JP2017137729A - Compaction state measuring device of ground, compaction state measuring method and compaction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a compaction state measuring device capable of improving measurement accuracy of a settlement quantity of the ground.SOLUTION: A compaction state measuring device 3 of the ground for measuring a compaction state of the ground by a compaction machine 1, comprises a height measuring part 4 mounted on the compaction machine 1 and capable of measuring a front ground height Hand a rear ground height Hin the movement direction of the compaction machine 1 by transmitting a detection wave to the ground S and a ground settlement quantity calculation part 8 for calculating a ground settlement quantity ΔH being a difference between a pre-passing ground height Hof the compaction machine 1 and a post-passing ground height Hof the compaction machine 1 based on the front ground height Hand the rear ground height H.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a ground compaction state measuring device, a compaction state measuring method, and a compaction machine.

  Conventionally, in land preparation, a banking material is rolled out using, for example, a bulldozer so that the banking has a predetermined thickness, and then the banking is rolled and compacted by, for example, a vibrating roller. In such land preparation, compaction management is performed to manage whether or not the embankment is sufficiently compacted by rolling with a vibrating roller.

  For example, as a compaction management method for embankment work and dam construction, there is a method described in Non-Patent Document 1 below in addition to a conventionally known on-site density test.

  In this management method, a construction test is performed in advance using on-site materials, and the number of times of compaction for obtaining a required density is determined based on the result of the construction test. In the on-site construction, it is managed whether or not the predetermined number of times of compaction is performed for the entire construction site. In this management method, a position measuring device such as a GPS is installed in the compacting machine, and travel locus data is measured by this position measuring device. Thereby, compaction management in a construction place can be performed automatically.

  Further, in the management procedure described in Non-Patent Document 1, in addition to the number of times of compaction, the spread thickness before compaction and the embankment thickness after compaction are also targets for evaluation of construction quality.

“Consolidation management guidelines for embankments using TS / GNSS”, [online], March 2012, Ministry of Land, Infrastructure, Transport and Tourism, [Search January 20, 2016], Internet <URL: http: // www. mlit.go.jp/tec/sekisan/sekou/pdf/240329jouhouka_kanrikantoku06a.pdf>

  However, in the conventional technique described in Non-Patent Document 1, it is necessary to perform a construction test in advance, which takes time, so there is room for improvement in overall work efficiency including compaction management.

  An object of the present invention is to provide a ground compaction state measuring device, a compaction state measuring method, and a compacting machine capable of improving work efficiency in compacting the ground.

  The present invention relates to a ground compaction state measuring device for measuring a ground compaction state by a compaction compacting machine, which is mounted on the compaction machine, transmits a detection wave to the ground, and transmits the detection wave of the compaction machine. A height measurement unit that can measure the height of the ground in the front and the back of the moving direction, the measured value of the ground level in front of the measurement point before passing the compaction machine, and the value after passing the compaction machine A ground subsidence amount calculation unit that calculates a ground subsidence amount that is a difference from a measured value of the ground height behind the measurement point.

  In such a compaction state measuring device, while the compaction machine is moved and compacted, a detection wave is transmitted from the height measuring unit mounted on the compaction machine, and the ground height in front of the compaction machine is transmitted. And the ground height behind the compaction machine. As a result, the ground subsidence amount is calculated in real time by comparing the ground height measurement value before passing the compaction machine with the ground height measurement value after passing the compaction machine at the same measurement point. Is possible. Since it is not necessary to perform a construction test in advance, it is possible to reduce the work of compaction management and improve work efficiency.

  In addition, the amount of ground subsidence can be calculated immediately after the compaction machine passes the measurement point, so that there is no significant difference between the ground height measurement time before passage and the ground height measurement time after passage. Can be. Therefore, it is possible to measure the amount of ground subsidence while suppressing the influence of error factors in GPS. As a result, the measurement accuracy of the ground subsidence amount can be improved.

  Further, in the conventional compaction management, compaction is performed for a predetermined number of compactions. This compaction state measuring device can calculate the amount of ground subsidence after compaction by the compacting machine, so it is necessary to judge whether the required amount of ground subsidence has been reached based on the calculated amount of ground subsidence. Is possible. Based on this determination, the end of compaction can be determined. Therefore, it is possible to end the compaction before executing the compaction for a predetermined number of times, and unnecessary compaction can be reduced. As a result, work efficiency can be improved.

  The height measurement unit is installed at the front of the compaction machine, and is installed at the front height measurement unit that measures the ground height in front of the compaction machine, and at the rear of the compaction machine, and behind the compaction machine. The structure which has a back height measurement part which measures ground height may be sufficient. Thereby, it is possible to place the front height measuring unit closer to the ground in front of the compacting machine, and to place the rear height measuring unit closer to the ground behind the compacting machine, Measurement accuracy by the height measuring unit can be improved. As a result, since the amount of ground subsidence can be measured with high accuracy, the end of compaction can be determined with high accuracy, and unnecessary compacting work can be reduced.

  The compaction state measuring device is further provided with a position information acquisition unit that is mounted on the compaction machine and acquires position information of the compaction machine, and the ground subsidence amount calculation unit is the position acquired by the position information acquisition unit. A measurement point may be specified based on the information, and the amount of ground subsidence may be calculated based on the measurement value at the specified measurement point. Since the position information acquisition unit is mounted on the compaction machine, the position information of the measurement points is acquired as the compaction machine moves, and the measured values at the same specified measurement points are compared to subsidence the ground. The amount can be calculated.

  In addition, the position information acquisition unit includes a GPS position detection unit that detects the position of the compacting machine, and the GPS position detection unit acquires position information of the compacting machine when the measurement value at the measurement point before passing is measured. In addition, the position information of the compacting machine when the measurement value at the measurement point after passing is measured may be obtained. Thus, using the GPS position detection unit mounted on the compacting machine, position information can be acquired in accordance with the movement of the compacting machine, and the measurement points before and after passing through the compacting machine can be specified.

