JP5767131B2 - Pile driving construction management system - Google Patents

Description

  The present invention relates to a pile driving construction management system, and more particularly, to a pile driving construction management system capable of accurately placing a pile at a set position when driving a pile to a submarine ground using a pile holder trolley. Is.

  A construction method using a pile holder trolley equipped with a pile holder that holds a pile to be placed when placing a pile on a submarine ground such as the sea is known (for example, see Patent Document 1). By holding the pile in a state standing on the water bottom ground in a predetermined direction at a predetermined position by a pile holder, it is possible to place the pile at a preset position. At that time, if the position of the pile holder is sequentially detected, the position of the pile held by the pile holder is also determined based on this detected position and the known positional relationship (a constant value) between the pile holder and the held pile. Since it can grasp | ascertain, it is advantageous to driving a pile in the set position.

  However, the positional relationship between the pile holder and the held pile is not actually a known constant value, and a slight positional shift occurs depending on the environment of the construction site. Therefore, the method of sequentially detecting the position of the pile holder has a limit in improving the accuracy of the pile placing position. Recently, there is pile construction work that requires extremely high accuracy, so a method that meets this requirement is required.

Japanese Patent Laid-Open No. 2004-27548

  An object of the present invention is to provide a pile placing construction management system capable of placing a pile at a set position with high accuracy when a pile is placed on a submarine ground using a pile holder base ship.

  In order to achieve the above object, the pile driving construction management system according to the present invention includes an arithmetic unit to which position data of a pile holder carrier is input, and a holder inclination detecting means for detecting an inclination angle of the pile holder installed on the pile holder carrier. And at least two pile position detecting means which are attached to the pile holder with a vertical interval and detect a relative position between the pile holder and a pile held by the pile holder, and position data of the pile holder carriage And the position and inclination angle of a pile are calculated sequentially by the said arithmetic unit based on the detection data of the said holder inclination detection means, and the detection data of the said pile position detection means, It is characterized by the above-mentioned.

  Further, another pile driving construction management system according to the present invention includes an arithmetic unit to which position data and orientation data of a pile holder base ship are input, and a holder inclination detection that detects an inclination angle of the pile holder installed in the pile holder base ship. Means, at least two pile position detection means for detecting a relative position between the pile holder and a pile held by the pile holder, and a pile held by the pile holder. Three-dimensional pile position detecting means for detecting a three-dimensional position of a predetermined location of the pile, holding the pile by the pile holder set vertically, the position data and orientation data of the pile holder carriage, and the holder Based on the detection data of the inclination detection means and the detection data of the pile position detection means, by the arithmetic unit By calculating the core position and the inclination angle of the pile, and by tilting the pile holder as necessary based on the calculated inclination angle of the core position of the pile, the pile core position is maintained in a non-tilted vertical state, For the pile in the vertical state, the three-dimensional pile position detecting means detects the three-dimensional position of the preset position, and the pile core position calculated based on the detected three-dimensional position is set in advance. The present invention is characterized in that the pile is compared with the driving position.

  According to the former invention, the position data and the orientation data of the reference pile holder carriage (pile holder) are input to the arithmetic unit, and the inclination angle of the pile holder can be grasped by the holder inclination detecting means. Then, the relative position and the relative inclination angle between the pile holder and the pile held by the pile holder can be sequentially grasped by at least two pile position detecting means attached to the pile holder with an interval in the vertical direction. Therefore, based on the position data and orientation data of the pile holder trolley, the detection data of the holder inclination detection means, and the detection data of the pile position detection means, the actual core position and inclination angle of the pile are sequentially and accurately calculated by the arithmetic unit. can do. This makes it possible to place the pile at the set position with high accuracy when the pile is driven on the bottom of the ground using the pile holder trolley.

