JP2010261298A - Management system and method of finished shape - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize a management system and method of finished shape capable of performing an easier management of finished shape. <P>SOLUTION: In a management system of finished shape 100, since a finished shape of pile member P1 which is press-fitted in the ground is indicated on a display 42 as a virtual figure (computer graphics), a user can confirm an embedded part of the pile member P1 which is not visually observed as it is press-fitted in the ground by visual observation of the virtual figure of the pile member P1 indicated on the display 42. And since the finished shape of the pile member P1 (existing pile P) is indicated on the display 42 and various data (reference amount, displacement volume, embedded length or the like) related to the finished shape is numerically expressed at almost same timing when the press-fitting of the pile member P1 is completed, the user can easily perform the management of the finished shape without surveying the pile member P1 (existing pile P) after execution of construction. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a finished shape management system and a finished shape management method for steel sheet piles or the like to be placed in the ground.

  Conventionally, a technique is known in which a protective pipe containing an inclinometer is attached to a joint portion of a steel sheet pile placed in the ground to measure the inclination of the steel sheet pile during or after placement ( For example, see Patent Document 1.)

Japanese Patent Laid-Open No. 10-245845

  However, in the case of the above-mentioned Patent Document 1, management related to the inclination of pile materials such as steel sheet piles is possible, but the finished shape of pile materials (for example, reference height, displacement amount, penetration depth, etc.) that has been placed is managed. In order to do so, the top end of the pile material protruding from the ground surface must be surveyed and calculated, and the work for managing the finished shape takes labor and time. It was annoying. Moreover, when the pile material rotated around the joint part, the discrimination could not be performed.

  An object of the present invention is to provide a product management system and a product management method that enable easier product management.

In order to solve the above problems, the invention described in claim 1 is a work-form management system,
A plurality of gauges attached to piles that are press-fitted into the ground;
A three-dimensional position measuring device that measures the position of the gauge that fluctuates with the press-fitting of the pile material;
A coordinate calculation control unit that calculates coordinate data related to the posture of the pile material based on the position data of the top end joint fitting portion of the existing pile material and the position data of the measurement measured by the three-dimensional position measuring device;
Based on the coordinate data calculated by the coordinate calculation control unit, a display unit for displaying the posture of the pile material,
It is characterized by providing.

The invention described in claim 2 is the finished product management system according to claim 1,
The display unit displays a display figure corresponding to the posture of the pile material, thereby displaying a movement trajectory of the pile material and a finished shape in which the pile material has been press-fitted.

The invention as set forth in claim 3 is the ready-made management system according to claim 1 or 2,
In the placing process by a pile presser that presses the pile material into the ground repeatedly by holding the pile material and raising and lowering the chuck device, the three-dimensional position measuring device is previously included in the measurement The position of the determined first measurement is measured, the position data is received at a predetermined timing, and a predetermined timing signal transmitted when the pile presser lifts the chuck device by releasing the pile material. A signal receiving unit for receiving,
As the signal receiving unit receives the timing signal, the three-dimensional position measuring device measures the position of a predetermined second measurement target among the measurement targets, and the position data is transmitted to the signal receiving unit. It is received by.

The invention according to claim 4 is the work piece management system according to any one of claims 1 to 3, and the posture of the pile material is appropriate based on the coordinate data calculated by the coordinate calculation control unit. A determination control unit for determining whether or not
When the determination control unit determines that the posture of the pile material is not appropriate, a warning for notifying the abnormality of the pile material is displayed on the display unit.

The invention described in claim 5 is the work management system according to claim 4,
For a pile press machine that press-fits the pile material into the ground, a signal output unit that outputs an instruction signal for remotely operating the pile press machine,
When the determination control unit determines that the posture of the pile material is not appropriate, the warning output instruction signal for notifying the abnormality of the pile material is output from the signal output unit to the operation unit of the pile press-fitting machine. And

The invention described in claim 6 is the work management system according to claim 5,
When the determination control unit determines that the posture of the pile material is not appropriate, the signal output unit outputs a stop instruction signal for stopping the pile press-fitting machine.

The invention according to claim 7 is a work-form management method,
Measure the position of multiple gauges attached to the pile material that is press-fitted into the ground with a three-dimensional position measuring instrument,
Next, based on the position data of the top end joint fitting part of the existing pile material and the position data of the measurement measured by the three-dimensional position measuring device, coordinate data relating to the posture of the pile material is calculated, and the coordinate data The display figure corresponding to the posture of the pile material is displayed on a predetermined display unit based on the above, and the movement trajectory of the pile material and the completed shape where the pile material has been press-fitted are displayed.

