JP6835376B1 - Ground improvement method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a ground improvement method capable of appropriately managing an improvement depth in consideration of inclination and subsidence of a base machine. SOLUTION: The ground improvement method according to the present invention is a monitor screen MD installed in a cabin 1c, in which an excess or deficiency of an actual improvement depth by a trencher 4 with respect to a planned improvement depth occurs due to inclination or subsidence of a backhoe 1. , The level sensor LS provided on the trencher 4 visually displays the display. As a result, the operator who operates the backhoe 1 can correct the excess or deficiency of the actual improvement depth by moving the trencher 4 up and down according to the display of the monitor screen MD and the level sensor LS. As a result, it becomes possible to appropriately manage the improvement depth by the trencher 4, and it is possible to carry out appropriate ground improvement according to the planned improvement depth. [Selection diagram] FIG. 13

Description

The present invention is a ground improvement device provided with a mixing stirring head having a mixing stirring blade that orbits in the vertical direction to increase the strength of the original ground by mixing and stirring with a solidifying material while excavating the original ground. Regarding the method.

As a conventional ground improvement method performed by using a ground improvement device provided with a mixing and stirring head, for example, the one described in Patent Document 1 below is known.

In the ground improvement method described in Patent Document 1, assuming that the ground that serves as a scaffold for the base machine is flat, the improvement depth of the trencher calculated based on the angles of the boom and arm is displayed on the monitor screen in the cabin. , The operator in the cabin managed the improvement depth based on the display.

Japanese Unexamined Patent Publication No. 2005-098072

However, the ground that serves as the scaffolding for the base machine is rarely flat, and excavation may be performed with the base machine tilted. Further, since the ground serving as a scaffolding for the base machine is soft, excavation may be performed in a state where the base machine is sunk.

In this case, in the conventional ground improvement method, no consideration is given to the inclination or subsidence of the base machine described above. Therefore, when the base machine is in an inclined or subsided state, it is displayed on the monitor screen. There was a risk that the improvement depth would be inconsistent with the actual improvement depth, and the improvement depth could not be managed appropriately.

Therefore, the present invention has been devised in view of the technical problems of the conventional ground improvement method, and the improvement depth can be appropriately managed in consideration of the inclination and subsidence of the base machine. It is intended to provide a method.

As one aspect of the present invention, a ground improvement device equipped with a mixing stirring head having a mixing stirring blade that orbits in the vertical direction is used at the tip of a boom and an arm of a construction machine that functions as a base machine. In the ground improvement method for increasing the strength of the original ground by mixing and stirring with the solidifying material while excavating the ground, when the height of the finished surface planned in the ground improvement plan is set as the improvement reference height, the ground improvement device Is provided with a display means for displaying the operating state of the ground improvement device, and the display means include a planned improvement depth, which is an improvement depth designed from the improvement reference height, and an inclinometer provided on the base machine. Based on the measurement result, the actual improvement depth, which is the actual penetration depth of the mixing and stirring head calculated in consideration of the inclination of the base machine, is displayed, and the actual improvement depth is displayed based on the display of the display means. The mixing and stirring head is moved up and down so as to match the planned improvement depth to correct the excess or deficiency with respect to the planned improvement depth caused by the inclination of the base machine.

That is, in the present invention, the planned improvement depth designed from the improvement reference height and the actual improvement depth calculated in consideration of the inclination of the base machine are displayed on the display means, and are based on the display of the display means. Therefore, the mixing and stirring head is moved up and down so as to match the actual improvement depth with the planned improvement depth to correct the excess or deficiency with respect to the planned improvement depth caused by the inclination of the base machine.

As described above, according to the present invention, the excess or deficiency of the actual improvement depth due to the inclination of the base machine is visually displayed by the display means, and the mixing stirring head is moved up and down according to this display to obtain the actual improvement depth. Excess or deficiency can be corrected. As a result, the improvement depth of the mixing / stirring head can be appropriately managed in the ground improvement, and it is possible to contribute to the appropriate ground improvement.

From another point of view, one aspect of the present invention is the ground provided with a mixing stirring head having a mixing stirring blade that orbits in the vertical direction at the tip of a boom and an arm of a construction machine that functions as a base machine. In the ground improvement method for increasing the strength of the original ground by mixing and stirring with the solidifying material while excavating the original ground using the improvement device, the height of the finished surface planned in the ground improvement plan is set as the improvement standard height. When the improvement depth designed from the improvement reference height is set as the planned improvement depth, the ground improvement device receives the laser light emitted from the rotating laser level meter installed in the vicinity of the base machine and receives the laser light. The level sensor is provided with a level sensor for detecting the improvement depth of the mixing and stirring head, and the level sensor receives the laser beam to cause the plan improvement caused by either tilting or sinking of the base machine or both. The mixing and stirring head is instructed to rise or fall according to the excess or deficiency with respect to the depth, and the mixing and stirring head is moved up and down according to the ascending or descending instruction of the level sensor to correct the excess or deficiency.