  The position information acquisition unit may include a movement speed detection unit that detects the movement speed of the compacting machine, and the ground subsidence amount calculation unit may be configured to identify the measurement point based on the movement speed of the compaction machine. As a result, after measuring the ground height in the front, the compaction machine moves to calculate the movement distance (or movement time) until the ground height behind is measured for the same measurement point. The ground subsidence amount can be calculated by specifying the measurement value at the measurement point.

  The present invention relates to a ground compaction state measuring method for measuring a ground compaction state by a compaction machine, wherein the compaction machine moves the compaction machine and compacts the ground while the compaction machine is applied to the ground. The ground height measurement process in which the detection wave is transmitted to measure the ground height in the forward and backward directions of the compaction machine and the ground height in front of the measurement point before passing the compaction machine. And a ground subsidence amount calculating step of calculating a ground subsidence amount which is a difference between the measured value of the ground and the measured value of the ground height at the rear of the measurement point after passing through the compaction machine.

  According to such a compaction state measuring method, while the compaction machine is moved, a detection wave is transmitted from the compaction machine, and the ground height in front of the compaction machine and the ground height in the rear of the compaction machine are measured. Measure. As a result, the ground subsidence amount is calculated in real time by comparing the ground height measurement value before passing the compaction machine with the ground height measurement value after passing the compaction machine at the same measurement point. Is possible. Since it is not necessary to conduct a construction test in advance, it is possible to reduce the work of compaction management and improve work efficiency.

  In addition, the amount of ground subsidence can be calculated immediately after the compaction machine passes the measurement point, so that there is no significant difference between the ground height measurement time before passage and the ground height measurement time after passage. Can be. Therefore, it is possible to measure the amount of ground subsidence while suppressing the influence of error factors in GPS. As a result, the measurement accuracy of the ground subsidence amount can be improved.

  In this compaction state measurement method, the ground subsidence amount can be calculated after compaction by the compacting machine, so it is necessary to judge whether the required ground subsidence amount has been reached based on the calculated ground subsidence amount. Is possible. Based on this determination, the end of compaction can be determined. Therefore, it is possible to end the compaction before executing the compaction for a predetermined number of times, and unnecessary compaction can be reduced. As a result, work efficiency can be improved.

  The present invention is a compacting machine that compacts the ground, and includes a vehicle body having a roller that compacts the ground, and the vehicle body attached thereto, and transmits a detection wave to the ground in the direction of movement of the compacting machine. A height measurement unit that can measure the front ground height and the rear ground height, the measured value of the front ground height at the measurement point before passing the vehicle body, and the rear ground height at the measurement point after passing the vehicle body A ground subsidence amount calculation unit that calculates a ground subsidence amount that is a difference from the measured value of the height.

  In such a compacting machine, while the compacting machine is moved and compacted, a detection wave is transmitted from the height measuring unit mounted on the vehicle body, and the ground height in front of the compacting machine and the compacting are measured. Measure the ground height behind the machine. As a result, the ground subsidence amount is calculated in real time by comparing the ground height measurement value before passing the compaction machine with the ground height measurement value after passing the compaction machine at the same measurement point. Is possible. Since it is not necessary to conduct a construction test in advance, it is possible to reduce the work of compaction management and improve work efficiency.

  In addition, the amount of ground subsidence can be calculated immediately after the compaction machine passes the measurement point, so that there is no significant difference between the ground height measurement time before passage and the ground height measurement time after passage. Can be. Therefore, it is possible to measure the amount of ground subsidence while suppressing the influence of error factors in GPS. As a result, the measurement accuracy of the ground subsidence amount can be improved.

  In this compaction machine, since the amount of ground settlement can be calculated after compaction, it is possible to determine whether the required amount of ground settlement has been reached based on the calculated ground settlement amount. Based on this determination, the end of compaction can be determined. Therefore, it is possible to finish the compaction before executing the compaction for the predetermined number of times, and unnecessary compaction can be reduced. As a result, work efficiency can be improved.

  According to the present invention, it is possible to provide a ground compaction state measuring device, a compaction state measuring method, and a compacting machine capable of improving work efficiency in compacting the ground.

It is a side view which shows the roller vehicle which concerns on 1st Embodiment of this invention. It is a block block diagram which shows the compaction state measuring apparatus mounted in the roller vehicle. It is a top view which shows the compaction object area. It is the schematic which shows the front ground height and the back ground height. It is the schematic which shows the roller vehicle which irradiates a laser beam ahead, and measures the ground height of a measurement point, and the roller vehicle which irradiates a laser beam back, and measures the ground height of a measurement point. It is a graph which shows the relationship between the frequency | count of rolling and the height of embankment. It is a flowchart which shows the procedure in the compaction state measuring method. It is a block block diagram which shows the compaction state measuring apparatus which concerns on 2nd Embodiment of this invention. It is a side view which shows the roller vehicle which concerns on 3rd Embodiment of this invention. It is a side view which shows the roller vehicle which concerns on 4th Embodiment of this invention. It is a block block diagram which shows the compaction state measuring apparatus which concerns on 5th Embodiment of this invention.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same part or an equivalent part, and the overlapping description is abbreviate | omitted.

(First embodiment)
First, a ground compaction state measuring device, a compaction state measuring method, and a compacting machine according to the first embodiment will be described.

  For example, in construction work such as dam and road maintenance or residential area development, the embankment material transported by a dump truck or the like is leveled with a bulldozer to a certain thickness, and then the embankment is rolled by a vibrating roller 2a. The embankment is compacted by pressing. The embankment immediately after leveling with the bulldozer is soft because it contains a lot of air and water, but by reducing the air in the embankment by the rolling pressure of the vibration roller 2a, the embankment becomes a desired hardness. Compact.

  As shown in FIG. 1, a roller vehicle (compacting machine) 1 such as a vibration roller includes a vehicle body 2 that can travel, and the vehicle body 2 is provided with a plurality of rollers 2a and 2b as front wheels and rear wheels. . The plurality of rollers 2a and 2b are iron rollers and have a substantially cylindrical shape. In the vehicle body 2, for example, the front wheel is the vibration roller 2a. The vehicle body 2 includes a vibration generator 2c attached to the vibration roller 2a. The roller vehicle 1 may be configured to include a vibration roller as a rear wheel.

