JP2017066630A - Operation selection method of construction machine, operation selection device of construction machine, and automatic construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a selection method of operation of a construction machine capable of reducing the time for construction by controlling the operation of the construction machine.SOLUTION: The selection method of operation of a construction machine includes the steps of: measuring a piece of information representing operating conditions of a press-in machine during the press-in machine inserts a steel sheet pile into the ground (step S104); referring to a storage storing ground conditions or construction conditions and information representing operation of the press-in machine while associating with each other; and selecting a piece of information representing the operation of the press-in machine stored in the storage based on the information representing the measured operating conditions (step S108, step S112).SELECTED DRAWING: Figure 7

Description

  The present invention relates to a construction machine operation selection method, a construction machine operation selection apparatus, and an automatic construction apparatus.

  Conventionally, as a construction technique for installing an intrusion material such as a pile material on the ground, for example, a press-in construction technique for press-fitting the intrusion material into the ground is known. In this press-fitting technique, the penetration resistance that acts on the press-fit material is the reaction force that is obtained by the pre-penetration material that is press-fitted before the penetration material, or the weight of the press-fitting machine that is supported by the previous penetration material. To be smaller than the sum of In this press-fit construction technique, it is desirable to reduce the penetration resistance in order to shorten the time required for the installation of the penetration material. At construction sites that use actual press-fitting construction, the presser operator operates the press-fitting machine to shorten the time required to install the penetrant by changing the press-fitting and pull-out speeds of the penetrant. Things were being done.

  Techniques described in the following Patent Documents 1 to 3 are known as techniques relating to this press-fitting construction technique. In Patent Document 1, there is a method for confirming the supporting force of an existing pile to which a pulling force is applied by a press-fitting machine. The cycle of unloading after holding the load is repeated, and when the displacement becomes 10 mm or less while the pressure input is held for a certain time, the pressure input can be used as the supporting force of the existing pile. Have been described. Patent Document 2 describes a technique for acquiring a tip resistance force acting on a tip of a pile material based on depth data and press input data when press-fitting and pull-out are repeated by a press-fitting machine. Patent Document 3 describes a technique for estimating the tip resistance of a pile material based on the load and torque according to the depth of the tip of the pile material when the pile material is press-fitted while rotating around the axis.

JP 2010-189901 A JP 2014-177826 A JP 2015-17493 A

  However, when the operation of the press-fitting machine is controlled based on the operation of the press-fitting machine driver, there is a problem that the time required to install the penetration material varies greatly depending on the skill level of the driver. For example, in the case where the ground where the penetration material is installed is frequently changed during press-fitting work such as a multi-layer ground or a non-uniform ground, it becomes more difficult to shorten the time required for the installation of the penetration material.

  In addition, in the techniques described in Patent Documents 1 to 3 described above, although the support force of the press-fit machine and the tip resistance of the pile material can be estimated, the press-fit machine is appropriately controlled based on the estimated information, The current situation is that the time required to install the penetrating material cannot be shortened.

  The present invention has been made in view of the above-described problems, and is a construction machine operation selection method that can control the operation of the construction machine and shorten the time required to install the penetration material, and the construction machine operation selection. It aims at providing an apparatus and an automatic construction apparatus.

  (1) One aspect of the present invention is the step of measuring information representing the operating state of the construction machine while the construction machine is inserting the penetrating material into the ground, and information related to the underground condition With reference to a storage unit that stores information indicating the operation of the construction machine in association with each other, information indicating the operation of the construction machine stored in the storage unit is based on the information indicating the measured operation state. An operation selecting method for a construction machine having a selecting step.

  (2) One mode of the present invention is the above-described method for selecting an operation of a construction machine, and the information related to the underground state represents the state of the ground into which an intrusion material is inserted by the construction machine.

  (3) One mode of the present invention is the operation selection method for the construction machine described above, and the information related to the underground state represents a construction state obtained as a result of the operation of the construction machine.

  (4) One aspect of the present invention is the operation machine operation selection method described above, wherein the step of selecting information representing the operation of the construction machine is embedded in the ground stored in the storage unit. Information representing the operation of the construction machine associated with the information on the reaction force applied from the penetrating material to the construction machine is selected.

  (5) One aspect of the present invention is the construction machine operation selection method described above, and the step of selecting information representing the operation of the construction machine includes the performance information of the construction machine stored in the storage unit. Information representing the operation of the construction machine associated with is selected.

  (6) One aspect of the present invention is the above-described construction machine operation selection method, wherein the step of selecting information representing the operation of the construction machine includes the strength of the penetrating material or the like stored in the storage unit. Information representing the operation of the construction machine associated with the information is selected.

  (7) According to one aspect of the present invention, the construction machine is measuring the information representing the operation state of the construction machine while the construction machine is inserting the penetration material into the ground, and information related to the underground condition And the storage unit that stores information indicating the operation of the construction machine in association with each other, and based on the information indicating the operation state measured by the measurement unit, the operation of the construction machine stored in the storage unit It is the operation | movement selection apparatus of the construction machine which has the selection part which selects the information showing.

  (8) One mode of the present invention is an operation selection device for a construction machine described above, and includes a display unit that displays an operation condition selected by the selection unit.

  (9) According to one aspect of the present invention, the construction machine is measuring the information representing the operating state of the construction machine while the construction machine is inserting the penetration material into the ground, and information related to the underground condition And the storage unit that stores information indicating the operation of the construction machine in association with each other, and based on the information indicating the operation state measured by the measurement unit, the operation of the construction machine stored in the storage unit It is an automatic construction apparatus provided with the selection part which selects the information showing, and the control part which controls the said construction machine based on the information showing the operation | movement of the said construction machine selected by the said selection part.