That is, in the present invention, the mixing stirring head is moved up and down according to the ascending or descending instruction displayed on the level sensor, and the excess or deficiency with respect to the planned improvement depth caused by either the tilting or sinking of the base machine, or both. Was decided to be corrected.

As described above, according to the present invention, the mixing and stirring head is moved up and down according to the instruction (display) of the level sensor to check the excess or deficiency of the actual improvement depth due to either tilting or sinking of the base machine or both. , The excess or deficiency of the actual improvement depth can be corrected. As a result, the improvement depth of the mixing / stirring head can be appropriately managed in the ground improvement, and it is possible to contribute to the appropriate ground improvement.

From yet another point of view, the present invention includes, as one aspect of the present invention, a mixing stirring head having a mixing stirring blade that orbits in the vertical direction at the tip of a boom and an arm of a construction machine that functions as a base machine. In the ground improvement method to increase the strength of the original ground by mixing and stirring with the solidifying material while excavating the original ground using the ground improvement device, the height of the finished surface planned in the ground improvement plan is used as the improvement standard height. Then, the ground improvement device considers the inclination of the base machine based on the planned improvement depth, which is the improvement depth designed from the improvement reference height, and the measurement result of the inclination meter provided in the base machine. The display means for displaying the actual improved depth, which is the actual penetration depth of the mixing and stirring head calculated in the above process, and the laser light emitted from the rotating laser level meter installed near the base machine are received. In order to detect the improved depth of the mixing and stirring head, the mixing and stirring head is raised or lowered according to the excess or deficiency with respect to the planned improved depth caused by either the inclination or the sinking of the base machine, or both. The plan generated by tilting the base machine by moving the mixing stirring head up and down so as to match the actual improvement depth with the planned improvement depth based on the display of the display means, which comprises a level sensor to indicate. The plan generated by either tilting or sinking of the base machine or both by correcting the excess or deficiency with respect to the improved depth and moving the mixing stirring head up and down according to the ascending or descending instruction of the level sensor. Correct the excess or deficiency for the improvement depth.

That is, in the present invention, the mixing stirring head is moved up and down so as to match the actual improvement depth with the planned improvement depth based on the display of the display means, and the excess or deficiency with respect to the planned improvement depth caused by the inclination of the base machine is corrected. , The mixing and stirring head is moved up and down according to the ascending or descending instruction displayed on the level sensor to compensate for the excess or deficiency of the planned improvement depth caused by either the tilting or sinking of the base machine, or both. did.

As described above, according to the present invention, the mixing and stirring head is moved up and down according to the display of the display means or the instruction of the level sensor to check the excess or deficiency of the actual improvement depth due to either tilting or sinking of the base machine or both. By doing so, it is possible to correct the excess or deficiency of the actual improvement depth. As a result, the improvement depth of the mixing / stirring head can be appropriately managed in the ground improvement, and it is possible to contribute to the appropriate ground improvement.

Further, as another aspect of the ground improvement method, the ground improvement device includes a measuring means for measuring a horizontal distance from a connection portion between the arm and the mixing and stirring head to a connection portion between the boom and the base machine. It is desirable that the actual improvement depth is the actual improvement depth D obtained by the following equation (1).
D = H + H'= H + (L × tanα)… (1)
However,
H: Planned improvement depth H': Improvement depth L that is excessive or insufficient based on the inclination of the base machine: Horizontal distance α from the connection portion between the arm and the mixing and stirring head to the connection portion between the boom and the base machine: The tilt angle of the base machine, "+ α" for forward tilt and "-α" for backward tilt.
And.

Further, as yet another aspect of the ground improvement method, the ground improvement device includes a measuring means for measuring a horizontal distance from a connection portion between the arm and the mixing and stirring head to a connection portion between the boom and the base machine. The display means is a navigation system represented by a visually recognizable image of the plane position of the mixing / stirring head when the mixing / stirring head is horizontally excavated at a planned horizontal excavation speed obtained from the planned construction soil volume. The graph and the plane position of the mixing and stirring head at the time of actual horizontal excavation obtained by calculation based on the measurement result of the measuring means are represented by a visually recognizable image in comparison with the navigation graph. When displaying the locus graph and horizontally digging the mixing and stirring head, it is desirable to horizontally dig the mixing and stirring head so that the display of the locus graph matches the display of the navigation graph.

That is, in the present invention, a navigator graph displaying an image of the plane position of the mixing stirring head when horizontally excavated at the planned horizontal excavation speed and a locus graph displaying an image of the plane position of the mixing stirring head during actual horizontal excavation. Was displayed in comparison with the display means, and the mixing and stirring head was horizontally dug so as to match the display of the trajectory graph with the display of the navigation graph.

In this way, horizontal excavation is possible while guiding (navigating) the trajectory graph with the navigation graph, so it is always possible to excavate at the planned horizontal excavation speed regardless of the operator's experience and ability, and the variation in horizontal excavation speed can be varied. It can be suppressed.

According to the present invention, it is possible to correct the excess or deficiency of the actual improvement depth due to either the inclination or the subsidence of the base machine, or both, so that the improvement depth of the mixing stirring head can be appropriately managed in the ground improvement. , Can contribute to appropriate ground improvement.

