JP2015048635A - Driving method and installation device of steel material - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving method and an installation device for a steel material, capable of driving the steel material while confirming its direction, by guiding up to a design position of the steel material, in the case of the steel material such as a pile or a steel sheet pile having directionality in cross section, by combining two GNSS receivers.SOLUTION: In the driving method and the installation device of the steel material, two GNSS receiver 5 are provided at an interval in a chucking part of a driving device 2 for holding a head part of a pile or a steel sheet pile, and a direction in a rotational direction around the axis in a longitudinal direction of the pile or the steel sheet pile, is determined in real time, in addition to a position in a three-dimensional coordinate system of the pile or the steel sheet pile, from a difference in positional information of real time of the three-dimensional coordinate system of the two GNSS receivers, and an image at a position and a direction at present of the pile or the steel sheet pile determined in real time, is superposed on an image at the design position and direction of the pile or the steel sheet pile displayed on a monitor, and an operator of the driving device can guide the pile or the steel sheet pile to the design position on the basis of the image on the monitor.

Description

  The present invention uses a global positioning navigation satellite system (hereinafter referred to as GNSS) to obtain position information of a steel material such as a pile made of steel or a steel sheet pile, and thereby guide the steel material to a design position. The present invention relates to a placing method and an installation apparatus.

  Conventionally, when placing steel materials such as piles and steel sheet piles, construction is generally performed in the following procedure.

  First, piles are centered by inking and a steel material is set as a ruler. After that, the position of the pile is assigned to the ruler material, and the placement position of the steel material is determined.

  After deciding the steel placement position, chuck the steel with the arm of a machine such as a backhoe, lift it, set it to the placement position, and check the verticality of the steel.

  If there is no problem in accuracy, a hydraulically driven vibrator attached to the tip of the arm is activated and driven to a predetermined position. After checking the level of the steel material, release the chucking and move the heavy machinery.

  The steps from chucking the steel material to driving the steel material and moving the heavy machinery are repeated.

  However, for example, when placing H steel, the main pile must be marked on the inner surface of the H steel, and the intermediate pile and gantry pile must be marked on the center position of the H steel. It becomes.

  In addition, when placing a pile with a circular cross-sectional shape such as a steel pipe, the pile core position only needs to match the placement position, and the cross section will not rotate and shift. When placing a steel material having a cross section such as H steel or steel sheet pile, care must be taken so that the cross section does not rotate and shift from the design position.

  Thus, in order to drive steel materials such as piles or steel sheet piles made of shaped steel, there are many detailed procedures and processes.

  Moreover, there is also an invention that systematizes a pile driving method, for example, there are inventions described in Patent Documents 1 and 2.

  Japanese Patent Laid-Open No. 2004-133867 discloses a pile placing process including an inking process for marking a pile placement position according to a design drawing, and a placing process for placing a pile at an inking position obtained in the inking process. A method is described. Before placing the pile in the placing process, a confirmation process is provided to confirm the marking position using a GPS surveying instrument.

  Patent Document 2 describes a construction data management system in earth work such as landfill creation and residential land creation by opening a mountainous area.

JP 2002-202357 A Japanese Patent No. 4048799

  In the conventional method, since there are so many work processes, when there are many steel materials to drive in, it is a great effort to carry out inking for the number of piles. Since the number of processes to be repeated after inking is increased, the labor and time required for construction are greatly increased.

  In addition, for example, when steel material is driven into a terrain with ups and downs such as Yamatome pile, it is very difficult to put out a water string and inking the ink. Although it must be installed with errors, it is difficult to maintain its accuracy.

  In particular, when constructing underwater, the placement position cannot be confirmed by inking or ruler set.

  When building a steel material, it may be applied directly to the steel material on which the level is to be built, and the leveling may be gradually carried out. The work for confirming the orientation of the steel material also requires manpower.

  The present invention is intended to solve the above-described problems, and by using GNSS, it is possible to omit some work processes such as water stringing and setting of ruler materials necessary for centering a pile. In particular, by combining two GNSS receivers, even in the case of a steel material such as a pile or steel sheet pile with a cross-sectional orientation, the steel material is guided to the design position of the steel material and checked while checking the orientation of the steel material. It is an object of the present invention to provide a steel material placing method and an installation device that can be installed.