  The roller vehicle 1 moves on the embankment while vibrating the vibration roller 2a with the vibration generator 2c. When the roller vehicle 1 moves on the embankment, the weight of the roller vehicle 1 and the vibration of the vibration roller 2a are transmitted to the embankment, and the embankment is effectively compacted.

  The roller vehicle 1 is equipped with a compaction state measuring device 3 that measures the compaction state of the embankment (ground). In the compaction state measuring device 3, for example, the embankment embankment area A (see FIG. 3) is divided into square compaction management blocks (consolidation target areas) D, and embankment is performed for each compaction management block D. Determine if it is fully compacted.

  As shown in FIG. 2, the compaction state measuring device 3 calculates a subsidence amount of the embankment, a three-dimensional laser scanner (height measurement unit) 4 that measures the front and rear ground heights of the vehicle body 2. And a compaction information processing unit 6 for determining whether or not the embankment is compacted. In addition, the compaction state measuring device 3 includes a GPS position detection unit (position information acquisition unit) 7 that acquires the position information of the roller vehicle 1.

  The GPS position detector 7 detects the position of the roller vehicle 1 in the embankment area A. The GPS position detector 7 receives position information that is three-dimensional coordinates of the position including the height information of the roller vehicle 1 by receiving a radio wave transmitted from the artificial satellite with a receiving antenna installed on the upper portion of the roller vehicle 1. To detect. The height information of the roller vehicle 1 is position information as a reference when measuring the ground height to be described later, and is not necessarily a coordinate value.

  The position information of the roller vehicle 1 acquired by the GPS position detection unit 7 is stored in a storage unit 10 (to be described later) of the compaction information processing unit 6 together with the time at which the position information is acquired. That is, the position information of the measurement point and the time when the measured value of the ground height at the measurement point is measured are stored in association with each other.

  In addition, by measuring the position information detected by the GPS position detection unit 7 together with the time, the roller vehicle 1 can create the movement route data of the roller vehicle 1 in the embankment area A. Further, the roller vehicle 1 can also calculate the number of times of rolling by the roller vehicle 1 for each compaction management block D.

The three-dimensional laser scanner 4 is installed, for example, on the roof of the cab of the vehicle body 2. The three-dimensional laser scanner 4 irradiates laser light (detection wave) L ₁ in front of the vehicle body 2 and acquires information on the surface shape of the ground in front of the vehicle body 2. Further, the three-dimensional laser scanner 4 irradiates the laser beam L ₂ behind the vehicle body 2 and acquires information on the surface shape of the ground behind the vehicle body 2. Since the three-dimensional laser scanner 4 can measure the distance from the reference point, the ground height can be calculated from the set irradiation angles of the laser beams L1 and L2, and the ground height can be measured. For example, the height information may use the emission points P _4a and P _4b of the laser beams L ₁ and L _{2 from} the three-dimensional laser scanner 4 as reference points (reference points in the vertical direction).

In the three-dimensional laser scanner 4, the emission point of the laser light L ₁ irradiated to the front and the exit point P _4a, the emission point of the laser beam L ₂ to be illuminated to the rear and the exit point P _4b. The irradiation angle theta ₁ of the laser beam L ₁ is, when viewed from the X direction is an angle with the vertical direction Z and the irradiation direction of the laser light L ₁ intersect. The irradiation angle θ ₂ of the laser beam L _{1 is} an angle at which the vertical direction Z and the irradiation direction of the laser beam L ₂ intersect when viewed from the X direction. For example, the irradiation angles θ ₁ and θ ₂ can be set to values set when the three-dimensional laser scanner 4 is attached to the vehicle body 2. Further, when measuring the distance between the laser beams L1 and L2, the irradiation angles θ ₁ and θ ₂ may be measured.

In roller vehicle 1, while applying rolling to fill the rollers 2a, 2b, the laser beam L ₁ is irradiated to the front, it is irradiated with a laser beam L ₂ to the rear, to obtain information about the surface shape of the embankment A. The three-dimensional laser scanner 4 measures the three-dimensional coordinate data of the ground surface S by irradiating the laser beams L ₁ and L ₂ and receiving the reflected light from the surface of the embankment A (hereinafter referred to as “surface S”). To do. The three-dimensional laser scanner 4 measures the three-dimensional coordinate data of the ground surface S (measurement point P _a0 ) in front of the vehicle body 2 (before rolling) in real time while the roller vehicle 1 is traveling, and the rear of the vehicle body 2 ( The three-dimensional coordinate data of the ground surface S (measurement point P _b1 ) after rolling is measured.

As shown in FIGS. 1, 4 and 5, the three-dimensional laser scanner 4 includes a height H ₀ (H _a0 ) of the ground surface S in front of the vehicle body 2 and a height H of the ground surface S behind the vehicle body 2. ₁ (H _a1 ) is calculated. The three-dimensional laser scanner 4 calculates heights H ₀ (H _a0 ) and H ₁ (H _a1 ) based on the three-dimensional coordinate data of the measurement point. The roller vehicle 1 calculates the heights H ₀ and H ₁ of the ground surface S based on the three-dimensional coordinate data while traveling. The height can be measured from the measured three-dimensional coordinate data.

Data relating to the heights H ₀ and H ₁ of the ground surface S calculated by the three-dimensional laser scanner 4 is output to the compaction information processing unit 6.

  The compaction information processing unit 6 includes a CPU that performs arithmetic processing, a ROM and a RAM that serve as the storage unit 10, an input signal circuit, an output signal circuit, a power supply circuit, and the like. In the compaction information processing unit 6, a ground subsidence amount calculation unit 8 and a determination unit 9 are constructed by executing a program stored in the storage unit 10.

The compaction information processing unit 6 partitions the embankment area A into compaction management blocks D in advance. As shown in FIG. 3, the compaction information processing unit 6 includes the apexes (x ₁ , y ₁ ), (x ₁ , y ₂ ), (x ₁ , y ₃ ),... (X ₂ ) of the compaction management block D. , Y ₁ ), (x ₂ , y ₂ ), (x ₂ , y ₃ )... (X ₃ , y ₁ ), (x ₃ , y ₂ ), (x ₃ , y ₃ ). The compaction management block D is assigned to the areas “X ₁ , Y ₁ ”, “X ₁ , Y ₂ ”, “X ₁ , Y ₃ ”, “X ₂ , Y ₁ ”, “X ₂ , Y ₂ ”, “X ₂ ”. , Y ₃ ”,“ X ₃ , Y ₁ ”,“ X ₃ , Y ₂ ”,“ X ₃ , Y ₃ ”.