It is a side view of the ground improvement device which shows the structure of the ground improvement device which concerns on this invention, and shows the state before penetrating the trencher. It is a side view of the ground improvement apparatus which shows the state which penetrated the trencher shown in FIG. 1 to the planned improvement depth. It is a front view of the trencher shown in FIG. It is a side view of the trencher which showed the relationship between the level sensor shown in FIG. 1 and a rotary laser level meter. It is a front view of the level sensor shown in FIG. It is a top view of the ground improvement apparatus which shows the right angle horizontal excavation state. It is a top view of the ground improvement apparatus which shows the oblique horizontal excavation state. It is a top view of the ground improvement device which shows the parallel construction which excavates in one direction along the direction parallel to the ground improvement device. It is a top view of the ground improvement apparatus which shows the band type construction which excavates in one direction along the direction perpendicular to the backhoe 1. It is a top view of the ground improvement apparatus which shows the grid frame construction which excavates in a grid shape by combining parallel construction and strip construction. It is an image figure of the monitor screen which shows the right angle horizontal excavation state. It is an image diagram of the monitor screen which shows the oblique horizontal excavation state. It is a side view of the ground improvement device which shows the actual improvement depth in the state where the ground improvement device is inclined. It is a side view of the ground improvement apparatus which shows the state which corrected the actual improvement depth shown in FIG. It is a side view of the ground improvement device which shows the state which the trencher is inclined.

Hereinafter, embodiments of the ground improvement method according to the present invention will be described in detail with reference to the drawings. In the description of each figure, the upper side in each figure and the upper side in the vertical direction will be described as "upper", and the lower side in each figure and the lower side in the vertical direction will be described as "lower".

(Structure of ground improvement equipment)
As shown in FIGS. 1 and 2, the ground improvement device according to the present embodiment is configured by using the backhoe 1 which is a construction machine as a base machine, and is provided on the upper part of the track 1b so as to be swivelable. A boom 2 and an arm 3 are rotatably connected to the front portion of 1a, and a trencher 4 which is a mixing and stirring head is detachably provided at the tip of the boom 2 and the arm 3. This backhoe 1 penetrates the trencher 4 into the ground from the state shown in FIG. 1 to the planned improvement depth H as shown in FIG. 2, and operates the boom 2 and the arm 3 to horizontally dig the trencher 4 back and forth. Then, the soil is excavated and the solidifying material is mixed and agitated.

As shown in FIG. 3, the trencher 4 has an endless shape with a drive wheel 41 rotationally driven by a hydraulic motor 44 provided on the upper part of the frame 40 and a driven wheel 42 provided on the lower end of the frame 40. The drive chain 43 is wound around the drive chain 43. A plurality of mixing stirring blades 45 are mounted on the outer peripheral side of the drive chain 43 at substantially equal intervals (equal pitch), and each of the mixing stirring blades 45 has a plurality of cutter blades 46 along the width direction. Are arranged in parallel. Further, a solidifying material discharging portion 47 for discharging the solidifying material downward is provided in the lower part of the frame 40, and is in the form of a slurry or powder that is pumped through a pipe 48 by a pump (not shown) such as a grout pump. Is discharged from the solidifying material discharging unit 47. Reference numeral E in FIG. 2 indicates an effective mixing and stirring width of the trencher 4 which is a mixing and stirring head. From such a configuration, the solidifying material is discharged from the solidifying material discharging portion 47 while the mixing stirring blades 45 rotate in the vertical direction together with the drive chain 43 as the driving wheels 41 rotationally driven by the hydraulic motor 44 rotate. By doing so, the excavated soil and the solidifying material are agitated and mixed together with the excavation of the ground.

Further, as shown in FIGS. 1 and 2, angle sensors AS0, AS1, AS2 as inclinometers are attached to the lower end of the base 1a of the backhoe 1, the side surfaces of the boom 2 and the arm 3, and the upper end of the trencher 4, respectively. , AS3 is provided. The angle sensors AS0, AS1, AS2, and AS3 are all electrically connected to the arithmetic processing unit PU described later, which is arranged behind the cabin 1c. Further, above the trencher 4, a level sensor LS for detecting the penetration depth of the trencher 4 is provided. The angle sensors AS0, AS1, AS2, AS3 and the level sensor LS according to the present embodiment are included in the measuring means according to the present invention.

The angle sensor AS0 detects the levelness of the backhoe 1, that is, the inclination angle of the backhoe 1 (the angle formed by the line L0 below the base 1a of the backhoe 1 and the horizontal line Lx) θ0. The angle sensor AS1 has a line L1 that connects the tilt angle of the boom 2, that is, the boom connecting portion J1 that is the connecting portion between the backhoe 1 and the boom 2, and the arm connecting portion J2 that is the connecting portion between the boom 2 and the arm 3. Elevation angle (angle formed by line L1 and horizontal line Lx) θ1 is detected. The angle sensor AS2 has an inclination angle of the arm 3, that is, an elevation angle of a line L2 (a line L2 and a horizontal line Lx) connecting the arm connecting portion J2 and the trencher connecting portion J3 which is a connecting portion between the arm 3 and the trencher 4. The angle of formation) θ2 is detected. The angle sensor AS3 detects the verticality of the trencher 4, that is, the inclination angle of the trencher 4 (the angle formed by the central axis Zc of the trencher 4 and the vertical line Zx) β (see FIG. 15).