  A steel material placing method according to the present invention is a steel material placing method for placing a pile or steel sheet pile made of shape steel based on position information obtained by GNSS, and grips the head of the pile or steel sheet pile. In the chucking part of the driving device to be installed, two GNSS receivers are provided at intervals, and the three-dimensional coordinate system of the pile or steel sheet pile is obtained from the difference in real-time position information of the three-dimensional coordinate system of the two GNSS receivers. In addition to the position of the pile, the direction of the rotation direction around the longitudinal axis of the pile or steel sheet pile is obtained in real time, and the pile or steel obtained in real time is displayed on the image of the design position and orientation of the pile or steel sheet pile displayed on the monitor. The present invention is characterized in that the images of the current position and orientation of the steel sheet pile are superimposed and the operator of the driving device guides the pile or the steel sheet pile to the design position based on the image on the monitor.

  The steel material placing method according to the present invention includes two GNSS receivers and, based on positional information obtained from each GNSS receiver, a pile or steel made of a section steel such as H-section steel or sheet pile. This is a method of placing steel such as a sheet pile.

  When placing steel materials such as piles or steel sheet piles, for example, Yumbo, rough terrain type cranes, mobile press-fit machines, etc. are used. A number of GNSS receivers are provided at intervals.

  By providing two GNSS receivers at an interval, the position information of the three-dimensional coordinate system of each GNSS receiver can be obtained in real time and grasped by the chucking unit from the difference of the position information of each GNSS receiver. The rotation angle of a pile or steel sheet pile can be obtained from the positional relationship between the specific part and the two GNSS receivers in addition to the positional information of the specific part (such as the center of gravity) of the pile or steel sheet pile being used. it can.

  That is, the direction of the rotation direction around the longitudinal axis of the pile or steel sheet pile in the chucking portion, that is, the direction of the cross section of the pile or steel sheet pile can be grasped in real time.

  Further, in the present invention, on the monitor, the image of the design position and orientation of the pile or steel sheet pile is displayed, and at the same time, the image of the current position and orientation of the pile or steel sheet pile obtained in real time is displayed, thereby placing The pile or steel sheet pile can be guided to the design position so that the operator of the apparatus can superimpose the image at the current position on the image at the design position while checking the image on the monitor.

  According to the present invention, it is not necessary to perform laborious work such as ink marking, setting of ruler materials, and installation using a leveling device, and ink marking such as construction in a undulating place or construction in water is used. It can also be applied to constructions where ruler materials cannot be installed.

  Moreover, in the conventional construction method, pile core surveying had to be performed for the total number of pile positions, but in the present invention, it is not necessary to center the pile, so in the case of a large number of piles, the economical aspect But the benefits are great.

  Since the current position and orientation of the pile or steel sheet pile can be grasped in real time based on the position information from the two GNSS receivers, the installation work requiring a leveler is also unnecessary.

  In addition, since the data from GNSS is more precise and less error-prone than manually, the level of construction accuracy can be increased and the level of target construction accuracy is high (for example, horizontal ± 25 mm, vertical 0 to −10 mm). ) Is also effective when required by If the level of construction accuracy increases, the measurement system for the volume survey results after placing piles or steel sheet piles will eventually increase.

  A steel material installation device according to the present invention is a steel material installation device that is driven while calculating information on the installation position and orientation of a pile or steel sheet pile made of shape steel, and grabs the pile or steel sheet pile made of shape steel. A chucking unit, a GNSS receiver provided in the upper two places of the chucking unit, and an in-vehicle monitor for displaying information obtained from the GNSS receiver are provided. The in-vehicle monitor is obtained from position information of two GNSS receivers. Display the current position information data that calculates the position information of the pile or steel sheet pile in real time and the installation position data of the pile or steel sheet pile on the design, and check the current position information data and installation position data while checking the pile or steel sheet pile It is characterized in that it can be installed by guiding it to the installation position.

  The steel material installation device according to the present invention is a pile or steel sheet pile made of shaped steel, for example, by providing a chucking portion at the arm tip of a placement device such as a yumbo, a rough terrain type crane, or a mobile press-fitting machine. You can grab steel.

  By providing GNSS receivers in the upper two places of the chucking part and obtaining the position information of the three-dimensional coordinate system from each GNSS receiver, the position information and direction data of the three-dimensional coordinate system of the steel material in the chucking part are obtained. Can be obtained.