  (10) One aspect of the present invention is the above-described automatic construction apparatus, including an operation unit that operates the construction machine according to information representing the operation selected by the selection unit, and the control unit includes the operation unit Based on the operation, the construction machine is controlled according to information representing the operation of the construction machine.

  According to one embodiment of the present invention, the operation time can be shortened by controlling the operation of the construction machine.

It is a figure which shows the structure of the steel sheet pile press-fit system of 1st Embodiment to which this invention is applied. The structure of the steel sheet pile 1 press-fitted into the ground in the steel sheet pile press-in system of the first embodiment to which the present invention is applied is shown, (a) is a top view, and (b) is a side view. It is a side view which shows the state by which the some steel sheet pile 1 is fitted. It is a block diagram which shows an example of the autonomous control apparatus 200 of 1st Embodiment. It is a figure which shows an example of the optimal value database 216c according to ground conditions in 1st Embodiment. It is a figure which shows an example of the optimal value database 216d classified by construction state in 1st Embodiment. It is a flowchart which shows the flow of a process of the autonomous control part 210 in 1st Embodiment. It is a flowchart which shows the flow of the feedback control of a press-fit machine main body among the flow of a process of the autonomous control part 210 in 1st Embodiment. In 1st Embodiment, it is a figure which shows an example of (a) soil quality with respect to depth, (b) N value, (c) setting of press-fitting speed, and (d) press-fitting time. In 2nd Embodiment, it is a figure which shows the state which attached the water jet to the steel sheet pile 1 together. In 2nd Embodiment, it is a figure which shows the state which equipped the steel sheet pile 1 with the auger.

(First embodiment)
Hereinafter, a construction machine operation selection method, a construction machine operation selection apparatus, and an automatic construction apparatus according to a first embodiment to which the present invention is applied will be described with reference to the drawings.

  In the following embodiment, it will be described as controlling the operation of installing the pile material when the pile material is press-fitted into the ground, but the present invention is not limited to this, and the pile material is used by using a method other than the press-fitting method. The present invention can also be applied to a technique for controlling the operation of inserting into the ground. Moreover, this embodiment is good also as what is arrange | positioned in the ground by implantation | striking or embedding other than press injection. In the case of driving pile material, there are vibration driving and driving by hammering. In addition, the pile material may be embedded by inserting the pile material into a portion excavated by an auger or the like in advance, or by inserting an auxiliary device such as an auger in the pile material and inserting it while excavating. Also good. Further, these arrangement methods may be combined. Furthermore, in this embodiment, the penetration material press-fitted is a pile material, and the pile material is described as a U-shaped steel sheet pile (hereinafter referred to as a steel sheet pile). Other forms of piles, such as steel piles of other shapes, such as Z-shaped steel sheet piles, zero sheet piles, straight steel sheet piles, steel pipe sheet piles, H-shaped steel sheet piles, etc. An object that assists in the installation of pile materials other than pile materials such as auger itself, or a combination of pile materials and auxiliary devices when an auxiliary device such as an auger is attached to a pile or pile material It may be. In addition, when an auger is used in the press-fitting method, an auger with a casing is generally used.

  FIG. 1 is a diagram showing a configuration of a steel sheet pile press-fitting system according to a first embodiment to which the present invention is applied. The steel sheet pile press-fitting system includes a press-fitting machine main body 100 and a power unit (PU). The press machine main body 100 is a construction machine that presses the steel sheet pile 1 into the ground. The power unit performs an operation in which the press-fitting machine body 100 applies power to press-fit the steel sheet pile 1 by hydraulic pressure.

  The press-fitting machine main body 100 has an autonomous control device 200 described later, and is an automatic construction device that automatically press-fits the steel sheet pile 1. The press-fitting machine body 100 includes a plurality of clamps 102, a saddle 104, a slide frame 106, a leader mast 108, a chuck 110, a chuck frame 112, and a main cylinder 114. The press-fitting machine main body 100 has an autonomous control device 200 built therein.

  The plurality of clamps 102 grip both sides in the Y direction of the web portion 12 from a pile top end of a plurality of steel sheet piles 1 (hereinafter also referred to as completed piles 1R) already press-fitted into the ground G to a predetermined height. By gripping the plurality of completed piles 1R by the plurality of clamps 102, a reaction force base for the press-fitting machine body 100 to press-fit the steel sheet pile 1 to the ground G is formed. The plurality of clamps 102 release the grip of the completed pile 1R on the opposite side (−X direction side) of the press-fitting construction direction as the press-fitting construction proceeds, and a new one in the press-fitting construction progress direction (+ X direction side) By grabbing the completed pile 1R, it moves in the direction of press-fitting construction. Thereby, the press-fit machine main body 100 installs the steel sheet piles 1 on the ground G one after another while proceeding in the progress direction of the press-fit construction.

  The saddle 104 is connected to a plurality of clamps 102. The saddle 104 serves as a base for attaching the plurality of clamps 102 to the completed pile 1R.