As shown in FIG. 4, the level sensor LS determines the penetration depth of the trencher 4 by receiving the laser light emitted by the rotating laser level meter LV installed at the improved reference height FS, which is the height of the planned finished surface. To detect. The improvement standard height FS is a standard height corresponding to the planned finished height of the improved body in the ground improvement work. Specifically, as shown in FIG. 5, this level sensor LS consists of three light receiving portions arranged in parallel in the vertical direction, and has a predetermined height position (actual) corresponding to an appropriate penetration depth of the trencher 4. It is provided at the position where the improvement depth D and the planned improvement depth H match), and is provided at a position above the central light receiving portion Z0 indicated by a horizontal bar and the central light receiving portion Z0, and is indicated by a downward arrow. It has an upper light receiving unit Z1 and a lower light receiving unit Z2 provided at a position lower than the central light receiving unit Z0 and indicated by an upward arrow.

That is, the sum of the planned improvement depth H, which is a predetermined height position from the lower end of the trencher 4, specifically the planned improvement depth, and the height A from the improvement reference height FS to the rotary laser level meter LV. The level sensor LS is attached so that the central light receiving portion Z0 is located at the height position including (H + A). As a result, when the penetration depth of the trencher 4 matches the planned improvement depth H, the central light receiving unit Z0 receives the laser beam of the rotating laser level meter LV and emits light, so that the penetration depth of the trencher 4 is appropriate. It is visually displayed that there is. On the other hand, when the penetration depth of the trencher 4 is shallower than the planned improvement depth H, the upper light receiving portion Z1 receives the laser beam of the rotating laser level meter LV and emits light, so that the penetration depth of the trencher 4 becomes the planned improvement depth. It is visually displayed that it is shallower than H. On the other hand, when the penetration depth of the trencher 4 is deeper than the planned improvement depth H, the lower light receiving portion Z2 receives the laser beam of the rotating laser level meter LV and emits light, so that the penetration depth of the trencher 4 is planned and improved. It is visually displayed that it is deeper than the depth H.

Further, in the rear part of the cabin (driver's cab) 1c provided in the front part of the base 1a of the backhoe 1 and used for the operation of the operator, a trencher 4 is provided based on the detection results of the angle sensors AS0, AS1, AS2 and AS3. An arithmetic processing device PU is provided as an arithmetic means for calculating the plane position, the penetration depth, the excavation speed, and the like. A monitor screen MD as shown in FIGS. 11 and 12, for example, is provided in the cabin 1c as a display means for displaying the calculation result of the calculation processing unit PU.

Here, in the ground improvement method according to the present embodiment, as shown in FIGS. 6 and 7, the trencher 4 that has penetrated is not completely pulled out, but is folded back at predetermined folding lines R1 and R2 to be substantially N-shaped in a plan view. Horizontal excavation is performed by continuously moving the plane in a so-called one-stroke stroke so as to form a moving locus (hereinafter referred to as "N-shaped construction"). Specifically, as shown in FIG. 6, horizontal excavation is performed linearly in a direction approaching the backhoe 1 (direction of an arrow in FIG. 6) along a direction orthogonal to the backhoe 1 (hereinafter, “right-angled horizontal”). After abbreviated as "digging"), the trencher 4 is folded back at the folding line R2. Subsequently, as shown in FIG. 7, horizontal excavation is performed linearly in a direction away from the backhoe 1 (in the direction of the arrow in FIG. 7) along a direction oblique to the backhoe 1 (hereinafter, “oblique angle horizontal excavation”). ”). Reference numerals B1 to B6 in FIGS. 6 and 7 indicate six sections (first to sixth sections) that are excavated and mixed and agitated by right-angled horizontal excavation, respectively, and one section is excavated by one right-angled horizontal excavation. , Mix and stir. As described above, in the horizontal excavation of the present embodiment, all the sections are excavated and mixed and agitated by alternately repeating the right-angled horizontal excavation and the oblique horizontal excavation. At this time, in the oblique horizontal excavation, after excavating, mixing and stirring the second section B2 to the third section B3, as shown in FIG. 7, the width E of the trencher 4 is divided by the turn-back line R1. By excavating and mixing and stirring in the immediately preceding right-angled horizontal excavation so as to overlap with the second section B2, all sections are excavated and mixed and agitated without omission.