  In addition, an in-vehicle monitor that displays the information obtained from the GNSS receiver is provided, and the installation position data of the steel material in the design is displayed on the in-vehicle monitor, and at the same time, the in-vehicle monitor is real-time from the position information of the two GNSS receivers. It is possible to display the calculated current position information data of the steel material in an overlapping manner.

  For example, as shown in FIG. 5, design steel installation position data and current steel position information data to be displayed on the in-vehicle monitor are displayed in an image in which the difference in position information in the three-dimensional coordinate system and the orientation of the cross section can be understood. As a result, the operator can confirm the deviation of the target position and direction at a glance.

  That is, the operator can guide and install the steel material to the installation position while viewing the current position information data and the installation position data on the same monitor and confirming the position and orientation.

  The present invention can guide to the installation position while checking the position and orientation of the steel material by checking the current position information data and the installation position data on the vehicle-mounted monitor. The process of installing the material is no longer necessary, increasing work efficiency.

  In addition, it is possible to cope with sites where conventional methods cannot be applied, such as underwater construction sites where ink marking and ruler materials could not be installed with conventional methods, and terrain with undulations where marking and ruler setting is difficult.

  Since the present invention does not need to perform pile core surveying with respect to the total number of pile positions as in the prior art, the present invention can be applied to a site having a large number of placements, and the effect can be further exhibited.

  Since the data regarding the position information and direction of the pile or the steel sheet pile are obtained by the GNSS receiver, it becomes higher than the level of conventional construction accuracy, and the measurement system of the volume survey result after placement after placement is high. In general, the accuracy can be expected to improve by about ± 5 mm in both the horizontal and vertical directions.

  Since the present invention is configured as described above, the following effects can be obtained.

  (1) By attaching two GNSS receivers, it is possible to measure the direction of a steel material having a directional section such as H steel or sheet pile.

  (2) It is not necessary to stretch the water thread, which is the centering of piles in the conventional method, and it is possible to place steel in places where ruler materials cannot be installed (such as underwater or terrain with undulations).

  (3) Since it is not necessary to perform pile core surveying for all pile positions, it is possible to handle even when the number of piles is large.

  (4) The level of construction accuracy will increase, and the measurement system for the volume survey results after placement will increase.

It is the side view which showed roughly one Embodiment of the installation apparatus of the steel materials which concerns on this invention. It is the top view which showed roughly the placement method of the steel materials which concern on this invention. 2A and 2B show attachment parts of two GNSS receivers in the embodiment of FIGS. 1 and 2, wherein FIG. 1A is a side view and FIG. 2B is a front view of A part of FIG. . The chucking part in one Embodiment of the installation apparatus of the steel materials which concerns on this invention is expanded, (a) is a front view, (b) is a side view. The Example of the vehicle-mounted monitor in the installation apparatus of the steel material which concerns on this invention is shown roughly.

  Hereinafter, the present invention will be described with reference to the accompanying drawings. In addition, this invention is not limited to embodiment shown below.

  FIG. 1 is a schematic side view of an embodiment of an apparatus for installing a steel material 1 according to the present invention.

  A vibratory hammer 3 is attached to the tip of the arm of the pile driving machine 2, and the steel material 1 serving as a pile is gripped by the chucking part 4 provided below the vibratory hammer 3 and driven into the ground.

  The pile driving machine 2 may use, for example, a Yumbo, a rough terrain type crane, a mobile press-fitting machine, and the like, as in the past.

  FIG. 2 shows a method for placing the steel material 1 according to the present invention. The case where the 8 H-section steels of 1-8 are installed is shown roughly.

  An angle member 7 is provided in front of the pile driving machine 2, and one GNSS receiver 5 is attached to each side of the angle member 7.

  FIG. 3 shows an embodiment of the attachment part of two GNSS receivers, FIG. 3 (a) is a side view around the chucking part 4, and FIG. 3 (b) is FIG. 3 (a). It is the front view which looked at A section of from the direction of an arrow. 4 is an enlarged view of the chucking portion 4 in the embodiment of FIG. 3, FIG. 4 (a) is a front view, and FIG. 4 (b) is a side view.

  An angle member 7 is attached and fixed to the upper portion of the chucking portion 4, and GNSS receivers 5 are provided at both left and right ends of the angle member 7.

  By acquiring the position information of the three-dimensional coordinate system in real time from the two left and right GNSS receivers 5, the steel material 1 held by the chucking unit 4 is identified from the difference between the position information of the left and right GNSS receivers 5. The position information of the part (for example, the center of gravity) of the three-dimensional coordinate system can be obtained.