  The storage unit 10 of the compaction information processing unit 6 stores measurement position information indicating the measurement range of the three-dimensional laser scanner 4. The measurement range of the three-dimensional laser scanner 4 may be any of a single compaction management block D, a plurality of compaction management blocks D, or the entire embankment area A.

The compaction information processing unit 6 acquires the position information of the roller vehicle 1 based on the information output from the GPS position detection unit 7. In the compaction information processing unit 6, the roller vehicle 1 has the vertices (x ₂ , y ₁ ), (x ₁ , y ₁ ), (x ₂ , y ₂ ), (x ₁ ) of the region “X ₁ , Y ₁ ”. , Y ₂ ) once, the number of times of rolling in the region “X ₁ , Y ₁ ” is incremented by one. The storage unit 10 stores the number of times of rolling for each compaction management block D.

In addition, the storage unit 10 stores information related to a determination threshold value for the settlement amount ΔH. In addition, the storage unit 10 stores data on the heights H ₀ and H ₁ of the ground surface S based on the three-dimensional coordinate data measured by the three-dimensional laser scanner 4, and the vehicle body 2 when the three-dimensional coordinate data is measured. Location information is stored.

Moreover, the compaction information processing unit 6 has a timer for acquiring time information. When storing the data related to the heights H ₀ and H ₁ in the storage unit 10, the compaction information processing unit 6 provides time information indicating the time when the data is acquired together with the data related to the heights H ₀ and H _1. Remember.

Ground subsidence amount calculating unit 8, as shown in FIG. 5, the height (measured value of the front ground height) of the ground at the measurement point P _a previous passage of the roller vehicle 1 and H _a0, the roller vehicle 1 calculating the height of the ground at the measuring point _{P a} after passing through a difference in a subsidence ΔH between _{H a1} (measured values of the rear of the ground _{height) (= H a0 -H a1)} . The roller vehicle 1 calculates a sinking amount ΔH while traveling.

  The ground subsidence amount calculation unit 8 includes a measurement position verification unit for specifying measurement positions. A measurement position collation part collates the data regarding the height before rolling, and the data regarding the height after rolling about the same measurement position. For example, based on the data on the distance from the vehicle body 2 to the measurement position and the position information on the vehicle body 2, the data on the height before and after the rolling is collated for the same measurement position.

FIG. 5 shows a roller vehicle 1 that moves from the right side to the left side in the figure. The roller vehicle 1 shown on the right side exists at the position P _t0 at the time t ₀ . The right side of the roller vehicle 1, measures the height H _a0 of ground measurement point P _a with the laser light L1 emitted forward. At this time, the measurement point _{P a,} the position _P the distance from the reference position of the vehicle body 2 present _{t0 L a0 (= l 1 sinθ} 1) located in front.

The roller vehicle 1 shown on the left side exists at the position P _t1 at time t ₁ . Roller vehicle 1 is pressed rolling the measurement point _{P a} while moving from the position _{P t0} the position _{P t1.} Roller vehicle 1 of this left, after passing through the measurement point P _a, which measures the height H _a1 of the ground of the measuring point P _a with a laser beam L2 irradiated to the rear. At this time, the measurement point _P a, the position _P the distance from the reference position of the vehicle body 2 present _{t1 L a1 (= l 2 sinθ} 2) is positioned rearward.

The ground subsidence amount calculation unit 8 measures the height H _a0 before passing based on the position information of the roller vehicle 1 acquired by the GPS position detection unit 7 and the distance L _a0 from the reference position of the vehicle body 2. specifying the absolute position of the measurement point P _a. Measurement of the height H _a0 before passing the information relating to the identified absolute position and the measurement point P _a is stored in the storage unit 10.

The ground subsidence amount calculation unit 8 measures the height H _a1 after passing based on the position information of the roller vehicle 1 acquired by the GPS position detection unit 7 and the distance L _a1 from the reference position of the vehicle body 2. specifying the absolute position of the measurement point P _a. Measurement of the height H _a1 having passed through the information and the measurement point P _a for a particular absolute position is stored in the storage unit 10.

The ground settlement amount calculation unit 8 collates the data stored in the storage unit 10, specifies the ground heights H _a0 and H _a1 before and after rolling at the same measurement point Pa, and sets the settlement amount ΔH ( = H _a0 −H _a1 ) is calculated.

The determination unit 9 determines, for example, whether the settlement amount ΔH is equal to or less than a determination threshold value, and determines the end of compaction. The determination section 9, a subsidence [Delta] H _N-1 of the preceding (N-1 th), based on the subsidence quantity change is a difference between subsidence [Delta] H _N of this (N th), the end of the compaction May be determined.

  The calculated ground height may be, for example, an average value of the heights of the respective measurement points in the compaction management block D. The ground settlement amount calculation unit 8 calculates a settlement amount ΔH in accordance with the passage of the rollers 2a and 2b.

A display unit 11 is connected to the compaction information processing unit 6. The display unit 11 may display, for example, information on the posture of the vehicle body 2, the ground heights H ₁ and H ₂ , the settlement amount ΔH, the number of rolling times, the traveling position of the roller vehicle 1, and the like.

FIG. 6 is a graph showing the relationship between the number of rolling times and the height of the ground of the embankment. In FIG. 6, the horizontal axis indicates the number of times of rolling (times), and the vertical axis indicates the height of the ground of the embankment at the same measurement point. The amount of settlement ΔH ₁ is the amount of settlement when the number of rolling operations is the first time. The amount of settlement ΔH _N is the amount of settlement when the number of rolling operations is the Nth (N is a natural number). In general, as the embankment sinks more greatly as the rolling rolling number N of the vibration roller 2a is smaller, the settlement amount ΔH _{N of the} embankment decreases as the rolling rolling number N increases. The determination unit 9 determines that the rolling compaction is finished when the settlement amount ΔH _N is equal to or less than the determination threshold value.