According to the present invention, since the posture of the pile material press-fitted into the ground can be displayed on the display unit as a virtual display graphic, for example, the user can display the pile graphic display graphic displayed on the display unit. By visually confirming, it becomes possible to confirm the root portion of the pile material that is actually press-fitted into the ground and cannot be visually observed.
In particular, since the movement trajectory and finished shape corresponding to the posture of the pile material that is press-fitted are automatically displayed on the display unit, it is easier to manage the finished shape of the pile material without surveying the pile material after construction. It can be performed.

It is explanatory drawing which shows the concept of the completed form management system which concerns on this invention. It is explanatory drawing which shows the state which made the pile material newly press-fit fit in the joint part of the existing pile material. It is explanatory drawing which shows the state of the press injection process which raises / lowers a chuck | zipper apparatus and drives a pile material in the ground. It is explanatory drawing which shows an example of the display screen displayed on the display part of the work form management apparatus in a work form management system, and the pile material (a) at the time of press-fit start, the pile material (b) in press-fit, after press-fit completion Pile material (c) is shown. It is explanatory drawing which shows an example of the display screen displayed on the display part of the work form management apparatus in a work form management system, and has shown the work form of the pile row. It is a flowchart which shows the process process of the completed form management method which concerns on this invention. It is a flowchart which shows the interruption process process of the completed form management method which concerns on this invention.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a product form management system and a work form management method according to the present invention will be described below in detail with reference to the drawings.

  As shown in FIG. 1, the finished shape management system 100 includes a plurality of gauges 20 attached to a pile material P1 to be pressed into the ground G by a pile presser 10, and a three-dimensional position measurement for measuring the position of the gauge 20. A shape management device 40 that performs predetermined processing on the position data of the gauge 20 measured by the three-dimensional position measuring device 30 and acquires information on the arrangement, posture, and shape of the pile material P1. , Is configured.

  The pile press machine 10 is a press machine that presses a pile material P1 such as a sheet pile into the ground, and a plurality of (for example, three) clamps that hold and support the upper end side of the existing pile P that is already press-fitted into the ground G. A saddle 12 provided with devices 11, a slide base 13 that can move back and forth with respect to the saddle 12, a leader mast 14 that can turn left and right on the slide base 13, and a front face of the leader mast 14 that can be raised and lowered. A chuck device 15, a main hydraulic cylinder 16 that drives the chuck device 15 up and down with respect to the leader mast 14, a press-fitting machine operation unit 17 that is operated by an operator, and the like are provided. Moreover, the pile material P1 is a pile material which is a steel sheet pile, a steel pipe sheet pile, a concrete sheet pile, a PC wall body, etc., and press-fits with the press-fitting machine.

The clamp device 11 supports the pile press-fitting machine 10 on the upper end portion of the existing pile P by grasping the upper end side of the existing pile P previously press-fitted.
In particular, the clamping device 11 takes the reaction force from the existing pile P that is held and supported, and the pile presser 10 is arranged so that the pile presser 10 can press-fit the new pile material P1 in line with the existing pile P. It installs in the upper end part of the existing pile P.
The clamp devices 11 are movable to the left and right or back and forth with respect to the saddle 12, except for the clamp device 11 serving as the leading reference, for example, and are aligned along a curved line such as an arc. It is possible to grip the upper ends of the plurality of existing piles P (pile rows) press-fitted with the plurality of clamping devices 11 and the intervals between the piles in the pile rows may be slightly different. It can be supported.

The slide base 13 moves forward with respect to the saddle 12 and moves the chuck device 15 horizontally to the front side, so that the tip of the existing pile P supported by the leading clamp device 11 is moved without moving the saddle 12. In addition, it is possible to press-fit two piles side by side in the front-rear direction.
The leader mast 14 can be turned left and right with respect to the slide base 13 so that the direction of the rows of piles that are press-fitted in sequence can be bent at a right angle or bent. .
The slide base 13 and the leader mast 14 allow the chuck device 15 to move in the horizontal direction with respect to the saddle 12 provided with the clamp devices 11.

The chuck device 15 is in a state in which the back side thereof is fitted to the front side of the leader mast 14 so as to be movable up and down, and is driven up and down by a main hydraulic cylinder 16 connected to the leader mast 14 and the chuck device 15. ing.
Further, inside the chuck device 15, there is provided a pile gripping portion (not shown) that operates by driving a predetermined hydraulic cylinder and presses and grips the pile material P <b> 1 penetrating vertically from the outside.
And since the raising / lowering range of the chuck device 15 is limited, the chuck device 15 is lowered by gripping the pile material P1, and the chuck device 15 is lifted by releasing the pile material P1. Yes. Thereby, the press-in of the pile material P1 is repeated for each stroke, and the pile material P1 can be pressed into the ground deeper than the lifting range of the chuck device 15.