  Further, from the positional relationship between the specific portion of the steel material 1 held by the chucking unit 4 and the two GNSS receivers 5, the rotation angle around the longitudinal axis of the steel material 1 can be obtained. It is possible to grasp the direction of the cross section of the real time in real time.

  For example, in the case of FIG. 2, the three-dimensional position information and direction of the steel material 1 gripped by the chucking unit 4 from the position information of the two GNSS receivers 5 attached to the pile driving machine 2 in real time. No. It is possible to place the piles while confirming the installation positions and installation directions of the piles 1 to 8.

  FIG. 5 schematically shows an embodiment of the in-vehicle monitor 6 in the apparatus for installing the steel material 1 according to the present invention, and the main part of the in-vehicle monitor 6 is shown within a one-dot chain line. Here, as an example, a case where H-shaped steel is used as the steel material 1 is given.

  On the in-vehicle monitor 6, the X difference and the Y difference obtained from the position information of the GNSS receiver 5 attached to the left of the chucking unit 4 and the position information of the GNSS receiver 5 attached to the right of the chucking unit 4 are obtained. The X difference and the Y difference are displayed numerically.

  Further, the current height of the steel material 1 gripped by the chucking unit 4 can be obtained from the difference based on the position information of the left and right GNSS receivers 5 and displayed numerically. The depth of installation can be confirmed on the monitor.

  In the central part of the in-vehicle monitor 6, the position information (solid line) of the finished steel material 1, the design position information of the steel material 1 (dotted line), and the current position information of the steel material 1 obtained in real time from the difference between the left and right GNSS receivers 5 (Black) is displayed as an image at the same time.

  FIG. 1, no. The construction of H-shaped steels 3 to 5 is finished. 2 represents a state in which the H-shaped steel is under construction. The direction of the H-section steel currently gripped by the chucking portion 4 is No. It can be grasped that the direction is inclined and the direction is inclined. While checking the in-vehicle monitor 6, It guide | induces so that it may overlap with the present position information (black coating) of the steel material 1 obtained in real time at the design position (dotted line) of No. 2 H-section steel.

  By combining the two GNSS receivers 5 in this way, the position information of the three-dimensional coordinate system of the steel material 1 and the orientation of the steel material 1 can be obtained in real time, so that those data are displayed on the in-vehicle monitor 6. The operator in the pile driving machine 2 superimposes the image of the steel material 1 at the current position on the image of the steel material 1 at the design position while checking the deviation of the design position and orientation of the steel material 1 on the in-vehicle monitor 6. The steel material 1 can be guided to the design position.

  DESCRIPTION OF SYMBOLS 1 ... Steel material (pile or steel sheet pile), 2 ... Pile driving machine, 3 ... Vibro hammer, 4 ... Chucking part, 5 ... GNSS receiver, 6 ... In-vehicle monitor, 7 ... Angle material

Claims (3)

  A steel material placing method for placing a pile or steel sheet pile made of shape steel based on position information obtained by GNSS, in a chucking portion of a placing device for gripping the head of the pile or steel sheet pile, Two GNSS receivers are provided at intervals, and in addition to the position in the three-dimensional coordinate system of the pile or steel sheet pile from the difference in real-time position information of the two-dimensional coordinate system of the two GNSS receivers, The direction of the rotation direction around the longitudinal axis of the steel sheet pile is obtained in real time, and the current position of the pile or steel sheet pile is obtained in real time on the design position and orientation image of the pile or steel sheet pile displayed on the monitor. And an orientation image, and an operator of the placing device guides the pile or the steel sheet pile to a design position based on the image on the monitor. A steel material installation device that is installed while calculating information on the installation position and orientation of a pile or steel sheet pile made of a shape steel, wherein the steel material installation device is a chucking portion that holds a pile or steel sheet pile made of shape steel A GNSS receiver provided at the upper two positions of the chucking unit, and an in-vehicle monitor for displaying information obtained from the GNSS receiver, and the in-vehicle monitor is positional information of the two GNSS receivers. While displaying the current position information data calculated the real-time position information of the pile or steel sheet pile and the installation position data of the pile or steel sheet pile on the design, while checking the current position information data and the installation position data A steel material installation device characterized in that a pile or steel sheet pile can be guided to the installation position.   The steel material installation device according to claim 2, wherein the GNSS receivers are arranged one by one on the left and right with respect to the chucking portion.

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