  Next, the compaction state measuring method will be described with reference to FIG.

  First, the compaction information processing unit 6 sets a compaction management block D in the embankment area A (step S1). In step S1, the embankment area A is divided before the rolling of the embankment by the rollers 2a and 2b is performed, and a square compaction management block D is determined.

  Then, the roller vehicle 1 is caused to travel, and rolling of the embankment area A by the rollers 2a and 2b is started (step S2). Further, the GPS position detection unit 7 acquires position information of the roller vehicle 1. The GPS position detection unit 7 detects the moving path of the roller vehicle 1 on the embankment area A. The GPS position detection unit 7 counts the number of times of rolling based on the moving route of the roller vehicle 1. For example, when each vertex of the compaction management block D is stepped once, the number of times of rolling is incremented by one.

  Moreover, the compaction state measuring apparatus 3 acquires the positional information of the roller vehicle 1 by the GPS position detection part 7 (step S3). The acquired position information is stored in the storage unit 10.

Further, in the compaction state measuring device 3, when rolling by the roller vehicle 1 is being performed (running), the height Ha ₀ of the ground surface S before rolling and the height of the ground surface S after rolling. _Hb1 is measured (step S4: ground height measuring step). The three-dimensional laser scanner 4 irradiates the laser beam L _{1 in} front of the vehicle body 2 and irradiates the laser beam L ₂ in the rear of the vehicle body 2. Based on the surface shape data of the ground surface S, the three-dimensional laser scanner 4 measures the heights H _a0 and H _b1 of the embankment before and after rolling. The three-dimensional laser scanner 4 compacts the measurement result and outputs it to the information processing unit 6.

While the roller vehicle 1 is moving and rolling, the processes of steps S3 and S4 are performed in parallel. Ground subsidence amount calculating unit 8, based on the distance L _a0 from a reference position of the position information and the vehicle body 2 of the roller vehicle 1, specifying the absolute position of the measurement point P _a at the time of measuring the height H _a0 before passing To do. Similarly, subsidence amount calculating unit 8, based on the distance L _a1 from the reference position of the position information and the vehicle body 2 of the roller vehicle 1, the absolute measurement point P _a at the time of measuring the height H _a1 after passing Identify the location. The height H _a1 measurements and after passage of a height H _a0 before passing the information relating to the identified absolute position and the measurement point P _a is stored in the storage unit 10.

Next, the compaction state measuring device 3 specifies the measured value of the ground height before rolling and the measured value of the ground height after rolling at the same measurement point (step S5). Ground subsidence amount calculating unit 8 collates the data stored in the storage unit 10, identifies the height H _a0, H _a1 of the ground after rolling pre- identical measuring point P _a.

Next, the ground settlement amount calculation unit 8 calculates a settlement amount ΔH (step S6, ground settlement amount calculation step). The ground settlement amount calculation unit 8 calculates a settlement amount ΔH (= H _a0 −H _a1 ) based on the ground heights H _a0 and H _a1 before and after rolling at the same measurement point Pa specified in step S5. To do.

  Next, the determination unit 9 of the compaction state measuring device 3 determines whether or not the settlement amount ΔH is equal to or less than a determination threshold value (step S7). When the settlement amount ΔH is equal to or less than the determination threshold value, it is determined that the rolling pressure by the roller vehicle 1 is finished by the rolling pressure of that time. When the amount of settlement ΔH is not less than or equal to the determination threshold, the rolling rolling by the roller vehicle 1 is continued to increase the number of rolling times, and Steps S3 to S7 are repeated.

In addition, the compaction state measuring device 3 displays various information using the display unit 11. The compaction information processing unit 6 causes the display unit 11 to display information on the number of rolling operations, the height H ₀ of the embankment before rolling, the height H ₁ of the embankment after rolling, and the amount of settlement ΔH, for example.

  In such a compaction state measuring device 3, while the roller vehicle 1 is moved and compacted, light is emitted from the three-dimensional laser scanner 4 mounted on the vehicle body 2, so that the ground height in front of the roller vehicle 1 is increased. And the ground height behind the roller vehicle 1 is measured. Thereby, the subsidence amount ΔH is calculated in real time by comparing the measured value of the ground height before passing the roller vehicle 1 with the measured value of the ground height after passing the roller vehicle 1 at the same measurement point. Is possible. Since it is not necessary to perform a construction test in advance, it is possible to reduce the work of compaction management and improve work efficiency.

  Further, since the subsidence amount ΔH can be calculated immediately after the roller vehicle 1 passes through the measurement point, there is no significant difference between the measurement time of the ground height before passing and the measurement time of the ground height after passing. Can be. In the conventional technique, since the measured value at the previous rolling is compared with the measured value at the current rolling, the time difference is large and the influence of the error factor in GPS is large. In this compaction state measuring device 3, since the amount of settlement is measured based on the measured values before and after the roller vehicle 1 passes, it is possible to reduce the time difference and suppress the influence of error factors in GPS. it can. As a result, the measurement accuracy of the settlement amount ΔH can be improved.

  Further, the compaction state measuring device 3 measures the settlement amount ΔH in real time, so that the change in the settlement amount can be quickly grasped and whether or not the required settlement amount has been reached based on the change in the settlement amount ΔH. Can be judged. Based on this determination, it is possible to appropriately determine the end of rolling. As a result, when the change in the amount of subsidence ΔH is small, unnecessary continuation of the rolling operation is prevented, and the construction period can be shortened. In addition, since the settlement amount ΔH is measured in real time, the compaction management can be speeded up. In the conventional management method, since the rolling is performed for the number of times determined in advance, the rolling operation is continued as it is even if the settlement amount ΔH is not changed.

(Second Embodiment)
Next, a ground compaction state measuring apparatus, compaction state measuring method, and compaction machine according to the second embodiment will be described with reference to FIG. In the description of the second embodiment, the same description as that of the first embodiment is omitted.