In the present embodiment, as an example of horizontal excavation, a mode in which a plurality of sections are continuously excavated and mixed and agitated by so-called one-stroke writing as shown in FIGS. 6 and 7 has been described as an example. The mode is not limited to the mode of one-stroke excavation and mixing and stirring. In other words, in addition to the excavation mode shown in FIGS. 6 and 7, it is also possible to excavate in one direction along the direction parallel to the backhoe 1 (hereinafter, referred to as “parallel construction”) as shown in FIG. Is. Similarly, as shown in FIG. 9, it is also possible to dig in one direction along the direction perpendicular to the backhoe 1 (hereinafter, referred to as “belt type construction”). Further, as shown in FIG. 10, it is also possible to combine parallel construction and band construction to excavate in a grid pattern and mix and stir (hereinafter, referred to as “lattice frame construction”).

As shown in FIGS. 11 and 12, the monitor screen MD displays a plurality of display windows F1 to F10 for displaying the calculation results calculated by the calculation processing unit PU in a layout for each display item. Specifically, the monitor screen MD has a display window F1 that displays an image of the penetration state of the trencher 4, a display window F2 that numerically displays the planned improvement depth, which is the planned improvement depth, and an actual improvement depth. A display window F3 that numerically displays the actual improvement depth, and a display window F4 that displays the verticality (tilt angle) of the trencher 4 in five levels by lamps for five colors (green, yellow, and red in this embodiment). , A display window F5 that numerically displays the orbital speed (m / s) of the drive chain 43, and a display window F6 that numerically displays the cumulative travel distance (m) of the drive chain 43 corresponding to the movement amount of the drive chain 43. A display window F7 that numerically displays the remaining horizontal distance (m) corresponding to the remaining amount of the excavation distance is displayed.

Further, on the monitor screen MD, a display window F8 for displaying the section currently being horizontally excavated by the boundary line numbers ((1) to (5)) constituting the section, and a type of horizontal excavation (right-angled horizontal excavation) are displayed. Or, the display window F9 that displays the horizontal excavation at an oblique angle) and the display window F10 that is divided and displayed according to the boundary line numbers ((1) to (5)) of the section and can monitor the horizontal excavation state of the trencher 4. And are displayed.

In the display window F8, for example, when "(2)-(3)" is displayed, the section B2 between the boundary line (2) and the boundary line (3) is horizontally dug at a right angle. (See FIG. 11) On the other hand, when "(2), (3)-(3), (4)" is displayed, the boundary line (2) and the boundary line (3) are It shows that the horizontal excavation is performed from the section B2 between the sections B2 to the section B3 between the boundary line (3) and the boundary line (4) (see FIG. 12). Similarly, in the display window F10, for example, when "(2)-(3)" is displayed on both the upper part and the lower part, the partition B2 between the boundary line (2) and the boundary line (3) is divided. While indicating that the digging is done at a right angle (see FIG. 11), for example, "(3)-(4)" is displayed at the upper part and "(2)-(3)" is displayed at the lower part. In the case, it means that the horizontal excavation is performed from the section B2 between the boundary line (2) and the boundary line (3) to the section B3 between the boundary line (3) and the boundary line (4). It is represented (see FIG. 12).

Then, in the display window F10, the plane position of the trencher 4 when the trencher 4 is horizontally dug at the planned horizontal excavation speed obtained from the planned construction soil amount (construction soil amount per hour for ground improvement) is visually displayed. The navigator graph G1 represented by a recognizable image (bar graph in this embodiment) and showing the plane position of the trencher 4 as a guide with respect to the elapsed time during horizontal excavation, and the plane position of the trencher 4 during actual horizontal excavation are shown. The locus graph G2, which is represented by a visually recognizable image so as to be comparable to the navigation graph G1, is displayed. The planned horizontal excavation speed is a plan for the ground improvement work while mixing and stirring more than the number of feather cuts (number of feather cuts per unit target soil amount) required to ensure quality in the ground improvement work. construction soil weight (approximately 40m ³ / h~60m ³ / h) previously determined refers to horizontal penetration rate than.

In this display window F10, the navigation graph G1 and the locus graph G2 are displayed corresponding to the direction of excavation, and as shown in FIG. 11, from the back side (the side far from the backhoe 1) to the front side (the side closer to the backhoe 1). ), While it is displayed as extending from the top to the bottom in FIG. 11, from the front side (closer to the backhoe 1) to the back side (far from the backhoe 1) as shown in FIG. When digging toward), it is displayed so as to extend from the bottom to the top in FIG.

For example, the display window F10 shown in FIG. 11 shows a digging situation in which the locus graph G2 is slightly delayed from the navigation graph G1. At this time, if the delay in horizontal excavation is due to the hardness of the original ground or obstacles and it is predicted that it will continue thereafter, it is desirable to reduce the planned horizontal excavation speed from the next turn. In this way, by changing the planned horizontal excavation speed according to the construction situation, the balance between the discharge amount of the solidifying material and the actual horizontal excavation speed is maintained, and mixing and stirring with an appropriate addition amount of the solidifying material becomes possible. On the other hand, the display window F10 shown in FIG. 12 shows a digging situation in which the navigation graph G1 and the locus graph G2 are on the same line and the actual horizontal digging speed of the trencher 4 is substantially the same as the planned horizontal digging speed. There is.