  According to the latter invention, based on the position data and orientation data of the pile holder carriage, the detection data of the holder inclination detection means and the detection data of the pile position detection means, the pile holder is held by the pile holder set vertically. The pile core position and inclination angle are calculated by the calculation device, and the pile holder is inclined as necessary based on the calculated inclination angle of the pile core position, so that the pile core position is not inclined. It can be maintained in a vertical state. And about the pile of this vertical state, the said three-dimensional pile position detection means detects the three-dimensional position of the said preset location, the core position of the pile calculated based on this detected three-dimensional position, and presetting By comparing with the pile placement position of this pile, it is possible to accurately grasp whether the core position of the pile that is going to be placed on the bottom floor using a pile holder trolley is the target placement position. It becomes possible to do.

  Here, in the present invention, the pile position detecting means has at least three stroke meters attached to the holding arm constituting the pile holder, and the movable rod of these stroke meters is attached to the pile held by the holding arm. It is also possible to provide a configuration in which the relative position between the pile holder and the pile is detected by contacting the outer peripheral surface of the pile. The piles are moved downward sequentially by placing, and new piles are added. Even in such placement work, according to this configuration, the position and the inclination angle of the pile can be sequentially calculated without using a complicated mechanism and without additional work.

  The pile position detecting means has four stroke meters, and the movable rods of these stroke meters are arranged at equal intervals in the circumferential direction on the outer circumferential side with respect to the pile held by the holding arm, and in the circumferential direction. It can also be set as the structure which the movable rod of an adjacent stroke meter faces in the orthogonal direction. According to this configuration, it becomes easier to grasp the relative position between the pile holder and the pile.

It is explanatory drawing which illustrates the outline | summary of a pile driving construction management system. It is explanatory drawing which illustrates the process of installing a pile holder trolley in a predetermined position. It is a top view which illustrates the pile holder trolley holding the pile. It is a top view which illustrates a motion of a pile holder trolley. It is a top view which expands and illustrates a holding arm. It is a side view which illustrates the process of holding and driving a pile with a pile holder carrier. It is a side view which illustrates the process of attaching and driving a Yatco to a pile. It is explanatory drawing which illustrates the process of detecting the three-dimensional position of the location currently preset of the pile currently hold | maintained at the pile holder.

  Hereinafter, the pile driving construction management system of the present invention will be described based on the embodiments shown in the drawings.

  As illustrated in FIGS. 1 to 5, the pile driving construction management system (hereinafter referred to as construction management system) of the present invention suspends a pile 15 held by a pile holder carrier 1 using a crane ship 12. It is used when driving with a hammer device (vibro hammer) 14. The crane ship 12 is a work ship provided with a crane 13, and is a work ship on which a work ship in which the crane 13 is fixed in advance or a mobile crane vehicle is placed.

  The construction management system includes a calculation device 10 to which position data and orientation data of the pile holder carriage 1 are input, holder inclination detection means 6a and 6b for detecting an inclination angle of the pile holder 2 installed on the pile holder carriage 1, The pile position detecting means 5 is provided. Then, based on the position data and orientation data of the pile holder carriage 1, the detection data of the holder inclination detection means 6a and 6b, and the detection data of the pile position detection means 5, the arithmetic unit 10 determines the actual core position of the pile 15 and The inclination angle is calculated sequentially. As the arithmetic unit 10, a personal computer or the like is used. A monitor 11 is connected to the arithmetic device 10.

  Of the two holder inclination detecting means 6a and 6b, one holder inclination detecting means 6a detects the inclination angle in the front-rear direction of the carriage 1 and the other holder inclination detection means 6b is the inclination angle in the width direction of the carriage 1. Is detected. As the holder inclination detecting means 6a and 6b, for example, an inclinometer attached to a part of the pile holder 2 such as the reader 3 can be used.

  At least two pile position detecting means 5 are attached to a part of the pile holder 2 such as the reader 3 with an interval in the vertical direction. And the relative position of the pile holder 2 and the pile 15 currently hold | maintained at the pile holder 2 is detected.