  The compacted state measuring device 3B according to the second embodiment is different from the compacted state measuring device 3 according to the first embodiment in that a vehicle speed sensor (moving speed detecting unit) that detects the vehicle speed (moving speed) of the roller vehicle 1 is used. ) 12. The vehicle speed sensor 12 measures the rotational angle of the vibration roller 2a and detects the vehicle speed of the roller vehicle 1. Data on the detected vehicle speed is output to the compaction information processing unit 6.

  The measurement position collation unit of the ground subsidence amount calculation unit 8 calculates the movement distance of the roller vehicle 1 based on the vehicle speed of the roller vehicle 1 and specifies the reference position in the horizontal direction of the vehicle body 2. In the measurement position verification unit, for example, an arbitrary position is set as a base point, and the measurement point is specified based on the movement distance (travel history information) from the base point.

For example, as shown in FIG. 5, the position P _t0 of the vehicle body 2 at time t ₀ is set as a base point. Then, the position P _t1 of the roller vehicle 1 is specified based on the vehicle speed and the moving time of the roller vehicle 1. Thus, after measuring the ground height measurement point P _a previous pass, perform compaction through the measurement point P _a, after a predetermined time has elapsed, measure the ground height of the measurement point Pa after passing The measurement value after this passage can be specified.

Thus, based on the vehicle speed and the travel time of the roller vehicle 1, rolling the measurement values of the ground height of the measurement point P _a after pre- to identify, it is possible to calculate the subsidence at the measurement point P _a. In addition, when the roller vehicle 1 moves at constant speed, based on the passage of time, the measurement values at the same measurement point before and after rolling can be specified.

(Third embodiment)
Next, a ground compaction state measuring apparatus, compaction state measuring method, and compaction machine according to a third embodiment will be described with reference to FIG. In the description of the third embodiment, the same description as that of the first and second embodiments is omitted.

The roller vehicle 1B of the third embodiment shown in FIG. 9 is different from the roller vehicle 1 of the first embodiment shown in FIG. 1 in that the arrangement of the three-dimensional laser scanners 14A and 14B is different. In the roller vehicle 1B, a three-dimensional laser scanner 14A is provided at the front portion of the vehicle body 2, and a three-dimensional laser scanner 14B is provided at the rear portion of the vehicle body 2. The laser beam emission points P _14a and P _14b in the three-dimensional laser scanners 14A and 14B are arranged to be at the same height when the vehicle body 2 is placed on a horizontal plane. The compaction state measuring device 3 includes a three-dimensional laser scanner 14A as a front height measuring unit that measures the height of the embankment in front of the vehicle body 2, and a rear height that measures the height of the embankment behind the vehicle body 2. A three-dimensional laser scanner 14B is provided as a measurement unit.

The three-dimensional laser scanner 14 </ b> A is provided, for example, in a bonnet portion that projects forward from the cab of the vehicle body 2. The three-dimensional laser scanner 14A is, for example, the front surface (front surface) of the bonnet portion and is disposed above the vibration roller 2a that is a front wheel. Three-dimensional laser scanner 14A irradiates a laser beam L ₁ toward the front of the vehicle body 2. The three-dimensional laser scanner 14A measures the height of the measurement point _Pa0 on the ground surface S of the embankment before rolling.

The three-dimensional laser scanner 14B is provided on the back surface (rear surface) of the cab of the vehicle body 2, for example. Three-dimensional laser scanner 14B irradiates a laser beam L ₂ toward the rear of the vehicle body 2. The three-dimensional laser scanner 14B measures the height of the measurement point _Pb1 on the earth surface S of the embankment after rolling.

Also in the compaction state measuring device 3 according to the third embodiment, the height of the embankment before passing through the roller vehicle 1B is irradiated by irradiating laser light forward from the three-dimensional laser scanner 14A mounted on the roller vehicle 1B. The height H ₀ is measured, the laser beam is irradiated backward from the three-dimensional laser scanner 14B, the height H ₁ of the embankment after passing through the roller vehicle 1B is measured, and the settlement amount ΔH can be calculated. Thereby, the time difference at the time of measuring the height of the ground before and after rolling can be shortened, and the influence of the error factor in GPS can be suppressed. It is also possible to calculate the amount of settlement by simply calculating the difference between the front ground height and the rear ground height without acquiring position information.

  Further, in the compaction state measuring device 3, the three-dimensional laser scanner 14A can be disposed close to the ground surface S in front of the vehicle body 2, and the three-dimensional laser scanner 14B is disposed close to the ground surface S behind the vehicle body 2. be able to. Thus, by bringing the laser beam emission points P14a and P14b closer to the ground surface S, it is possible to shorten the irradiation distance of the laser beam, reduce the error factor, and improve the measurement accuracy.

(Fourth embodiment)
Next, a ground compaction state measuring device, a compaction state measuring method, and a compacting machine according to a fourth embodiment will be described with reference to FIG. In the description of the fourth embodiment, the same description as that of the first to third embodiments is omitted.

  The roller vehicle 1C of the fourth embodiment shown in FIG. 10 is different from the roller vehicle 1B of the third embodiment shown in FIG. 9 in that the arrangement of the three-dimensional laser scanners 15A and 15B is different. In the roller vehicle 1 </ b> C, a three-dimensional laser scanner 15 </ b> A is provided at the front portion of the vehicle body 2, and a three-dimensional laser scanner 15 </ b> B is provided at the rear portion of the vehicle body 2.

  The three-dimensional laser scanner 15 </ b> A is supported by a support portion 16 that extends forward from the hood of the vehicle body 2. The three-dimensional laser scanner 15A is disposed in front of the roller 2a. The three-dimensional laser scanner 15A irradiates laser light downward in the vertical direction.

  The three-dimensional laser scanner 15 </ b> B is supported by a support portion 17 that extends rearward from the rear surface of the cab of the vehicle body 2. The three-dimensional laser scanner 15B is disposed behind the roller 2b. The three-dimensional laser scanner 15B irradiates laser light downward in the vertical direction.