  The slide frame 106 operates with respect to the saddle 104 in the direction in which press-fitting is performed and in the opposite direction. As a result, the slide frame 106 operates to position the steel sheet pile 1 (hereinafter referred to as a press-fit pile 1A) to be press-fitted into the ground G by the press-fitting machine body 100 in the direction of press-fitting and in the opposite direction. To do. More specifically, the slide frame 106 is described as a completed pile (hereinafter referred to as a completed pile 1B) in which the press-fitting operation is completed at an end portion (+ X direction end portion) in the press-fitting direction of the completed pile 1R. The position (both the X direction position and the Y direction position) of the rear joint part 16a of the press-fit pile 1A is determined so as to be fitted to the front joint part 16b.

  The leader mast 108 functions as a guide for moving the press-fit pile 1A in the vertical direction (Z direction). In addition, the leader mast 108 is moved in the press-fitting execution direction and in the opposite direction according to the operation of the slide frame 106. The autonomous control device 200 is accommodated in the reader mast 108.

  The chuck 110 grips the web portion 12 of the press-fit pile 1A from both ends in the Y direction. The chuck frame 112 is disposed on the upper side (−Z direction side) of the chuck 110, and moves the chuck 110 in the vertical direction by the power given by the main cylinder 114.

  The main cylinder 114 is a hydraulic cylinder that generates power to move the press-fit pile 1A downward (+ Z direction) and press-fit the press-fit pile 1A into the ground G. The main cylinder 114 moves the press-fit pile 1A in the vertical direction according to the control of the power unit.

  Hereinafter, in 1st Embodiment, the steel sheet pile 1 inserted in the ground G by the press-fit machine main body 100 is demonstrated. FIG. 2: shows the structure of the steel sheet pile 1 press-fitted in the ground in the steel sheet pile press-fitting system of the first embodiment to which the present invention is applied, (a) is a top view, and (b) is a side view. is there.

  The steel sheet pile 1 has the web part 12, the flange part 14, and the joint part 16, as shown to Fig.2 (a). When the web part 12 is performing the straight construction in which the steel sheet pile 1 is installed while moving the press machine main body 100 in a straight line, the web part 12 is parallel to the progress direction (X direction) of the press fit construction in the steel sheet pile press-in system, It is gripped from both sides in the Y direction by the press-fitting machine body described later. The flange portion 14 is integrally connected to each of both end portions of the web portion 12. The pair of flange portions 14 are formed in a tapered shape that spreads outward (X direction) from the web portion 12. The pair of flange portions 14 have shapes that are symmetrical to each other from the approximate center position of the web portion 12. The joint portion 16 is integrally connected to each of the end portions of the flange portion 14.

  The pair of joint portions 16 are formed in a substantially U shape when viewed from the top. The pair of joint portions 16 are end portions on both sides in the width direction of the steel sheet pile 1, and are formed from the upper end to the lower end of the steel sheet pile 1 in the longitudinal direction. The pair of joint portions 16 are positioned so as to be fitted to the joint portions 16 of the other steel sheet piles 1 at the initial stage of the press-fitting construction, and the other steel sheet piles 1 are changed by the change in the positional relationship between the steel sheet piles 1 during the press-fitting construction. It contacts with the joint part 16. The joint part 16a on the −X direction side is on the opposite side of the press-fitting execution direction (X direction), and the joint part 16b on the + X direction side is on the press-fitting execution direction (X direction) side. Hereinafter, when the joint portion 16a and the joint portion 16b are not distinguished and described, they are simply referred to as “joint portion 16”, the joint portion 16a is referred to as “rear joint portion 16a”, and the joint portion 16b is referred to as “front joint portion”. 16b ". The front joint part 16b and the rear joint part 16a are fitted to each other in the press-fitting work.

  FIG. 3 is a side view showing a state in which a plurality of steel sheet piles 1 are fitted. In the state where the preceding steel sheet pile 1-1 (preceding pile material) has been press-fitted into the ground, the subsequent steel sheet pile 1-2 (following pile material) has its rear joint portion 16a-2 connected to the steel sheet pile 1 -1 is positioned so as to be fitted to the front joint portion 16b-1. The subsequent steel sheet pile 1-2 is press-fitted into the ground while the fitting state between the rear joint portion 16a-2 and the front joint portion 16b-1 is normally maintained. Thereby, the some steel sheet pile 1-1 and the steel sheet pile 1-2 become a part of wall body constructed | assembled in the ground.

  Hereinafter, the configuration of the autonomous control device 200 in the first embodiment will be described. FIG. 4 is a block diagram illustrating an example of the autonomous control device 200 according to the first embodiment. The autonomous control device 200 includes an autonomous control unit 210, a measurement unit 220, a display unit 230, and an operation unit 240. In addition, although this embodiment gave and demonstrated the example in which the press injection machine main body 100 has the autonomous control apparatus 200, the function of all or one part of the autonomous control apparatus 200 is an apparatus independent from the press injection machine main body 100. It may be realized. For example, you may implement | achieve the autonomous control part 210 and the display part 230 with the computer of the terminal which the manager who manages the construction which installs the steel sheet pile 1 is held.

  A driving unit 100a that is driven when the steel sheet pile 1 is inserted and a driving control unit 100b that drives the driving unit 100a based on a control signal by the autonomous control unit 210 are connected to the autonomous control unit 210 via a signal line. Is done. The drive unit 100a and the drive control unit 100b are functions included in the press-fitting machine body 100 that operates as described above. The drive part 100a is a mechanism part which performs the operation | movement which press-fits the steel sheet pile 1 to the ground G, for example, is the main cylinder 114 for moving the steel sheet pile 1 to an up-down direction (Z direction). The autonomous control unit 210 outputs a control signal as information representing the operation of the press-fitting machine body 100 to the drive control unit 100 b of the press-fitting machine body 100. The drive control unit 100b operates the drive unit 100a according to the control signal output by the autonomous control device 200. Thereby, the press-fit machine main body 100 controls operation | movement of a mechanism part.