  In order to acquire the position data of the pile holder trolley 1, a trolley position detection means is used. As illustrated in FIG. 2, the trolley position detection means includes a trolley position measurement device 8 a and a reflection device 8 b. The trolley position measuring device 8a grasps the position of the pile holder trolley 1 by detecting the reflected light of the reflecting device 8b attached to the adherend such as the pile holder trolley 1.

  The position data and direction data of the pile holder trolley 1 acquired by the trolley position detection means are input to the arithmetic unit 10. Since the position of the pile holder 2 (reader 3) in the pile holder carriage 1 is known, the position data of the pile holder 2 (reader 3) is calculated by the arithmetic unit 10. The position data of the pile holder 2 (reader 3) may be directly detected by the trolley position detection means, and the position data may be input to the arithmetic unit 10. Since the position of the reader 3 changes as the base 7 and the slide base 9 move as will be described later, the movement amounts of the base 7 and the slide base 9 are also input to the arithmetic unit 10.

  The specific structure of the pile holder 2 is as follows. A base 7 that is movable in the front-rear direction of the carriage 1 is installed on the pile holder carriage 1 via rails 7a. On the base 7, the slide base 9 which can move in the width direction via the rail 9a is installed. A reader 3 is attached to the tip of the slide base 9 so as to stand upright. The reader 3 is also supported by a support portion 9 b extending from the slide base 9. By moving the base 7 back and forth and moving the slide base 9 in the width direction, the pile 15 held by the leader 3 (pile holder 2) can be moved within a certain range. The reader 3 is configured to be able to tilt in the longitudinal direction of the carriage 1 and in the width direction of the carriage 1 within a predetermined angle range.

  The leader 3 is provided with three holding arms 4A, 4B, and 4C that hold a pile 15 to be placed at intervals in the vertical direction. The number of holding arms 4A, 4B, and 4C may be plural, and is not limited to three.

  Each holding arm 4A, 4B, 4C has the same structure and has a pair of arc-shaped arm portions 4m. The pair of arm portions 4m are rotated about the support shaft to be in a closed state as illustrated in FIG. 3 from an open state as illustrated in FIG.

  As illustrated in FIG. 5, a holding roller 4r is provided on the inner peripheral surface of each arm 4m. Each holding roller 4r is movably provided so that the amount of protrusion from the inner peripheral surface of the arm portion 4m can be changed.

  By closing the pair of arm portions 4m and bringing the holding roller 4r into contact with the outer peripheral surface of the pile 15, the pile 15 is held by the holding arms 4A, 4B, 4C so as to be movable in the vertical direction. Here, since each holding roller 4r can move in the radial direction of the pile 15, the piles 15 having different outer diameters can be held by the holding arms 4A, 4B, and 4C within the moving range of the holding roller 4r.

  Furthermore, pile position detecting means 5 is provided in each holding arm 4A, 4B, 4C. Each pile position detecting means 5 is provided with a stroke meter 5a having a movable rod 5b that is movable to be close to and away from the pile 15 held by the holding arm 4m. These movable rods 5 b are configured to detect a relative position between the pile holder 2 and the pile 15 by contacting the outer peripheral surface of the pile 15. A sliding member such as a roller may be provided at the tip of each movable rod 5b. Further, a structure in which a roller provided on the movable rod 5b is used as the holding roller 4r can be employed.

  Each holding arm 4A, 4B, 4C only needs to be provided with at least three stroke meters 5a. In this embodiment, four stroke meters 5a are provided. The movable rods 5b of the four-stroke meter 5a are arranged at equal intervals in the circumferential direction with respect to a virtual circle formed by the inner peripheral surface when the pair of arm portions 4m are closed. That is, the piles 15 held by the arm portions 4m are arranged on the outer peripheral side at equal intervals in the circumferential direction. The movable rod 5b of the stroke meter 5a adjacent in the circumferential direction is directed in the orthogonal direction.

  Each movable rod 5b is configured to always contact the outer peripheral surface of the pile 15 held by the arm portion 4m. Therefore, the relative core position of the pile 15 with respect to the leader 3 (pile holder 2) can be grasped based on the amount of movement of the movable rod 5b detected by each stroke meter 5a. Moreover, since it has two or more pile position detection means, the relative inclination angle of the core position of the pile 15 with respect to the leader 3 (pile holder 2) can be grasped.