Also in the compaction state measuring apparatus according to the fourth embodiment, a laser beam is irradiated from the three-dimensional laser scanner 15A mounted on the roller vehicle 1B to a position in front of the roller 2a, and before passing through the roller vehicle 1C. of the height H ₀ of the fill is measured, by irradiating a laser beam to the rear position from the roller 2b from the three-dimensional laser scanner 15B, to measure the height H ₁ of the embankment after passing through the rollers the vehicle 1C, subsidence The amount ΔH can be calculated. Thereby, the time difference at the time of measuring the height of the ground before and after rolling can be shortened, and the influence of the error factor in GPS can be suppressed. It is also possible to calculate the amount of settlement by simply calculating the difference between the front ground height and the rear ground height without acquiring position information.

(Fifth embodiment)
Next, a ground compaction state measuring device, a compaction state measuring method, and a compacting machine according to a fifth embodiment will be described with reference to FIG. In the description of the fifth embodiment, the same description as in the first to fourth embodiments is omitted.

  The compaction state measurement device 3C according to the fifth embodiment is different from the compaction state measurement device 3 according to the first embodiment in that it includes a posture detection unit 5 that detects the posture of the vehicle body 2.

The attitude detection unit 5 includes a gyro sensor as various sensors for detecting the attitude of the vehicle body 2. The posture detection unit 5 has a function as an inclinometer that detects the angle of the vehicle body 2. The attitude detection unit 5 detects an inclination angle θ ₃ with respect to a horizontal plane (XY plane) of an axis line (see FIG. 4) Y _θ3 extending in the front-rear direction of the vehicle body 2. When the vehicle body 2 is placed on a horizontal plane, the axis Y _θ3 is parallel to the horizontal plane. The posture detection unit 5 measures the rotation angle of the vehicle body 2 around the X axis extending in the vehicle width direction (X direction) of the roller vehicle 1. The posture detection unit 5 may measure a rotation angle around an axis extending in another direction.

  In addition, the posture detection unit 5 may calculate the posture of the vehicle body 2 by detecting a change in the angle around the three axes (X axis, Y axis, Z axis) of the vehicle body 2. The X axis and the Y axis are two axes orthogonal to each other in the horizontal plane, the X axis extends in the vehicle width direction intersecting the moving direction of the vehicle body 2, and the Y axis extends in the moving direction of the vehicle body 2. Is the axis. The Z axis is an axis extending in the vertical direction. The attitude detection unit 5 can detect pitch, roll, and yaw as the attitude of the vehicle body 2 based on information acquired from various sensors. The attitude detection unit 5 compacts information related to the attitude of the vehicle body 2 and outputs the information to the information processing unit 6. Further, the posture detection unit 5 may calculate the posture of the vehicle body 2 by detecting angular velocities or angular accelerations around the three axes of the vehicle body 2, for example.

The compaction state measuring device 3 </ b> C corrects the measurement position based on the posture of the vehicle body 2 detected by the posture detection unit 5. Further, the compaction state measuring device 3C corrects the measured value of the front ground height H _a0 or the rear ground height H _b1 based on the posture of the vehicle body 2 detected by the posture detecting unit 5. Good (see FIG. 4).

For example, the compaction state measuring device 3C calculates the irradiation angle θ ₁ of the laser beam L ₁ in consideration of the inclination angle θ ₃ of the vehicle body 2 detected by the posture detection unit 5, and the front ground height H _a0. Can be calculated (see FIG. 4). Similarly, the compaction state measuring device 3C calculates the irradiation angle θ ₂ of the laser light L ₂ in consideration of the inclination angle θ ₃ of the vehicle body 2 detected by the posture detection unit 5, and the rear ground height H _b1 can be calculated.

Also in compaction state measurement apparatus 3C according to the fifth embodiment, by irradiating a laser beam L ₁ from the three-dimensional laser scanner 4 mounted on the roller vehicle 1 in front of the position from the roller 2a, the roller vehicle 1 The height H ₀ of the embankment before passing through is measured, and the laser beam L ₂ is irradiated from the three-dimensional laser scanner 4 to the position behind the roller 2b, so that the height H ₁ of the embankment after passing through the roller vehicle 1 is obtained. By measuring, the amount of settlement ΔH can be calculated. Thereby, it is not necessary to perform a prior construction test, and it is possible to reduce the work of compaction management and improve work efficiency.

  The present invention is not limited to the above-described embodiments, and various modifications as described below are possible without departing from the gist of the present invention.

  The compaction information processing unit of the compaction state measuring apparatus according to the above embodiment may include a height position matching unit that corrects the height reference. For example, the height position collation unit grasps the height position of the roller vehicle 1 at each measurement position based on the height information of the roller vehicle 1 detected by the GPS position detection unit 7, and the height of the vehicle body 2. The reference may be corrected. Further, the compaction state measuring device may measure the position in the height direction of the vehicle body 2 from the outside of the roller vehicle 1, and may use the height reference of the vehicle body 2 at each measurement position based on the measurement data.

  In the above embodiment, the compacting machine is described as a roller vehicle. However, the compacting machine may be, for example, a compacting machine having a vibration roller, a compacting machine having a rolling roller, or another compacting machine.

  In the above embodiment, the three-dimensional laser scanner 4 is arranged at the center (center in the front-rear direction) on the roof of the cab. However, the three-dimensional laser scanner 4 is separated forward and backward on, for example, the roof of the cab. May be arranged.

In the second embodiment, the three-dimensional laser scanners 14A and 14B are arranged apart from each other in the front-rear direction, and the height positions of the laser light emission points P _14a and P _14b by the three-dimensional laser scanners 14A and 14B are matched. However, in the state where the roller vehicle 1B is placed on a horizontal plane, the height positions of the emission points P _14a and P _14b may be different. In this case, the subsidence amount ΔH is calculated in consideration of the difference between the height positions of the emission points P _14a and P _14b and the inclination angle θ ₃ of the vehicle body 2.

  The compaction state measuring device 3 of the above embodiment may have a configuration in which the posture detection unit includes an inclinometer that measures the rotation angle of the vehicle body 2 around the X axis extending in the width direction of the compacting machine. A configuration having an inclinometer for measuring the rotation angle of the vehicle body 2 around the X axis of 4, 14A, 14B may be used. The inclinometer may measure the rotation angle of the vehicle body 2 around the axis extending in the other direction.