  The autonomous control unit 210 is connected to a measurement unit 220 that measures various operation states as a result of the operation of the press-fitting machine body 100. The measurement unit 220 measures operation state information such as the speed of the steel sheet pile 1 that is press-fitted and pulled out by the main cylinder 114, or the repetition distance of press-fitting and pull-out. The measurement unit 220 outputs operation state information, which is a measurement result, to the autonomous control unit 210 at a predetermined interval while the press-fitting machine body 100 is performing press-fitting. Moreover, the measurement part 220 acquires the depth of the front-end | tip part of the steel sheet pile 1, and the travel distance in the advancing direction of the steel sheet pile 1. FIG.

  The autonomous control unit 210 includes a calculation unit 212, a control unit 214, and a storage unit 216. The calculation unit 212 and the control unit 214 may be a software function unit that functions when a processor such as a CPU (Central Processing Unit) as the calculation circuit and the control circuit executes a program stored in the memory. A hardware function unit such as LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit) may be used. The storage unit 216 is realized by an HDD (Hard Disc Drive), a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. In addition, the storage unit 216 stores various programs such as firmware and application programs, setting information in each unit of the autonomous control device 200, information on processing results, and the like.

  The calculation unit 212 refers to the storage unit 216 that stores information related to the underground state and information representing the operation of the press-fit machine main body 100 in association with each other, and information representing the measured operation state (operation state information) Based on the above, information representing the operation of the presser body 100 stored in the storage unit 216 is selected. The information related to the underground state is the ground condition of the ground where the press-fitting machine main body 100 press-fits the steel sheet pile 1 and the construction state measured when the press-fitting machine main body 100 press-fits the steel sheet pile 1 into the ground G. Including.

  The ground condition represents the state of the ground into which the press-fitting machine body 100 press-fits the steel sheet pile 1. The ground conditions are, for example, information such as soil quality and N value, and may be information on the ground G based on the results of the investigation of the ground G performed in advance of the press-fitting construction, or construction information obtained by the press-fitting construction. The information on the ground G estimated based on The ground condition is information (depth ground condition in the Z direction) for each depth at which the steel sheet pile 1 is press-fitted. In addition to the ground condition in the Z direction, the ground condition may include information (the ground condition in the Y direction) for each travel distance of the press-fitting work.

  The construction state is a state obtained as a result of the press machine main body 100 operating. Specifically, the construction state includes the closed state of the steel sheet pile 1, the fitting state of the joint portion 16 of the steel sheet pile 1, and the operation of the press-fitting machine body 100 and the ground during the press-fitting construction. It changes based on G ground conditions. The construction state is information that can be estimated from information measured by the measurement unit 220.

  The information representing the operation of the press-fitting machine body 100 is information representing the operating state of the drive unit 100a in the press-fitting machine body 100, and includes, for example, the press-fitting and drawing speeds and the repeated press-fitting and drawing distances. In the following description, information representing the operation of the press-fitting machine body 100 is also referred to as an operation parameter and a control value. The information representing the operation of the press machine main body 100 may be the torque or the number of rotations when press-fitting into the ground G while rotating the steel pipe when the penetration material is a steel pipe, or press-fitting the auger. It may be the torque and the rotational speed.

  The storage unit 216 stores reaction force total information 216a, performance information 216b of the press machine main body 100, an optimum value database 216c for each ground condition, an optimum value database 216d for each construction state, and strength information 216e of the penetrating material. FIG. 5 is a diagram illustrating an example of the ground condition-specific optimum value database 216c according to the first embodiment. The ground condition optimum value database 216c stores operation parameters and control values corresponding to the ground conditions. FIG. 6 is a diagram illustrating an example of the optimum value database 216d for each construction state according to the first embodiment. In the optimum value database 216d for each construction state, operation parameters and control values are stored corresponding to the construction state. The operation parameters and control values in the optimum value database 216c by ground condition and the optimum value database 216d by construction condition correspond to information representing the operation of the press-fitting machine body 100 described above.

  The operation parameter is information for specifying a controllable operation in the press-fit machine main body 100, and the control value is information indicating an optimum value for controlling the controllable operation. For example, the operation parameter represents a controllable operation of “the press-fitting and drawing speed of the steel sheet pile 1 of the main cylinder 114”, and the control value is the speed at the “pressing and drawing speed of the steel sheet pile 1 of the main cylinder 114”. The value is [meter / second]. In the present embodiment, the operation parameter is described as the press-fitting and drawing speed, but is not limited thereto. The operating parameters are the repetition distance of press-fitting and pull-out, the combination of press-fitting distance and pull-out distance when press-fitting and pull-out are repeated in press-fitting work, the flow rate and water pressure per unit time of water jet and the auger when water jet is used together The rotation number of the auger in the case of doing, the rotation number at the time of rotating a steel pipe around an axis | shaft using a steel pipe instead of the steel sheet pile 1 etc. may be sufficient.

  The calculation unit 212 refers to the ground condition optimum value database 216c and the construction state optimum value database 216d stored in the storage unit 216, and based on the information measured by the measurement unit 220, calculates the operation parameter and the control value. get. The control unit 214 controls the operation of the drive unit 100a by outputting a control signal to the drive control unit 100b of the press-fitting machine body 100 based on the operation parameter and the control value acquired by the calculation unit 212.