The press-fitting machine operation unit 17 includes, for example, a communication unit 17a that includes an antenna for performing wireless communication with the work-form management device 40, transmits and receives various signals, a display unit 17b that displays various screens, and the above-described units. A control unit 17c for overall control is provided.
When the chuck device 15 in the pile press-fitting machine 10 is lifted away from the pile material P1, the communication unit 17a transmits a predetermined timing signal to the finished shape management device 40. Since the pile material P1 is kept stationary with respect to the ground G while the chuck device 15 is lifted away from the pile material P1, this timing signal can indicate the timing when the pile material P1 is stationary. The shape management device 40 can be notified.
In addition, the communication unit 17 a receives the radio signal output from the work-form management device 40.
The display unit 17b displays various display screens based on a radio signal output from the work-form management device 40, for example, a warning notification screen based on a warning notification instruction signal.
The control unit 17c detects the operation of the pile press-in machine 10 and, for example, transmits a predetermined timing signal from the communication unit 17a in accordance with the timing when the chuck device 15 is lifted by releasing the pile material P1, or the communication unit 17a. The warning notification screen based on the warning notification instruction signal received in step S1 is displayed on the display unit 17b.
Moreover, the control part 17c stops operation | movement of the pile press-fit machine 10 based on the stop instruction | indication signal which is a radio signal received with the communication part 17a.
In this manner, the pile press-in machine 10 has a wireless communication function with the finished product management device 40, and is remotely controlled by receiving a remote operation signal from the finished product management device 40. Yes.

  In addition, when the pile press-in machine 10 sequentially press-fits the pile material P1, the saddle 12 including the clamp device 11 is moved with respect to the existing press-in pile P that is newly press-fitted so as to correspond to one pile P. Can move forward. Since the operation | movement regarding the movement on the pile row | line | column of this pile press-in machine 10 and the operation | movement which connects the pile material P1 and constructs a pile row | line | column are the same as that of a conventionally well-known thing, it is not explained in full detail here.

  The gauge 20 is, for example, a reflecting prism or a reflecting sheet, and is attached to a predetermined reference position on the upper end side of the pile material P1 that is press-fitted into the ground by the pile press-in machine 10. In particular, the gauge 20 is attached to a pile material portion (for example, a top end portion) that is not embedded in the ground in a direction in which position measurement by the three-dimensional position measuring device 30 is possible. In addition, since a plurality of gauges 20 are provided, rotation and inclination of the pile material P1 can be accurately determined, which is preferable.

The three-dimensional position measuring device 30 is, for example, a three-dimensional total station having an automatic collimation function and an automatic tracking function. The three-dimensional position measuring device 30 irradiates search light such as a laser to the measurement target 20 and reflects light from the measurement target 20. Is detected, and the position of the gauge 20 is measured. Further, the three-dimensional position measuring device 30 may detect the position using the AF function of the digital camera.
The three-dimensional position measuring device 30 is installed at a predetermined reference point or a point where coordinate values are determined, and by measuring the distance and angle from the reference point to the gauge 20, It is possible to accurately measure the position of the gauge 20 by associating the positional relationship of the gauge 20.
Further, the three-dimensional position measuring device 30 has a wireless communication function with the work-form management device 40, and transmits the measured position data of the target 20 to the work-form management device 40, or the work-form management device 40. Receive remote control signals.

  The product management apparatus 40 includes, for example, an operation unit 41, a display unit 42, a communication unit 43, a control unit 44, and the like.

The operation unit 41 is, for example, a keyboard, a mouse, a touch panel arranged on the display unit 42, and the like. The operation unit 41 causes the three-dimensional position measuring device 30 to measure the position of the target 20, or the three-dimensional position measuring device 30. The user inputs a remote operation instruction for transmitting the position data of the target 20 detected by the position measurement of the target 20 to the ready-made management device 40.
The operation unit 41 is for inputting an operation instruction for performing a predetermined process on the position data of the measurement target 20 acquired from the three-dimensional position measuring device 30 by the work-form management device 40.
In addition, data (for example, the length, size, shape, etc. of the pile material P1) related to the pile material P1 necessary for managing the finished shape of the pile material P1 can be input in advance via the operation unit 41. .

The display unit 42 is, for example, a liquid crystal display, and displays the position data of the gauge 20 acquired from the three-dimensional position measuring device 30 and the posture data of the pile material P1 based on the position data.
In particular, the display unit 42 displays a virtual display figure corresponding to the posture of the pile material P1, so that the movement trajectory of the pile material P1 that is press-fitted into the ground and the pile material P1 that has been press-fitted are already installed. It is possible to display the completed shape as the pile P.