  When the pile 15 is driven straight on the bottom of the ground, first, as illustrated in FIG. 2, the pile holder carrier 1 is guided and fixed at a predetermined position. Therefore, for example, the two reflecting devices 8b are installed at a distance from the pile holder carrier 1. Then, the pile holder trolley 1 is positioned at a predetermined position using the reflecting device 8b and the trolley position measuring device 8a installed on land. At that position, two to four spuds 1a are pierced into the water bottom ground, and the pile holder carriage 1 is fixed at that position.

  Next, as illustrated in FIG. 4, the pair of arm portions 4 m constituting each holding arm 4 </ b> A, 4 </ b> B, 4 </ b> C is opened. Here, the pile 15 to be laid is suspended by the wire 13a of the crane 13 and disposed inside the pair of arm portions 4m in an open state. Next, as illustrated in FIG. 3, the pile 15 is held by the holding arms 4 </ b> A, 4 </ b> B, and 4 </ b> C so as to be vertically movable with the pair of arm portions 4 m closed. Next, the reader 3 (stake 15) is set to a desired position.

  Thereafter, as illustrated in FIGS. 1 and 6, the pile 15 is driven on the bottom ground by the hammer device 14 while holding the pile 15 by the holding arms 4 </ b> A, 4 </ b> B, and 4 </ b> C. As the pile 15 is driven, the gripping portion 14a of the hammer device 14 approaches the holding arm 4A, so that the arm 4m of the holding arm 4A is opened and the holding arm 4A interferes with the gripping portion 14a. The pile 15 is driven by avoiding the above. When a new pile 15 is added to the placed pile 15, the placement is performed in the same manner.

  Further, when the pile 15 is driven using the yatco 16, the upper end portion of the pile 15 is gripped by the lower end portion of the yatco 16 as illustrated in FIG. 7. Then, the upper end of the yatco 16 is gripped by the gripping part 14a, and the pile 15 is driven by the hammer device 14 while appropriately holding the yatco 16 by the respective holding arms 4A, 4B, 4C.

  Since the position and orientation of the pile holder carrier 1, that is, the position data of the pile holder 2 (reader 3) is input in advance to the arithmetic unit 10, the input position data and each stroke meter 5 a are detected. Based on the relative position data of the pile 15 with respect to the pile holder 2 (reader 3), the actual core position of the pile 15 can be sequentially calculated by the arithmetic unit 10.

  Moreover, if the holding | maintenance position of the pile 15 with respect to the leader 3 can be grasped | ascertained in two holding arms spaced apart up and down, the inclination-angle of the pile 15 with respect to the leader 3 can be grasped | ascertained. That is, the relative inclination angle between the leader 3 and the pile 15 held by the pile holder 2 can be grasped.

  Since the inclination angle of the reader 3 is detected by the holder inclination detecting means 6a and 6b, the detected inclination angle data and the relative inclination angle data of the pile 15 with respect to the pile holder 2 detected by the two holding arms. Thus, the actual inclination angle of the pile 15 can be sequentially calculated by the arithmetic unit 10.

  In this way, the actual core position and inclination angle of the pile 15 are sequentially calculated, and the calculation result is displayed on the monitor 11. By referring to the calculation result displayed on the monitor 11, the operator of the crane 13 can grasp the core position and the inclination angle of the pile 15 being placed in real time. Therefore, it is possible to place the pile 15 with high accuracy at a preset placement position.

  Preliminary placement position data of the pile 15 is input to the arithmetic device 10 in advance, and the pre-input placement position data and the core position and the inclination angle of the pile 15 sequentially calculated by the arithmetic device 10 are monitored. 11 may be displayed so that they can be compared. Similarly, the actual core position and inclination angle can be sequentially calculated for the Yatco 16 as well.