  Further, the calculation unit 212 may control the operation parameter and the control value based on the reaction force total information 216a, the performance information 216b of the press-fitting machine body 100, and the strength information 216e of the penetrating material.

  The reaction force total information 216a includes a pile that is gripped by the presser main body 100 in the completed pile 1R when a press input is applied to the steel sheet pile 1 (hereinafter, this completed pile is referred to as a reaction force pile) and a presser main body. This is a resistance force that is generated at 100 and is not pulled out. The total reaction force information 216a is represented by, for example, the weight of the press-fit machine main body 100, the circumferential frictional resistance acting on the reaction force pile, the resistance between joints of the reaction force pile, and the weight of the reaction force pile. The reaction force total information 216a is set based on, for example, the known press-fit machine main body 100 and the weight of the reaction force pile, and the preset circumferential friction resistance of the reaction force pile and the resistance between joints of the reaction force pile. Or may be calculated by taking into account the circumferential frictional resistance of the reaction force pile and the resistance between joints of the reaction force pile estimated based on the information measured by the measuring unit 220. Also good. Alternatively, the reaction force total information 216a may be a pressure input or a pulling force of the steel sheet pile 1 when the measuring unit 220 measures that the leader mast 108 of the press-fitting machine body 100 is tilted. The calculating part 212 restrict | limits the control value of the pressure input or drawing force of the steel sheet pile 1 so that it may not exceed the value represented by the reaction force total information 216a, for example. In addition, the above-mentioned “resistance between joints of the reaction force pile” is a resistance between joints acting on a joint portion between the completed pile and the reaction force pile that is not gripped by the press-fitting machine body.

  The performance information 216b of the press-fit machine main body 100 is information that is fixed in advance as the performance of the press-fit machine main body 100. The performance information 216b of the press-fit machine main body 100 is, for example, the performance of the hydraulic machine for driving the main cylinder 114. The hydraulic machine has a characteristic that the operation speed decreases as the hydraulic pressure increases. Therefore, in the performance information 216b of the press-fitting machine body 100, for example, the upper limit value of the press input and the pulling force of the steel sheet pile 1 is set. The calculating part 212 restrict | limits the control value of the pressure input or extraction force of the steel sheet pile 1 so that it may not exceed the value represented by the performance information 216b of the press-fit machine main body 100, for example.

  The penetration material strength information 216 e is the strength of the steel sheet pile 1. The calculation unit 212 changes the operation parameter and the control value based on the strength of the steel sheet pile 1. The calculating part 212 restrict | limits the control value of the press input of the steel sheet pile 1, or the drawing force so that the stress exceeding the intensity | strength of the steel sheet pile 1 may not generate | occur | produce in the steel sheet pile 1, for example.

  The control unit 214 may cause the display unit 230 to display operation parameters and control values. The display unit 230 is a display device such as a liquid crystal display that displays calculation results of operation parameters and control values by the autonomous control device 200. The display unit 230 is visually recognized by an operator who manages the press-fitting work, for example. The control unit 214 can display the operation parameters and the control values to prompt the worker to deal with the abnormality in the construction state in the press-fitting construction.

  The control unit 214 may output the operation parameter and the control value calculated by the calculation unit 212 to the drive unit 100a in response to the operator's operation being received by the operation unit 240. Further, the control unit 214 may cause the display unit 230 to display operation parameters and control values, and output the operation parameters and control values output from the operation unit 240 to the drive control unit 100b. Thereby, the autonomous control apparatus 200 can show the operation parameter and the control value calculated by the calculation unit 212 to the worker, and can operate the press-fitting machine body 100 based on the operation of the worker. Note that the operation unit 240 may be a switch that permits / prohibits control based on the operation parameters and control values set by the autonomous control unit 210.

  Hereinafter, in the autonomous control device 200 according to the first embodiment, the operation of selecting information representing the operation of the press-fitting machine body 100 (construction machine) stored in the storage unit based on the information representing the measured operation state. The flow will be described. FIG. 7 is a flowchart showing the flow of processing of the autonomous control unit 210 in the first embodiment.

  First, the autonomous control unit 210 reads initial operation parameters from the storage unit 216 when starting the press-fitting work (step S100). In this embodiment, the initial operation parameters are “the steel sheet piles of the main cylinder 114” and control values that are preset when the press-fitting operation is started. Speed value [meter / second] in “pressing and pulling speed of 1”, “pushing and pulling distance of steel sheet pile 1 of main cylinder 114” and control value “pressing of steel sheet pile 1 of main cylinder 114 and The distance value [meter] in “Drawing distance”. In addition, when the ground condition at the time of starting the press-fitting work is known in advance, the autonomous control unit 210 reads the operation parameter and the control value associated with the ground condition from the optimum value database 216c for each ground condition, It may be set as an operation parameter.

  Next, the autonomous control unit 210 controls the press-fitting machine body 100 based on the initial operation parameters read in step S100, thereby starting the press-fitting work of the steel sheet pile 1 (step S102). After the start of press fitting, the autonomous control unit 210 acquires information measured by the measurement unit 220 (step S104). The measurement unit 220 acquires information on the depth of the tip of the steel sheet pile 1 and the travel distance in the traveling direction of the steel sheet pile 1 in addition to operation state information such as pressure input and pull-out force of the main cylinder 114.