The communication unit 43 includes an antenna for performing wireless communication with the three-dimensional position measuring device 30 and the pile press-in machine 10 and transmits and receives various signals.
And the communication part 43 functions as a signal output part which outputs the operation signal for remotely operating the three-dimensional position measuring device 30 and the pile presser 10.
Further, the communication unit 43 functions as a signal receiving unit that receives a predetermined timing signal transmitted from the communication unit 17 a of the press-fitting machine operation unit 17. Further, the communication unit 43 functions as a signal receiving unit that receives the position data of the target 20 transmitted from the three-dimensional position measuring device 30.
In particular, the communication unit 43 receives the position data of the target 20 transmitted from the three-dimensional position measuring device 30 and sends the position data to the control unit 44.

  The control unit 44 includes, for example, a CPU (Central Processing Unit) 44a, a RAM (Random Access Memory) 44b, a storage unit 44c, and the like.

  For example, the CPU 44a performs various control processes according to various processing programs for the finished product management apparatus 40 stored in the storage unit 44c.

  The RAM 44b includes, for example, a program storage area for expanding a processing program executed by the CPU 44a, a data storage area for storing input data, a processing result generated when the processing program is executed, and the like.

The storage unit 44c is, for example, a system program that can be executed by the work-form management device 40, various processing programs that can be executed by the system program, data that is used when these various processing programs are executed, and arithmetic processing performed by the CPU 44a. The processing result data and the like are stored.
For example, a position data acquisition program, a coordinate calculation control program, a virtual figure creation program, a figure display control program, a judgment control program, a warning display program, a warning notification program, an emergency stop program, and the like are stored in the storage unit 44c as processing programs. ing.
The program is stored in the form of a program code that can be read by a computer.

Specifically, when the CPU 44a executes the position data acquisition program, the control unit 44 remotely controls the three-dimensional position measuring device 30 to automatically track the gauge 20 during the press-fitting of the pile material P1, thereby performing position measurement. The communication unit 43 receives the measured position data and acquires the position data, and the communication unit 43 receives a predetermined timing signal transmitted from the communication unit 17a of the press-fitting machine operation unit 17. Accordingly, the three-dimensional position measuring device 30 is remotely operated to cause the three-dimensional position measuring device 30 to measure the position of the measurement target 20 (first measurement target), and then the other measurement target 20 (second measurement target). It functions as a position data acquisition control unit that performs position measurement of the measurement target, receives the measured position data of the measurement target 20 by the communication unit 43, and acquires the position data.
Note that the timing at which the communication unit 43 receives the predetermined timing signal is the timing at which the chuck device 15 in the pile press-in machine 10 rises away from the pile material P1, and corresponds to the state in which the pile material P1 is stationary. Therefore, the position of the gauge 20 can be accurately measured by measuring the position of the gauge 20 attached to the pile material P1 in the stationary state with the three-dimensional position measuring device 30. Moreover, it is good also as a manual input signal from the operation part 41 instead of the said timing signal.

Further, the control unit 44 executes the coordinate calculation control program by the CPU 44a, based on the position data of the measurement 20 measured by the three-dimensional position measuring device 30, and the pile material P1 to which the measurement 20 is attached. It functions as a coordinate calculation control unit that calculates coordinate data related to the posture of the camera. By plotting these coordinate data in a predetermined coordinate space along the calculated time series, it is possible to estimate the change in posture of the pile material P1 over time. For example, the direction and inclination of the pile material P1 being pressed into the ground, the extent to which the pile material P1 is pressed into the ground (the length of the pile material P1 buried in the ground, the length of the pile material P1 remaining on the ground surface) The posture of the pile material P1 with respect to the ground G can be estimated.
In addition, the control part 44 as a coordinate calculation control part performs the regression calculation and correction | amendment calculation which refer as a parameter | index the coordinate data of the pile material P1 which completed the press fit previously and became the existing pile P, More accurate coordinate data can be calculated regarding the posture of the pile material P1.
The control unit 44 functions as a virtual figure creation control unit that creates virtual display figure data corresponding to the posture of the pile material P1 based on the calculated coordinate data by the CPU 44a executing the virtual figure creation program. To do. In addition, the control part 44 as a virtual figure preparation control part also has a function which produces the dimension data regarding the attitude | position of a pile material P1, and a completed shape based on coordinate data and the produced display figure data.
The control unit 44 functions as a graphic display control unit that causes the display unit 42 to display a display graphic corresponding to the created virtual display graphic data when the CPU 44a executes the graphic display control program. The control unit 44 as a graphic display control unit also has a function of displaying coordinate data and dimension data corresponding to the display graphic in accordance with the display graphic.
Then, the control unit 44 as the graphic display control unit displays a virtual display graphic (for example, computer graphics of pile material arranged in the virtual space) based on the coordinate data on the display unit 42, so that The figure corresponding to the posture of the pile material P1 will be displayed on the display unit 42, the movement trajectory of the pile material P1 that is press-fitted into the ground (post-compression posture), and the pile material P1 has been press-fitted. It is possible to visually recognize the finished shape as the existing pile P.

