2.

  The best mode for carrying out the present invention has been described in detail with reference to the drawings. However, the present invention is not limited to this, and can be appropriately changed without departing from the spirit of the present invention. .

  For example, in this embodiment, when the determination is “No” in step S7 and step S13 in the press-in caisson construction method, the process returns to step S4. However, the present invention is not limited to this. You may return to S1 and measure the attitude | position of the caisson housing | casing 2 again. In this way, the attitude of the caisson housing 2 can be frequently measured and reflected in the control. Therefore, the shake of the caisson housing 2 is reduced and the construction accuracy is improved.

  Although not described in the present embodiment, a notification means for notifying the administrator of the automatic attitude control system of the press-fitting caisson when the total pressure input determination unit determines that the total pressure input exceeds the reference value. You may make it prepare. As the notification means, a method of displaying a warning sign on an alarm device that emits sound, light, or vibration or a display provided in the automatic attitude control system of the press-fitting caisson can be considered. The same applies to the stroke amount determination unit.

It is a schematic block diagram which shows the structure of the press injection caisson system which concerns on this embodiment. It is the figure which showed arrangement | positioning of the jack of the press-fit caisson system which concerns on this embodiment. It is a block diagram of the attitude | position control apparatus of the press injection caisson system which concerns on this embodiment. It is the figure which showed the control flow of the press fit caisson system which concerns on this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Press-in caisson system 2 Caisson housing 3 Ground anchor 4 Press-in girder 5 Press-in jack 6 Actuator 7 Attitude measurement device 8 Pressure input measurement device 9 Stroke amount measurement device 10 Attitude control device 101 Height difference calculation unit 102 Jack operation amount calculation unit 103 Control Signal generation unit 104 Total pressure input calculation unit 105 Total pressure input determination unit 106 Stroke amount determination unit 107 Data storage unit 11 Excavator

Claims (3)

Caisson enclosure,
A press-fit girder installed around the top of this caisson housing,
A plurality of press-fit jacks that are arranged in this press-fit girder and grip the cable from the ground anchor,
An operating means for operating the press-fit jack;
Posture measuring means for measuring the posture of the caisson housing;
Pressure input measuring means for measuring the pressure input of the press-fit jack;
Automatic operation means for automatically determining the operation amount of each press-fit jack by determining the operation amount of each press-fit jack based on the data from the posture measuring means;
An automatic attitude control system for a press-fitting caisson comprising:
The automatic operation means includes
A jack operation amount calculator that calculates the operation amount of each press-fitting jack based on the posture data of the press-fitting caisson measured by the posture measuring means;
A total pressure input calculation unit that calculates the total pressure input by summing the pressure inputs of each press-fitting jack measured by the pressure input measuring means;
A total pressure input determination unit that compares the total pressure input with a prestored threshold;
A control signal generator for generating a control signal for operating or stopping each press-fit jack,
The control signal generation unit generates an operation signal for operating the operation unit based on the operation amount, and when the total pressure input determination unit determines that the total pressure input is larger than the threshold value. An automatic attitude control system for a press-in caisson, wherein a stop signal for stopping the operating means is generated. A stroke amount measuring means for measuring a stroke amount of each press-fit jack;
The automatic operation means further includes a stroke amount determination unit that compares a maximum value and a limit stroke amount among stroke amounts of the press-fit jacks measured by the stroke amount measurement unit,
The control signal generating unit generates a stop signal for stopping the operating means when the stroke amount determining unit determines that the maximum value of the stroke amount of each press-fit jack is larger than the limit stroke amount. The automatic attitude control system for a press-fitting caisson according to claim 1. A press-in caisson construction method using the press-in caisson automatic attitude control system according to claim 1,
An attitude measurement step of measuring the attitude data of the press-fitting caisson by the attitude measurement means;
Based on the posture data, a jack operation amount calculation step for calculating an operation amount of each press-fit jack,
A jack operation step of operating each press-fit jack based on the operation amount of each press-fit jack;
Jack pressure input measuring step of measuring the pressure input of each press-fit jack by the pressure input measuring means;
A total pressure input calculation step of calculating the total pressure input by summing the pressure inputs of each press-fit jack;
A total pressure input determining step of comparing the total pressure input with a prestored threshold;
A jack stop step of stopping the press-fit jack when the total pressure input has reached the threshold;
Excavation process for excavating the ground around the edge of the higher caisson housing after the press-in jack stops,
A jack re-actuating step of re-actuating each press-fit jack based on the operating amount;
Jack pressure input re-measurement process for re-measurement of pressure input of each press-fit jack after excavation;
A total pressure input recalculation step for recalculating the total pressure input after excavation by summing the pressure inputs of each recalculated press-fit jack,
A method for constructing a press-in caisson, comprising: a total pressure input redetermination step for comparing the total pressure input after excavation with the threshold value.

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