  The autonomous control unit 210 determines whether or not the ground condition has been changed based on the operation state information, depth, or travel distance measured in step S106. The autonomous control unit 210 determines that the ground condition has changed when the change in the ground G is estimated based on the operation state information. The autonomous control unit 210 determines that the ground condition has changed when it is determined that the ground G that has been subjected to the ground survey in advance corresponds to the latitude or longitude based on the depth or travel distance. If the autonomous control unit 210 determines that the ground condition has been changed, the process proceeds to step S108. If the ground condition has not been changed, the autonomous control unit 210 proceeds to step S110.

  The autonomous control unit 210 reads out the operation parameters and control values associated with the ground conditions determined to have been changed in step S106 by the calculation unit 212 from the optimum value database 216c for each ground condition. The control unit 214 updates the operation of the press-fitting machine body 100 by updating the current operation parameter and control value to the read operation parameter and control value (step S108).

  The autonomous control unit 210 determines whether or not the construction state has been changed based on the operation state information measured in step S106. The autonomous control unit 210 determines that the construction state has changed based on the operation state information, for example, when the closed state of the steel sheet pile 1 or the fitting state of the joint portion 16 of the steel sheet pile 1 has changed. The unit 212 estimates the closed state based on the information measured by the measurement unit 220. The calculating part 212 may determine with the obstruction | occlusion state having changed based on the change of the front-end | tip resistance of the steel sheet pile 1, for example. Moreover, the calculating part 212 estimates the fitting state of the joint part 16 of the steel sheet pile 1 based on the information measured by the measuring part 220. The autonomous control part 210 advances a process to step S112, when it determines with the construction state having changed, and advances a process to step S114, when the construction state has not changed.

  The autonomous control unit 210 reads the operation parameters and control values associated with the construction state determined to have been changed in step S110 by the calculation unit 212 from the construction state optimum value database 216d. The control unit 214 updates the operation of the press-fitting machine body 100 by updating the current operation parameter and control value to the read operation parameter and control value (step S112).

  The autonomous control unit 210 feedbacks (FB) the operation of the press-fitting machine main body 100 based on the reaction force total information 216a stored in the storage unit 216, the performance information 216b of the press-fitting machine main body 100, and the strength information 216e of the penetration material. Control (step S114). The autonomous control unit 210 determines whether or not to finish the press-fitting work (step S116), stops the operation of the press-fitting machine body 100 when the press-fitting work is finished, and step S104 when the press-fitting work is not finished. The subsequent processing is repeated.

  Hereinafter, a flow of processing for feedback control of the press-fitting machine body 100 in step S114 described above will be shown. FIG. 8 is a flowchart showing a flow of processing for limiting the control value based on the total reaction force information, the performance information of the press-fitting machine body 100, and the strength information of the steel sheet pile 1 in the first embodiment.

  First, the autonomous control unit 210 acquires the reaction force total information by reading the reaction force total information 216a from the storage unit 216 (step S200). The autonomous control unit 210 reads the performance information 216b of the press-fitting machine body 100 and the strength information 216e of the penetrating material from the storage unit 216, and acquires these information (step S202).

  Next, the autonomous control unit 210 determines the control value based on the upper limit value of the operation of the press machine main body 100 determined by the reaction force total information 216a, the performance information 216b of the press machine main body 100, and the strength information 216e of the penetration material. Is determined (step S204). At this time, the calculation unit 212 determines that the operation state of the presser main body 100 based on the information measured by the measuring unit 220 is based on the reaction force total information 216a, the performance information 216b of the presser main body 100, and the strength information 216e of the penetrating material. The upper limit value of the control value is determined so as not to exceed the determined upper limit value of the operation of the press-fitting machine body 100.

  Next, in the autonomous control unit 210, the operation state of the press-fitting machine main body 100 based on the information measured by the measurement unit 220 indicates that the reaction force total information 216a, the performance information 216b of the press-fitting machine main body 100, and the strength information 216e of the penetrating material. It is determined whether or not the upper limit value of the operation of the press-fitting machine body 100 determined by the above is exceeded (step S206). The operating state of the press machine main body 100 based on the information measured by the measurement unit 220 is determined by the reaction force total information 216a, the performance information 216b of the press machine main body 100, and the strength information 216e of the penetration material. When the upper limit value of the operation is exceeded, the calculation unit 212 corrects the operation parameter and the control value updated in step S108 and step S112 so as not to exceed the upper limit value (step S208). The operating state of the press machine main body 100 based on the information measured by the measurement unit 220 is determined by the reaction force total information 216a, the performance information 216b of the press machine main body 100, and the strength information 216e of the penetration material. If the upper limit value of the operation is not exceeded, the control value is not corrected. The autonomous control unit 210 controls the press-fitting machine main body 100 by outputting a control signal to the drive control unit 100b of the press-fitting machine main body 100 according to the operation parameter and the control value (step S210).

  According to the steel sheet pile press-in system described above, while the construction machine (100) is inserting the penetrating material (1) into the ground, information representing the operation state of the construction machine (100) is measured, Based on the information indicating the measured operation state with reference to the storage unit (216) that stores information related to the state (ground condition or construction state) and information indicating the operation of the construction machine (100) in association with each other. And the information showing operation | movement of the construction machine (100) memorize | stored in the memory | storage part (216) is selected. Thereby, according to the steel sheet pile press-in system, even if the ground condition or the construction state is changed while the construction machine (100) is inserting the penetration material (1), the operation of the construction machine (100) is represented. Information can be selected, and the time required to install the penetrating material can be shortened.