Next, the calculation of coordinates will be described in detail.
FIG. 2 shows that the pile material P1 to be newly press-fitted is fitted to the joint portion of the existing pile material P, and the chuck device 15 (however, omitted in FIG. 2) of the pile press-in machine 10 shown in FIG. (The illustration is omitted in FIG. 2). At this time, a measurement (first measurement) 20a and a measurement (second measurement) 20b are attached to the top of the pile material P1. Prior to the construction of the pile material P1, the gauge 20 is attached to the top end joint fitting portion of the existing pile material P, the position of the gauge 20 is measured by the three-dimensional position measuring device 30, and the finished shape management device 40 acquires the position data. The gauge 20 is removed after the position measurement is completed.
Next, the positions of the measurement target 20a and the measurement target 20b attached to the pile material P1 are similarly measured, and position data is acquired. At this time, since the shape dimension of the pile material P1 is known, if it is assumed that there is no deformation due to an external force, the pile material P1 extending with the top end joint fitting portion of the existing pile material P having a known position coordinate as a passing point. The coordinates of the tip 50 and the other tip a and tip e are easily obtained. The control unit 44 of the finished shape management apparatus 40 displays a display graphic corresponding to the posture of the pile material P1 on the display unit 42 based on the coordinate data of each point.

FIG. 3 shows a state of a press-fitting process in which the pile device P1 is driven into the ground by raising and lowering the chuck device 15 (not shown in FIG. 3) shown in FIG. In the three-dimensional position measuring device 30, for example, a preset measurement (first measurement) 20a is automatically tracked and press-fitting is started. And the position data of the measurement target 20a which moves every moment with press-fitting is acquired at a predetermined timing. At this time, the movement vector of the target 20b is the same as the movement vector of the target 20a, and the coordinates of the targets 20a and 20b are calculated. The control unit 44 of the finished shape management device 40 calculates the coordinates of the tip 50 of the pile material P1 and other points using the top end joint fitting portion of the existing pile material P calculated at the start of press-fitting as described above, A display graphic for the posture of the pile material P1 is displayed on the display unit 42 based on the coordinate data of each point.
Next, when the communication unit 43 of the finished shape management device 40 receives a predetermined timing signal transmitted when the pile presser 10 releases the pile material P1 and raises the chuck device 15, that is, the pile material P1 is grounded. When the stationary state is maintained without receiving the action from the pile presser 10 with respect to G, the position data of the measurement (first measurement) 20a automatically tracked by the three-dimensional position measuring device 30 is acquired. Next, another measurement (second measurement) 20b is measured to acquire position data. Then, the control unit 44 of the finished shape management device 40 similarly uses the position of the tip 50 of the pile material P1 at the start of press-fitting (corresponding to the position of the ground (G)) as the passing point, and the tip 50 of the pile material P1 and others. The coordinates of the points (tip a, tip e) are calculated, and a display figure for the posture of the pile material P1 is displayed on the display unit 42 based on the coordinate data of each point. The coordinate data of the measurement target (second measurement target) 20b while the pile material moves from the stationary state to the next stationary state is recalculated at this timing, and the coordinate data of each point is corrected. Therefore, it is possible to accurately grasp the behavior when the pile material P1 rotates around the joint fitting portion with the existing pile material P.

  When the above steps are completed, the three-dimensional position measuring instrument 30 again automatically tracks the measurement (first measurement) 20a at the top of the pile material P1, and the above procedure is repeated to a predetermined depth. At a predetermined depth, that is, at the time of stopping, each position of the pile material P1 using the position data of the measurement (first measurement) 20a and the measurement (second measurement) 20b and the pile material tip 50 one step before as a virtual passing point Since the coordinates of the tip are calculated, it is possible to accurately estimate the tip position of the underground pile material that is an invisible part. In addition, since the position data of the measurement reference (first measurement reference) 20a at the time of stop is the position data of the top joint joint portion of the existing pile material with respect to the pile material to be pressed in next, the measurement target 20 is newly installed. There is no need to measure the position.