As described above, in the ground improvement device according to the present invention, the display window F10 of the monitor screen MD displays the horizontal position of the trencher 4 as a guide with respect to the elapsed work time with a visually recognizable image of the navigation graph G1. By displaying the locus graph G2 that displays the actual horizontal position of the trencher 4 with a visually recognizable image, the operator who operates the back hoe 1 in the cabin 1c is displayed on the display window F10. It is possible to perform horizontal excavation while adjusting the horizontal excavation speed so as to match the locus graph G2 with the navigation graph G1.

Further, on the monitor screen MD, a folding switch SW, which is a touch switch, is arranged in an area adjacent to the display window F10 and surrounded by the display windows F2, F7, and F10. This folding switch SW indicates switching (folding) of the digging direction of the trencher 4 during right-angled horizontal excavation and oblique horizontal excavation, and the trencher 4 is connected to the folding lines R1 and R2 as shown in FIGS. 6 and 7. By touching when it reaches, the digging direction of the trencher 4 can be changed from right-angled horizontal digging to oblique horizontal digging, or from oblique horizontal digging to right-angled horizontal digging. Further, the wrapping switch SW also functions as an activation switch of a navigation system that displays the navigation graph G1 on the display window F10 of the monitor screen MD to navigate the horizontal excavation, and touches the wrapping switch SW. As a result, the navigation graph G1 and the trajectory graph G2 are displayed on the display window F10 of the monitor screen MD, and the navigation of horizontal excavation starts.

(Calculation method of the plane position of the trencher related to the navigation graph)
The method of calculating the plane position of the trencher 4 according to the Navigraph G1 will be described below.

First, the plane position of the trencher 4 is calculated based on the horizontal distance L (m) between the boom connecting portion J1 and the trencher connecting portion J3. This horizontal distance L is obtained based on the following equation 1.
L = (L1 × cosθ1) + (L2 × cosθ2) ・ ・ ・ Equation 1
However,
L1: Distance from arm connecting part J2 to boom connecting part J1 (constant)
L2: Distance (constant) from the trencher connecting portion J3 to the arm connecting portion J2
θ1: The elevation angle of the line L1 connecting the arm connecting portion J2 and the boom connecting portion J1, and the angle formed by this line L1 and the horizontal line Lx θ2: The elevation angle of the line L2 connecting the trencher connecting portion J3 and the arm connecting portion J2. Therefore, for example, the distance L1 from the arm connecting portion J2 to the boom connecting portion J1 is 7.0 (m), and the distance from the trencher connecting portion J3 to the arm connecting portion J2 is the angle formed by the line L2 and the horizontal line Lx. L2 is 3.3 (m), the angle θ1 formed by the line L1 connecting the arm connecting portion J2 and the boom connecting portion J1 and the horizontal line Lx is 8.3 (°), and the trencher connecting portion J3 and the arm connecting portion J2 When the angle θ2 formed by the line L2 connecting the two and the horizontal line Lx is 41.5 (°), the horizontal distance L between the boom connecting portion J1 and the trencher connecting portion J3 is calculated as follows.
L = (L1 × cosθ1) + (L2 × cosθ2)
= (7.0 x cos 8.3 °) + (3.3 x cos 41.5 °)
= (7.0 × 0.9895) + (3.3 × 0.7490)
= 6.93 + 2.47 = 9.40 (m)
Further, as shown in FIG. 6, the external dimensions of the trencher 4 are such that the distance T1 between the trencher connecting portion J3 and the mixing stirring blade 45 on the inner side of the trencher 4 is 0.9 (m), and the trencher is connected. Since the distance T2 between the portion J3 and the mixing stirring blade 45 on the front side of the trencher 4 is 0.3 (m), the thickness T (= T1 + T2) of the trencher 4 is 1.2 (m). Become.

Therefore, when the distance W from the folding line R1 on the back side to the folding line R2 on the front side is 5.0 (m), the horizontal movement distance is the folding line R1 on the back side and the folding line R2 on the front side. The distance W is obtained by subtracting the trencher thickness T (= 1.2 (m)) to 3.8 (m). Then, since the horizontal distance L between the trencher connecting portion J3 and the boom connecting portion J1 when the trencher 4 reaches the folding line R1 on the back side is 9.4 (m), the mixing stirring blade 45 on the front side of the trencher 4 The horizontal distance Li when reaches the folding line R2 on the front side is 5.6 (m) obtained by subtracting the distance W from the horizontal distance L.

Further, as described above, the plane position of the trencher 4 displayed on the navigation graph G1 is the planned horizontal excavation speed Sp (m / min) obtained from ^{the planned construction soil volume (m 3) and the work elapsed time (min).} , Calculated based on. Here, the planned horizontal excavation speed SP is calculated by any of the following methods (a) and (b).