  Specifically, the penetration resistance acting on the steel sheet pile 1 inserted in the ground G changes, but the operation parameters and control values that reduce the penetration resistance are stored in correspondence with the ground conditions or the construction state. . And when the steel sheet pile press-in system determines that the ground condition or the construction state has changed based on the information measured by the measurement unit 220, the operation parameter and the control value are changed to reduce the penetration resistance. The operation of the press machine main body 100 can be switched.

  Moreover, according to the steel sheet pile press-fitting system, when selecting information representing the operation of the press-fitting machine main body 100, the information on the reaction force applied to the press-fitting machine main body 100 from the steel sheet pile 1 is stored in the storage unit 216. Since the selected information representing the operation of the press-fitting machine main body 100 is selected, the press-fitting machine main body 100 is controlled by operating parameters and control values that reduce the penetration resistance in consideration of the reaction force applied to the press-fitting machine main body 100. can do.

  Furthermore, according to the steel sheet pile press-fitting system, when selecting information representing the operation of the press-fitting machine main body 100, the press-fitting machine main body 100 associated with the performance information of the press-fitting machine main body 100 stored in the storage unit 216 is selected. Since the information representing the operation is selected, it is possible to prevent the information representing the operation of the press-fit machine main body 100 from exceeding the upper limit of the operation parameter and the control value determined by the performance of the press-fit machine main body 100.

  Hereinafter, an example of the control result when the operation parameter is selected and press-fitted by the autonomous control device 200 of the first embodiment will be described. FIG. 9 is a diagram illustrating an example of (a) soil quality with respect to depth, (b) N value, (c) press-fitting speed, and (d) press-fitting time in the first embodiment. Referring to FIG. 9, when the soil quality and the N value are changed corresponding to the depth of the steel sheet pile 1, the press-fitting speed can be changed corresponding to the depth as shown in FIG. 9C. On the other hand, the press-fitting speed of the comparative example is a constant value even when the soil quality and the N value change. As a result, as shown in FIG. 9D, according to the embodiment, the press-fitting time can be shortened as compared with the comparative example.

(Second Embodiment)
The second embodiment to which the present invention is applied will be described below. The press-fitting machine main body 100A of the second embodiment is pressed into the ground using the steel sheet pile 1 provided with an auxiliary material instead of the steel sheet pile 1 as an intrusion material, or pressed into the ground using the auxiliary material as an intrusion material. When it does, it differs from the press machine main body 100 of 1st Embodiment by the point which selects the operation parameter of the press machine main body 100. FIG.

  FIG. 10 is a view showing a state in which a water jet is attached to the steel sheet pile 1 in the second embodiment. The press machine main body 100 includes a water jet pipe 300 as an auxiliary material, a water jet drive unit 310, and a water jet control unit 320 in addition to the press machine main body 100 of the first embodiment. The water jet pipe 300 is disposed along the longitudinal direction of the steel sheet pile 1 inside the steel sheet pile 1 and surrounded by the web portion 12 and the flange portion 14. A nozzle portion 302 is provided at the lower end of the water jet pipe 300 and is directed to the ground G into which the steel sheet pile 1 is press-fitted. The water jet drive unit 310 includes a tank, a pump, a valve, and the like (not shown), and the water amount or water pressure is controlled according to the control of the water jet control unit 320.

  In the press-fitting machine main body 100 shown in FIG. 10, the autonomous control unit 210 press-fits the steel sheet pile 1 to the ground G in a state where the water jet pipe 300 is attached to the steel sheet pile 1. In addition, in the autonomous control unit 210, for example, the storage unit 216 stores the water amount and the upper limit value of the water pressure as the performance information 216b of the press-fitting machine body 100, and the optimum value database 216c for each ground condition and the optimum value database 216d for each construction condition are stored. The control value of the water amount and the water pressure corresponding to the ground condition or the construction state is stored.

  The autonomous control unit 210 is adapted to the ground condition or the construction state based on the operation state information measured by the autonomous control device 200 while the press-fit machine main body 100 is inserting the steel sheet pile 1 into the ground G. And the control value of water pressure can be changed. As a result, according to the steel sheet pile press-fitting system, the operation of the press-fitting machine main body 100 can be controlled and the time required for installing the penetrating material can be shortened, as in the first embodiment.

  FIG. 11 is a diagram showing a state in which an auger is attached to the steel sheet pile 1 in the second embodiment. The press machine main body 100 includes an auger 400 as an auxiliary material, an auger drive unit 410, and an auger control unit 420 in addition to the press machine main body 100 of the first embodiment. In FIG. 11, the auger casing is not shown. The auger 400 is attached to the steel sheet pile 1 while being held together with the steel sheet pile 1 by the chuck 110. The auger drive unit 410 includes a rotation motor (not shown) and the like, and the rotation speed is controlled according to the control of the auger control unit 420.

  In the press-fitting machine main body 100 shown in FIG. 11, the autonomous control unit 210 press-fits the steel sheet pile 1 to the ground G in a state where the auger 400 is attached to the steel sheet pile 1. In addition, in the autonomous control unit 210, for example, the upper limit value of the rotation speed of the auger 400 is stored as the performance information 216b of the press-fitting machine body 100 in the storage unit 216, and the optimum value database 216c by ground condition and the optimum value by construction state The database 216d stores a control value of the rotational speed of the auger 400 corresponding to the ground condition or the construction state.