Specifically, as shown in FIGS. 4 and 5, the movement trajectory and the finished shape of the pile material P1 press-fitted into the ground are displayed on the display unit 42 as virtual figures. For example, as shown in FIGS. 4A, 4 </ b> B, and 4 </ b> C, the process in which the pile material P <b> 1 is press-fitted into the ground (the ground G) is displayed by the shape figure of the pile material and relates to the pile material P <b> 1. The coordinate data of important points is displayed. Further, for example, as shown in FIG. 5, computer graphics and dimension data indicating a pile row in which pile materials P <b> 1 are continuously arranged are displayed.
When the user visually recognizes the virtual figure of the pile material P1 displayed on the display unit 42, there is an advantage that an inlaid portion that cannot be visually recognized by the pile material P1 actually press-fitted into the ground can be confirmed.
In particular, almost simultaneously with the completion of the press-fitting of the pile material P1, the shape of the pile material P1 (existing pile P) is displayed on the display unit 42, and various data relating to the shape based on the coordinate data and virtual display graphic data, for example, , The reference height of the ground part of the pile material P1 (existing pile P), the displacement amount of the pile material P1 (existing pile P) relative to the pile row, the penetration of the pile material P1 (existing pile P) buried in the ground Since the length and the like are numerically shown, the user can easily grasp the finished shape of the pile material P1.
That is, by using this finished shape management system 100, it is possible to save the trouble of performing surveying on the pile material P1 (existing pile P) after construction, so that it is possible to manage the finished shape more easily.

Moreover, the control part 44 judges whether the attitude | position of the pile material P1 is appropriate based on the coordinate data calculated by the control part 44 as a coordinate calculation control part, when CPU44a runs a judgment control program. Functions as a judgment control unit.
The control unit 44 as a determination control unit determines that the calculated coordinate data exceeds the allowable range related to the coordinate data, and the inclination of the pile material P1 obtained by plotting the coordinate data exceeds the threshold value related to the verticality. According to the determination, the posture of the pile material P1 is determined to be not appropriate. That is, when the pile material P1 has been pressed in from a planned point or when the pile material P1 has been tilted without obtaining the prescribed verticality, the posture of the pile material P1 is not appropriate. It is judged.
Moreover, the control part 44 is a warning which alert | reports abnormality of the pile material P1, when the judgment control part (44) determines that the attitude | position of the pile material P1 is not appropriate, and CPU44a runs a warning display program. Is displayed on the display unit 42 as a warning display control unit. Similarly, when the determination control unit (44) determines that the posture of the pile material P1 is not appropriate, the control unit 44 executes the warning notification program so that the communication unit 43 as a signal output unit is executed. Warning notification instruction signal for outputting a warning notification instruction signal to the pile press-fitting machine 10 (press-fitting machine operation unit 17) and displaying a warning notification screen for notifying abnormality of the pile material P1 on the display unit 17b of the press-fitting machine operation unit 17 Functions as a control unit.
A predetermined warning is displayed on the display unit 42 by the control unit 44 as the warning display control unit, and the display unit 17b of the press-fitting machine operation unit 17 is displayed by the control unit 44 as the warning notification instruction control unit. Since the user or the operator of the pile press-in machine 10 can recognize that some abnormality has occurred in the pile material P1 by displaying a predetermined warning, the state of the pile material P1 can be confirmed, or the pile press-in It becomes possible to cope with the machine 10 being stopped.

In addition, when the determination control unit (44) determines that the posture of the pile material P1 is not appropriate, the control unit 44 executes the emergency stop program so that the communication unit 43 as a signal output unit It functions as an emergency stop controller that outputs a stop instruction signal for stopping the pile press-in machine 10.
And by the control part 44 as this emergency stop control part, the pile presser 10 (pressing machine operation part 17) is remotely operated and stopped, and the pile material P1 will be press-fit with an abnormal state. Can be prevented.

  Next, a finished shape management method for managing the finished shape of the pile material P1 press-fitted into the ground by the pile press-in machine 10 with the created shape management system 100 will be described with reference to the flowcharts shown in FIGS.

First, the user activates the pile shape presser 10 and the three-dimensional position measuring device 30 and operates the operation unit 41 of the result shape management device 40 to activate the result shape management system 100 (step S1). In addition, the measuring material 20 is each attached to the pile material P1 which the pile press-fit machine 10 press-fits in the ground in the several predetermined position set beforehand.
The activated three-dimensional position measuring device 30 tracks the measurement target (first measurement target) 20 attached to the pile material P1 press-fitted into the ground by the pile press-in machine 10 by the automatic collimation function and the automatic tracking function. It is set as a side marker to be used (step S2), the position of the measurement target 20 is measured at a predetermined timing, and position data of the measurement target 20 is acquired (step S3).
Then, the three-dimensional position measuring device 30 transmits the acquired position data to the ready-made management device 40, and the ready-made management device 40 receives the transmitted position data (step S4).

Next, the control unit 44 of the work-form management device 40 calculates coordinate data related to the posture of the pile material P1 to which the measure 20 is attached based on the position data of the measure 20 received via the communication unit 43. Further, the control unit 44 creates virtual pile material graphic data corresponding to the posture of the pile material P1 based on the coordinate data, and displays the display graphic corresponding to the virtual pile material graphic data based on the coordinate data. It displays on the display part 42 so that it may distribute to virtual space (step S5).
In this way, based on the coordinate data corresponding to the actual posture of the pile material P1, the computer graphics of the virtual pile material that becomes a model of the posture of the pile material P1 is displayed on the display unit 42 (see FIGS. 4 and 5). ) The user can recognize the arrangement, posture, and finished shape of the pile material P1 by making the computer graphics correspond to the actual pile material P1.