(A) The planned horizontal excavation speed Sp (m / min) in the case of horizontally excavating the trencher 4 in only one direction without folding back as in the construction mode other than the N-shaped construction is based on the following equation 2. Obtained (see FIGS. 8 to 10).
Sp = {(V / 60) ÷ (E × H)} × N ... Equation 2
However,
V: Planned construction soil volume (m ³ / h)
E: Effective mixing stirring width (m) of the trencher
H: Plan improvement depth (m)
N: Number of times of mixing and stirring (times)
The number of times of mixing and stirring N means the number of times the trencher 4 has passed and moved in a plan view. In principle, parallel construction, band construction and grid frame construction are mixed once, and N-shaped construction is mixed twice. Is desirable.

(B) The planned horizontal excavation speed in the case of performing the N-shaped construction in which the trencher 4 is continuously horizontally excavated without completely pulling out the trencher 4 by combining the right-angled horizontal excavation and the oblique horizontal excavation is described in (b1) below. Alternatively, it can be obtained by any of the methods (b2) (see FIGS. 6 and 7).

(B1) When the horizontal excavation movement distance between the right-angle horizontal excavation part D1 formed by right-angle horizontal excavation and the oblique horizontal excavation part D2 formed by oblique horizontal excavation is different, the right-angle horizontal excavation part D1 and the oblique horizontal excavation When the horizontal excavation movement of the portion D2 is performed in the same time, that is, when the horizontal excavation speed Sp (m / min) of the right-angle horizontal excavation portion D1 and the horizontal excavation speed BSp (m / min) of the oblique horizontal excavation portion D2 are different. Are the planned horizontal excavation speeds shown in (1) and (2) below, respectively.
(1) The planned horizontal excavation speed Sp of the right-angled horizontal excavation portion D1 is obtained by the above equation 2.
(2) The planned horizontal excavation speed BSp of the oblique horizontal excavation section D2 is calculated by the following equation 3.
BSp = Sp × {√ (W ² + E ² ) ÷ W} ・ ・ ・ Equation 3
However,
W: Distance (m) between the folding line R1 on the back side of the trencher 4 and the folding line R2 on the front side.
(B2) The planned horizontal excavation speed NSp when the right-angled horizontal excavation portion D1 and the oblique horizontal excavation portion D2 are horizontally excavated at the same excavation speed is calculated by the following equation 4.
NSp = (Sp + BSp) ÷ 2 ... Equation 4
(Calculation method of discharge amount of solidifying material)
Hereinafter, a method of calculating the discharge amount of the solidifying material when performing horizontal excavation at the planned horizontal excavation speeds of (a), (b1) and (b2) will be described below.

The discharge amount Q of the solidifying material is the planned horizontal excavation speed Sp, BSp, NSp calculated based on the planned construction soil volume and the water-cement ratio of the solidifying material calculated based on the compounding test results prior to the construction (milk construction). In the case of) and the amount of solidifying material added.

<Discharge amount of solidifying material when horizontal excavation is performed at the planned horizontal excavation speed in (a) above>
Band construction with a thickness X of the improved wall body X of 1.0 (m), a depth Y of 5.0 (m), and a planned improvement depth H of 7.0 (m), with a cement addition amount of 100 (M) kg / m ³ ), water-cement ratio P is 100 (%), cement specific gravity S is 3.06, planned construction soil volume V is 50 (m ³ / h) (= about 0.83 (m ³ / min)) ), And the discharge amount (cement milk amount) Q of the solidifying material added per ^{1 (m 3} ) of the raw soil when the construction is carried out under the condition that the mixing and stirring frequency N is 1 (times) will be described below.
Q = (M ÷ S) + {(M × P) / 100}
= (100 ÷ 3.06) + {(100 × 100) / 100}
= 132.7 (L / m ³ )
Sp = {(V / 60) ÷ (E × H)} × N ... Equation 2
= {(50/60) ÷ (1.0 × 7)} × 1
≒ 0.12 (m / min)
Then, the discharge amount (cement milk amount) Qx of the solidifying material per minute of construction is as follows.
Qx = (Sp × X × H) × Q
= (0.12 x 1.0 x 7.0) x 132.7
≈111.5 (L / min)
⇒ 112 (L / min)
From the above results, since the lower limit control of the discharge amount (cement milk amount) Q of the solidifying material is customary, the discharge amount Q of the solidifying material is set to 112 (L / min), and the planned horizontal excavation speed Sp of the navigation graph G1 is set. By setting each to 0.12 (m / min) and guiding the locus graph G2 with the navigator graph G1, appropriate construction can be performed at a planned horizontal excavation speed planned in advance.

<Discharge amount of solidifying material when horizontal excavation is performed at the planned horizontal excavation speed of (b1) above>
A plurality of improved widths of one section corresponding to the effective mixing stirring width E of the trencher are 1.0 (m), and the distance W between the folding line R1 on the back side and the folding line R2 on the front side is 5.0 (m). The solidifying material discharge amount when the section is continuously excavated and mixed and stirred by N-shaped construction will be described below.