  The autonomous control unit 210 is an auger corresponding to the ground condition or the construction state based on the operation state information measured by the autonomous control device 200 while the press-fit machine main body 100 is inserting the steel sheet pile 1 into the ground G. The control value of the number of rotations of 400 can be changed. As a result, according to the steel sheet pile press-fitting system, the operation of the press-fitting machine main body 100 can be controlled and the time required for installing the penetrating material can be shortened, as in the first embodiment.

  The auger 400 may be inserted into the ground G alone without being attached to the steel sheet pile 1 before the steel sheet pile 1 is press-fitted into the ground G. The autonomous control unit 210 corresponds to, for example, the upper limit value of the rotation speed of the auger 400, the ground condition, or the construction state as the performance information 216b of the press-fitting machine body 100 when the auger 400 is inserted into the ground G alone. The control value of the rotation speed of the auger 400 is stored in the storage unit 216. Then, when the auger 400 is independently inserted into the ground G by the press-fitting machine body 100, the autonomous control unit 210 determines the ground condition or the ground condition based on the operation state information such as the rotation speed of the auger 400 measured by the autonomous control device 200. The control value of the rotation speed of the auger 400 corresponding to the construction state can be changed. Thereby, according to the steel sheet pile press-fitting system of the second embodiment, it is possible to shorten the time required for installing the penetrating material when inserting the auger 400 alone into the ground G as the penetrating material.

Moreover, although embodiment mentioned above gave and demonstrated the example in which the press machine main body 100 of the steel sheet pile press-fit system has the autonomous control apparatus 200, the function of all or a part of the autonomous control apparatus 200 is the press machine main body. May be realized by an independent device. For example, you may implement | achieve the autonomous control part 210 and the display part 230 with the computer of the terminal which the manager who manages the construction which installs the steel sheet pile 1 is held. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed.
Moreover, although embodiment mentioned above gave and demonstrated the example which is a press machine which a construction machine takes reaction force from an existing pile and press-fits a steel sheet pile in the ground, the construction machine said to this invention is this It is not limited to such a press-fitting machine. In addition to the above press-fitting machine, the present invention, for example, a press-fitting machine that uses the weight of a press-fitting machine as a reaction force without taking a reaction force from an existing pile, or a construction machine that drives a pile material by vibration such as a vibro hammer In addition, it can be applied to a construction machine that inserts an intrusion material into the ground such as a construction machine that drives a pile material by hammering.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 Steel sheet pile 100 Press-fit machine main body 100a Drive part 100b Drive control part 102 Clamp 110 Chuck 114 Main cylinder 200 Autonomous control apparatus 210 Autonomous control part 212 Calculation part 214 Control part 216 Memory | storage part 216a Reaction force total information 216b Performance information of a press-fit machine main body 216c Optimal value database for each ground condition 216d Optimal value database for each construction state 216e Strength information 220 of the penetrating material 230 Measurement unit 230 Display unit 240 Operation unit 300 Water jet pipe 400 Auger

Claims (10)

While the construction machine is inserting the penetration material into the ground, measuring the information representing the operating state of the construction machine,
Reference is made to a storage unit that stores information relating to the underground state and information representing the operation of the construction machine, and stored in the storage unit based on the information representing the measured operation state A method for selecting an operation of the construction machine, comprising: selecting information representing an operation of the construction machine. The information related to the state of the ground represents the state of the ground where the penetration material is inserted by the construction machine,
The operation | movement selection method of the construction machine of Claim 1. Information related to the underground state represents the construction state obtained as a result of the construction machine operating,
The operation | movement selection method of the construction machine of Claim 1 or 2. The step of selecting information representing the operation of the construction machine includes the step of selecting the information of the construction machine that is stored in the storage unit and that is associated with the information on the reaction force applied to the construction machine from the penetration material embedded in the ground. Select information that represents the action,
The operation selection method for a construction machine according to any one of claims 1 to 3. The step of selecting information representing the operation of the construction machine selects information representing the operation of the construction machine stored in the storage unit and associated with the performance information of the construction machine.
The operation selection method for a construction machine according to any one of claims 1 to 4. The step of selecting information representing the operation of the construction machine selects information representing the operation of the construction machine associated with the information on the strength of the penetrating material stored in the storage unit.
The operation | use selection method of the construction machine in any one of Claims 1-5. While the construction machine is inserting the intrusion material into the ground, a measurement unit that measures information representing the operating state of the construction machine,
Based on the information indicating the operation state measured by the measurement unit, with reference to the storage unit that stores information related to the underground state and information indicating the operation of the construction machine, the storage unit A construction machine operation selection device comprising: a selection unit that selects stored information representing the operation of the construction machine. A display unit for displaying the operation condition selected by the selection unit;
The operation | movement selection apparatus of the construction machine of Claim 7. While the construction machine is inserting the intrusion material into the ground, a measurement unit that measures information representing the operating state of the construction machine,
Based on the information indicating the operation state measured by the measurement unit, with reference to the storage unit that stores information related to the underground state and information indicating the operation of the construction machine, the storage unit A selection unit for selecting information representing the operation of the stored construction machine;
An automatic construction apparatus comprising: a control unit that controls the construction machine based on information representing the operation of the construction machine selected by the selection unit. An operation unit for operating the construction machine according to information representing the operation selected by the selection unit;
The control unit controls the construction machine according to information representing the operation of the construction machine based on the operation of the operation unit.
The automatic construction apparatus according to claim 9.

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