Next, the control unit 44 of the finished shape management device 40 determines whether or not the coordinate data related to the pile material P1 being press-fit is outside the allowable range, or the inclination of the virtual pile material based on the coordinate data is a threshold value related to verticality. It is judged whether or not (step S6).
When the control unit 44 determines that the coordinate data is data outside the allowable range and the inclination of the virtual pile material based on the coordinate data exceeds a threshold value related to verticality (step S6; Yes), the control unit 44 A warning display indicating that there is an abnormality in the posture of the pile material P1 is displayed on the display unit 42 and the display unit 17b of the press-fitting machine operation unit 17 (step S7), and the process proceeds to step S9.
On the other hand, when the control unit 44 determines that the coordinate data is data within an allowable range, and the inclination of the virtual pile material based on the coordinate data does not exceed the threshold value related to the verticality (step S6; No), the process proceeds to step S8. move on.

In step S <b> 8, the control unit 44 determines whether or not the pile material P <b> 1 has been press-fitted by the pile press-in machine 10 (for example, whether the press-fitting of the number of pile materials P <b> 1 set in advance as the planned number of works has been completed (No) is determined (step S8).
When the control unit 44 determines that the press-fitting is continuing (step S8; Yes), the process returns to step S3, obtains position data corresponding to the pile material P1 whose posture has changed, and continues the finished shape management process.
On the other hand, when the control unit 44 determines that the press-fitting work is completed (step S8; No), the process proceeds to step S9.

  In step S9, the control unit 44 stops the completed shape management system 100 (step S9), stops the pile presser 10 and the three-dimensional position measuring device 30, and ends the completed shape management process.

Further, during the pile press-fitting, the timing when the chuck device 15 of the press-fitting machine 10 is lifted away from the pile material P1, more specifically, the communication unit 43 of the finished shape management device 40 is connected to the communication unit 17a of the press-fitting machine operation unit 17. The control unit 44 of the finished shape management device 40 processes the interruption routine at the timing when the predetermined timing signal transmitted from the receiver is received and the pile material P1 is stationary, and is attached to the pile material P1. By measuring the position of the measured target 20 with the three-dimensional position measuring device 30, the position data of the measured target 20 can be obtained with high accuracy.
Specifically, as illustrated in FIG. 7, when the control unit 44 receives a predetermined timing signal, the control unit 44 starts an interrupt process, and the measurement target (first measurement target) 20 a that is being tracked by the three-dimensional position measurement device 30. Position data is acquired (step S11).

Next, the control unit 44 causes the three-dimensional position measuring device 30 to transmit the acquired position data to the ready-made management device 40, and the communication unit 43 of the ready-made management device 40 receives the transmitted position data. (Step S12).
Next, the control unit 44 causes the three-dimensional position measuring device 30 to measure the position of the other measurement target (second measurement target) 20 (step S13), and the communication unit 43 determines the measured measurement (second measurement target). The position data of the measurement 20) is received (step S14), and the position data is acquired.

Next, the control unit 44, for example, the tip of the pile material P1 in FIG. 3 based on the acquired position data of the measurement target (first measurement) 20a and the position data of the other measurement target (second measurement) 20 The coordinates of 50 and other points (tip a, tip e) are calculated, and a display graphic for the posture of the pile material P1 is displayed on the display unit 42 based on the coordinate data of each point (step S15).
Next, the control unit 44 performs setting so that the three-dimensional position measuring device 30 automatically tracks the measurement (first measurement) 20a at the top of the pile material P1 again, and ends the interrupt processing.

As described above, according to the completed shape management system 100 according to the present invention, the completed shape of the pile material P1 press-fitted into the ground is displayed on the display unit 42 as a virtual figure, and thus displayed on the display unit 42. Since the user visually recognizes the virtual figure (computer graphics) of the pile material P1 to be performed, it is also possible to confirm the root portion of the pile material P1 that is actually press-fitted into the ground and cannot be visually observed. Contribute to quality assurance.
In particular, the completed part of the pile material P1 (existing pile P) is displayed on the display unit 42 almost simultaneously with the completion of press-fitting of the pile material P1, and various data (reference height, displacement amount, penetration depth, etc.) regarding the completed form are displayed. ) Is numerically shown and the user can easily grasp the finished shape of the pile material P1.
In other words, if the pile shape P1 can be managed by the shape management system 100, it is possible to save the trouble of surveying the pile material P1 (existing pile P) after construction, so that the shape management can be performed more easily. Since it can be performed, it is possible to simplify the on-site confirmation inspection.