  According to the pile position detecting means 5 using such a stroke meter 5a, an additional mechanism can be used for the pile 15 and the yatco 16 that are moved downward by being driven without using a complicated mechanism. There is no need for work, and the actual core position and inclination angle of the pile 15 and the yatco 16 can be calculated sequentially.

  Each holding arm 4A, 4B, 4C is provided with four stroke meters 5a, and the movable rod 5b of these stroke meters 5a is arranged in the circumferential direction on the outer peripheral side with respect to the pile 15 held by the holding arms 4A, 4B, 4C. If the movable rods 5b of the stroke meters 5a adjacent to each other in the circumferential direction are oriented in the direction perpendicular to each other, the relative position between the leader 3 and the pile 15 can be further grasped. It becomes easy. For example, the relative position in the X direction between the leader 3 and the pile 15 is detected based on the amount of movement of the pair of movable rods 5b facing each other, and the leader 3 and the pile are determined based on the amount of movement of the other pair of movable rods 5b facing each other. 15 relative to the Y direction (direction orthogonal to the X direction).

  Another embodiment of the present invention is described below.

  In this embodiment, in addition to the configuration of the previous embodiment, as illustrated in FIG. 8, the three-dimensional pile position detection that detects the three-dimensional position of a preset location of the pile 15 held by the pile holder 2. Means. The three-dimensional pile position detecting means includes a three-dimensional pile position measuring device 8c and a reflecting device 8d.

  For example, an automatic tracking type total station is used as the three-dimensional pile position measuring device 8c. The reflection device 8d includes a plurality of prisms, and is attached so as to be wound around the outer peripheral surface of a predetermined portion of the pile 15. The three-dimensional pile position measuring device 8c grasps the position of reflected light having the strongest brightness among the reflected light from the reflecting device 8d as the position (three-dimensional coordinates) of the pile 15. Based on the grasped position data of the pile 15, the core position of the pile 15 at the location where the reflecting device 8 d of the pile 15 is attached can be calculated.

  In this embodiment, as in the previous embodiment, the pile holder carriage 1 is guided to a predetermined position, and at that position, two to four spuds 1a are pierced into the bottom of the ground to place the pile holder carriage 1 in that position. Secure to.

  Next, the pile holder 2 (leader 3) is set vertically, and the interior of the pair of arms 4m opened as illustrated in FIG. 4 so as to substantially match the preset placement position of the pile 15 The pile 15 is arranged on the side. Thereafter, as illustrated in FIG. 3, the pile 15 is held by the holding arms 4 </ b> A, 4 </ b> B, and 4 </ b> C so as to be vertically movable with the pair of arm portions 4 m closed.

  Here, the relative position between the pile holder 2 and the pile 15 is detected by bringing the movable rod 5b of the stroke meter 5a provided on each holding arm 4A, 4B, 4C into contact with the outer peripheral surface of the pile 15. Thereby, the core position and inclination angle of this pile 15 can be grasped. If the grasped inclination angle of the pile 15 is zero, that is, if the pile 15 is not inclined, it is left as it is. On the other hand, when the grasped inclination angle of the pile 15 is not zero, that is, when the pile 15 is inclined, the leader 3 is inclined in a necessary direction to bring the pile 15 into a vertical state.

  That is, based on the position data and orientation data of the pile holder carriage 1, the detection data of the holder inclination detection means 6a and 6b, and the detection data of the pile position detection means 5, the calculation device 10 causes the core position and inclination angle of the pile 15 to be detected. Is calculated, and the pile holder 2 (leader 3) is tilted as necessary based on the calculated tilt angle of the core position of the pile 15, thereby maintaining the vertical position of the pile 15 where the core position is not inclined.

  Next, as shown in FIG. 8, the three-dimensional position of a preset location is detected by the three-dimensional pile position measuring device 8c and the reflecting device 8d for the pile 15 in the vertical state. Based on the detected three-dimensional coordinates, the core position of the pile 15 is calculated. Then, the calculated core position of the pile 15 is compared with a preset placement position of the pile 15. Thereby, it can be grasped | ascertained accurately whether the core position of the pile 15 which is going to drive in a water bottom ground using the pile holder carrier 1 is a target driving position.