  In the above embodiment, the height measurement unit that measures the height of the ground is configured to include a three-dimensional laser scanner that irradiates laser light. For example, light wave distance measurement that measures the distance by irradiating light. A machine etc. may be sufficient and the composition provided with the height measurement part which measures ground height using other detection waves may be sufficient. The detection wave refers to an electromagnetic wave, an ultrasonic wave, or the like that can measure the ground height or the distance to the structure.

  In the compaction state measuring device of the above embodiment, the GPS position detector 7 is provided and the position of the vibration roller 2a is detected. However, the GPS position detector 7 is not provided and the position of the vibration roller 2a is not detected. It may be configured. Moreover, in the said embodiment, after partitioning the embankment area | region A into the compaction management block D, you may perform compaction of embankment without setting the compaction management block D. FIG.

  In the above embodiment, the compaction management when the embankment is rolled and compacted is described, but the ground compaction state measuring device, compaction state measuring method, and compaction machine of the present embodiment are described. May be applied to compaction management when compacting other ground.

  Moreover, although the said embodiment demonstrated the structure by which the compaction information processing unit 6 is mounted in the roller vehicle 1, the structure by which the compaction information processing unit 6 is not mounted in the roller vehicle 1 may be sufficient. For example, the data measured by the three-dimensional laser scanner 4 and the data measured by the attitude detection unit 5 are transmitted by communication means, and various processes are performed by the external compaction information processing unit 6 to calculate the settlement amount ΔH. You may perform the determination of a compaction state.

  Further, the reference position of the vehicle body 2 may be measured using a sensor installed outside the roller vehicle 1. For example, the position and orientation of the vehicle body 2 may be measured using a sensor installed outside the roller vehicle 1 to specify the measurement point.

  Further, the roller vehicle 1 irradiates the side of the roller vehicle 1 with a laser beam, and an outer portion adjacent to a portion that is rolled by the roller vehicle 1 (an area that is not rolled in the current travel). ) May be measured. Accordingly, the ground height before and after the rolling by the roller vehicle 1 may be calculated on the basis of the ground height in the region not rolled by the roller vehicle 1 to calculate the settlement amount ΔH.

  In addition, the roller vehicle 1 may include an azimuth meter that measures the traveling direction of the roller vehicle 1 and may determine whether or not the roller vehicle 1 is traveling straight using data measured by the azimuth meter. Thereby, when the roller vehicle 1 is not traveling straight, the measurement points before and after the rolling can be specified according to the moving direction of the roller vehicle 1.

1, 1B, 1C ... Roller vehicle (compaction machine)
DESCRIPTION OF SYMBOLS 2 ... Vehicle body, 2a ... Shaking roller, 2b ... Roller, 2c ... Shaking device 3, 3B, 3C ... Compaction state measuring device 4 ... Three-dimensional laser scanner (height measuring part)
5 ... posture detection unit 6 ... compaction information processing unit 7 ... GPS position detection unit (position information acquisition unit)
8 ... Ground subsidence amount calculation unit 9 ... Determination unit 10 ... Storage unit 11 ... Display unit 12 ... Vehicle speed sensor (movement speed detection unit)
14A, 15A ... Three-dimensional laser scanner (front height measurement unit)
14B, 15B ... Three-dimensional laser scanner (rear height measurement unit)
16, 17 ... support portion A ... fill region D ... management block _{P a} ... measuring location.

Claims (7)

A ground compaction state measuring device for measuring a ground compaction state by a compaction machine,
A height measuring unit mounted on the compacting machine, capable of measuring a front ground height and a rear ground height in a moving direction of the compacting machine by transmitting a detection wave to the ground;
Ground subsidence amount, which is the difference between the measured value of the front ground height at the measurement point before passing the compaction machine and the measured value of the rear ground height at the measurement point after passing the compaction machine A ground subsidence amount calculating unit, and a ground compaction state measuring device. The height measuring unit is installed at a front portion of the compacting machine, and measures a front height measuring unit that measures the front ground height;
The ground compaction state measuring device according to claim 1, further comprising a rear height measuring unit that is installed at a rear portion of the compacting machine and measures the rear ground height. A position information acquisition unit that is mounted on the compacting machine and acquires position information of the compacting machine,
The ground settlement amount calculation unit identifies the measurement point based on the position information acquired by the position information acquisition unit, and calculates the ground settlement amount based on the measurement value of the specified measurement point. The ground compaction state measuring device according to claim 1 or 2, which is calculated. The position information acquisition unit includes a GPS position detection unit that detects a position of the compacting machine,
The GPS position detection unit acquires the position information of the compacting machine when measuring the measurement value of the measurement point before the passage, and measures the measurement value of the measurement point after the passage. The ground compaction state measuring apparatus according to claim 3, wherein the position information of the compacting machine at the time of acquisition is acquired. The position information acquisition unit includes a movement speed detection unit that detects a movement speed of the compacting machine,
The ground compaction state measuring device according to claim 3 or 4, wherein the ground settlement amount calculation unit identifies the measurement point based on the moving speed of the compacting machine. A ground compaction state measuring method for measuring a ground compaction state by a compaction machine,
While the compaction machine is moved to compact the ground, a detection wave is transmitted from the compaction machine to the ground, and the ground height in front of the compaction machine in the moving direction and the ground behind the ground. Ground height measurement process to measure the height,
Ground subsidence amount, which is the difference between the measured value of the front ground height at the measurement point before passing the compaction machine and the measured value of the rear ground height at the measurement point after passing the compaction machine A ground subsidence amount calculating step, and a ground compaction state measuring method. A compacting machine for compacting the ground,
A vehicle body having a roller for compacting the ground;
A height measuring unit attached to the vehicle body, capable of measuring a front ground height and a rear ground height in a moving direction of the compacting machine by transmitting a detection wave to the ground;
A ground for calculating a ground subsidence amount that is a difference between a measured value of the front ground height at the measurement point before the vehicle body passes and a measured value of the rear ground height at the measurement point after the vehicle body passes. A compaction machine comprising a settlement amount calculation unit.

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