  Further, according to the completed shape management system 100, if it is determined from the coordinate data regarding the pile material P1 that is being press-fitted that the posture of the pile material P1 is not appropriate, for example, an abnormal inclination occurs, Since the warning is performed or the pile press-fitting operation is urgently stopped, it is possible to prevent the pile material P1 from being press-fitted in an abnormal state.

  In the above embodiment, the three-dimensional position measuring device 30 and the finished shape management device 40 are configured to be capable of wireless communication. However, the present invention is not limited to this, and for example, a cable is used. The configuration may be such that the wired communication can be performed, or the three-dimensional position measuring device 30 and the finished shape management device 40 may be integrated.

  Moreover, in the above embodiment, although the completed shape of the pile material P1 (existing pile P) was displayed on the display part 42, this invention is not limited to this, For example, according to the coordinate data of the pile material Based on CAD data and GIS data, it may be reflected in a design book (CAD diagram, map) and printed out. Further, data relating to the finished shape may be recorded on a recording medium and output from the system.

  Moreover, in the above embodiment, the warning regarding the occurrence of some abnormality in the pile material P1 is displayed on the display unit 42 and the display unit 17b of the press-fitting machine operation unit 17, and the notification is made. However, the present invention is limited to this. For example, an abnormal warning may be notified by generating an alarm sound by ringing an alarm or the like.

In the above embodiment, a plurality of position indicators are measured by one three-dimensional position measuring device. However, it is also possible to measure a plurality of positions by using a plurality of three-dimensional position measuring devices. is there.
In addition, it is needless to say that other specific detailed structures can be appropriately changed.

DESCRIPTION OF SYMBOLS 10 Pile press-fit machine 17 Press-fit machine operation part 20 Measurement 20a 1st measurement 20b 2nd measurement 30 3D position measuring device 40 Work shape management apparatus 41 Operation part 42 Display part 43 Communication part (Signal reception part, signal output part) )
44 control unit (coordinate calculation control unit, determination control unit)
100 Ready-made management system P1 Pile material P Existing pile

Claims (7)

A plurality of gauges attached to piles that are press-fitted into the ground;
A three-dimensional position measuring device that measures the position of the gauge that varies with the press-fitting of the pile material;
A coordinate calculation control unit that calculates coordinate data related to the posture of the pile material based on the position data of the top end joint fitting portion of the existing pile material and the position data of the measurement measured by the three-dimensional position measuring device;
Based on the coordinate data calculated by the coordinate calculation control unit, a display unit for displaying the posture of the pile material,
A product management system characterized by comprising:   2. The display unit according to claim 1, wherein the display unit displays a display figure corresponding to the posture of the pile material, thereby displaying a movement trajectory of the pile material and a finished shape in which the pile material has been press-fitted. System for managing the finished product. In the placing process by a pile presser that presses the pile material into the ground repeatedly by holding the pile material and raising and lowering the chuck device, the three-dimensional position measuring device is preliminarily included in the measurement target. Predetermined timing transmitted when the position data of the determined first measurement is measured and the position data is received at a predetermined timing and the pile presser lifts the chuck device by releasing the pile material A signal receiving unit for receiving a signal;
As the signal receiving unit receives the timing signal, the three-dimensional position measuring device measures a position of a predetermined second measurement among the measurements, and receives the position data as the signal. 3. The product form management system according to claim 1 or 2, characterized in that it is received by a unit. Based on the coordinate data calculated by the coordinate calculation control unit, comprising a determination control unit for determining whether the posture of the pile material is appropriate,
When the judgment control unit judges that the posture of the pile material is not appropriate, a warning for notifying the abnormality of the pile material is displayed on the display unit. The product management system described in the section. For a pile press machine that press-fits the pile material into the ground, a signal output unit that outputs an instruction signal for remotely operating the pile press machine,
When the determination control unit determines that the posture of the pile material is not appropriate, the warning output instruction signal for notifying the abnormality of the pile material is output from the signal output unit to the operation unit of the pile press-fitting machine. The ready-made management system according to claim 4.   6. The finished product according to claim 5, wherein when the determination control unit determines that the posture of the pile material is not appropriate, the signal output unit outputs a stop instruction signal for stopping the pile press-fitting machine. Management system. Measure the position of multiple gauges attached to the pile material that is press-fitted into the ground with a three-dimensional position measuring instrument,
Subsequently, based on the position data of the top end joint fitting portion of the existing pile material and the position data of the measurement measured by the three-dimensional position measuring device, coordinate data relating to the posture of the pile material is calculated, and the coordinate data The display shape corresponding to the posture of the pile material is displayed on a predetermined display unit based on the movement of the pile material and the completed shape of the pile material is displayed. Method.

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