  As a result of the comparison, if the positions of the two coincide with each other, the driving work of the pile 15 is performed as it is. On the other hand, if the positions of the piles 15 do not match as a result of the comparison, the pile holder 2 (leader 3) holding the pile 15 is moved to change the position of the pile 15, and as described above, the pile 15 Maintain the vertical position where the core position is not inclined. Thereafter, the three-dimensional position of the pile 15 in the vertical state is detected by the three-dimensional pile position measuring device 8c and the reflecting device 8d, and the core position of the pile 15 is calculated. Then, the calculated core position of the pile 15 is compared with a preset placement position of the pile 15. The same process is performed until both positions coincide.

DESCRIPTION OF SYMBOLS 1 Pile holder carrier 1a Spud 2 Pile holder 3 Leader 4A, 4B, 4C Holding arm 4m Arm part 4r Holding roller 5 Pile position detection means 5a Stroke meter 5b Movable rod 6a, 6b Holder inclination detection means 7 Base 7a Rail 8a Equipment (truck position detection means)
8b Reflector (trolley position detection means)
8c 3D pile position measurement device (3D pile position detection means)
8d Reflector (3D pile position detection means)
DESCRIPTION OF SYMBOLS 9 Slide base 9a Rail 9b Support part 10 Computation apparatus 11 Monitor 12 Crane ship 13 Crane 13a Wire 14 Hammer apparatus 14a Grasp part 15 Pile 16 Yatco

Claims (4)

An arithmetic unit for inputting position data and orientation data of the pile holder carriage, a holder inclination detecting means for detecting an inclination angle of the pile holder installed on the pile holder carriage, and a pile holder attached to the pile holder with a vertical interval. The pile holder and at least two pile position detecting means for detecting the relative position of the pile held by the pile holder,
A configuration in which a pile core position and an inclination angle are sequentially calculated by the arithmetic unit based on position data and orientation data of the pile holder carriage, detection data of the holder inclination detection means, and detection data of the pile position detection means A pile driving construction management system characterized by that. An arithmetic unit for inputting position data and orientation data of the pile holder carriage, a holder inclination detecting means for detecting an inclination angle of the pile holder installed on the pile holder carriage, and a pile holder attached to the pile holder with a vertical interval. , At least two pile position detecting means for detecting a relative position between the pile holder and the pile held by the pile holder, and a three-dimensional position for detecting a three-dimensional position of a preset portion of the pile held by the pile holder. A pile position detecting means,
The pile is held by the pile holder set vertically, and based on the position data and orientation data of the pile holder carriage, the detection data of the holder inclination detection means, and the detection data of the pile position detection means The pile core position and the tilt angle are calculated by the above, and the pile holder is tilted as necessary based on the calculated tilt angle of the pile core position, so that the pile core position is maintained in a non-tilted vertical state. Then, for the pile in the vertical state, the three-dimensional position of the preset position is detected by the three-dimensional pile position detection means, and the core position of the pile calculated based on the detected three-dimensional position is set in advance. A pile driving construction management system characterized in that it is configured to compare with the pile driving position.   The pile position detecting means has at least three stroke meters attached to a holding arm constituting the pile holder, and a movable rod of these stroke meters is provided so as to be able to approach and separate from a pile held by the holding arm. The pile driving construction management system according to claim 1 or 2, wherein a relative position between the pile holder and the pile is sequentially detected by contacting the outer peripheral surface of the pile.   The pile position detecting means has four stroke meters, and the movable rods of these stroke meters are arranged at equal intervals in the circumferential direction on the outer circumferential side with respect to the pile held by the holding arm, and in the circumferential direction. The pile driving construction management system according to claim 3, wherein the movable rods of adjacent stroke meters are oriented in a direction orthogonal to each other.

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