In the N-shaped construction of (b1), the right-angled horizontal excavation portion D1 and the oblique horizontal excavation portion D2 are horizontally excavated and moved at the same time, and the mixing and stirring frequency N is 2 (times). Therefore, the planned horizontal excavation speed Sp and the solidifying material discharge amount Q1 of the right-angled horizontal excavation portion D1 and the planned horizontal excavation speed BSp and the solidifying material discharge amount Q2 of the oblique horizontal excavation portion D2 are as follows.
Sp = {(V / 60) ÷ (E × H)} × N ... Equation 2
= {(50/60) ÷ (1.0 × 7)} × 2
≒ 0.238 (m / min)
BSp = Sp × {√ (W ² + E ² ) ÷ W} ・ ・ ・ Equation 3
= 0.24 × {√ (5 ² + 1 ² ) ÷ 5}
≒ 0.243 (m / min)
As described above, the planned horizontal excavation speed Sp of the right-angled horizontal excavation section D1 is 0.238 (m / min), and the planned horizontal excavation speed BSp of the oblique horizontal excavation section D2 is 0.243 (m / min). Therefore, the horizontal excavation movement distance is supplemented, and the excavation movement time of the right-angled horizontal excavation portion D1 and the oblique horizontal excavation portion D2 becomes the same time. In consideration of the work to be carried out, it is desirable to round off to the third decimal place. In the case of this embodiment, both the planned horizontal excavation speed of the right-angled horizontal excavation section D1 and the oblique horizontal excavation section D2 are set. It is desirable to set it to 0.24 (m / min).

Next, the amount of cement milk Qx (Q1x, Q2x) per minute of construction is calculated based on the planned horizontal excavation speeds Sp and BSp of the right-angled horizontal excavation section D1 and the oblique horizontal excavation section D2. Become.
Qx = (Sp (BSp) x E x H) x Q
= (0.24 x 1.0 x 7.0) x 132.7
≒ 222.9 (L / min)
⇒ 223 (L / min)
From the above results, the discharge amounts Q1 and Q2 of the solidifying material are set to 223 (L / min), respectively, and the planned horizontal excavation speed Sp and BSp of the Navigraph G1 are both set to 0.24 (m / min). By guiding the locus graph G2 with the navigator graph G1, appropriate construction can be performed at a planned horizontal excavation speed planned in advance.

When the distance W between the folding line R1 on the back side and the folding line R2 on the front side is as small as 3 to 4 (m), or when the effective mixing stirring width E of the trencher 4 is 1.2 to 1.5 (m). In the case of wide, the planned horizontal excavation speeds Sp and BSp of the right-angled horizontal excavation and the oblique horizontal excavation are different, but in this case as well, the discharge amount Q1 of the solidifying material of the right-angled horizontal excavation portion D1 and the oblique horizontal excavation portion D2. It is desirable to set the discharge amount Q2 of the solidifying material to the same amount.
<Discharge amount of solidifying material when horizontal excavation is performed at the planned horizontal excavation speed of (b2) above>
When the right-angled horizontal excavation section D1 and the oblique horizontal excavation section D2 are to be horizontally excavated at the same speed, the plan is calculated by averaging the planned horizontal excavation speeds of the right-angled horizontal excavation section D1 and the oblique horizontal excavation section D2. The horizontal excavation speed NSp is as follows.
NSp = (Sp + BSp) ÷ 2 ... Equation 4
= (0.238 + 0.243) ÷ 2
= 0.241 (m / min)
By averaging the planned horizontal excavation speeds of the right-angled horizontal excavation part D1 and the oblique horizontal excavation part D2 in this way, the same speed is 0.241 (m / min), but in this case as well, the decimal point is the third decimal place. It is desirable to round to 0.24 (m / min). Therefore, the discharge amount Q of the solidifying material according to the N-shaped construction of (b2) is 223 (L / min) as in the case of the N-shaped construction of (b1).

From the above results, the discharge amount Q of the solidifying material according to the band type construction of (a) is 112 (L / min), and the discharge amount Q of the solidifying material related to the N-shaped construction of (b1) and (b2) is ( Q1 and Q2) were calculated to be 223 (L / min), but in the band-type construction according to (a), the number of times of mixing and stirring N is 1 (times), while N according to (b1) and (b2) above. In the character construction, the number of times of mixing and stirring N is 2 (times), and as a result of digging speed twice that of the band type construction, the amount of the solidifying material added after the completion of mixing and stirring is substantially the same.

(Calculation method of the plane position of the trencher related to the locus graph)
The method of calculating the plane position of the trencher 4 according to the locus graph G2 will be described below.

By touching the turn-back switch SW, the horizontal distance L of the trencher 4 is reset together with the navigation graph G1 and the locus graph G2 and restarted. Therefore, for the locus graph G2, the difference between the horizontal distance L at the time when the folding switch SW is touched and the horizontal distance L'changed with the elapsed time is the horizontal moving distance (distance from the folding lines R1 and R2). .. Therefore, the moving distance of the trencher 4 due to the actual horizontal excavation speed, which is the actual horizontal excavation speed, that is, the moving distance L1x of the trencher 4 due to the actual excavation speed when turning back from the folding line R1 on the back side is calculated by the following equation 5 to the front. The moving distance L2x of the trencher 4 due to the actual excavation speed when turning back from the side turning line R2 is obtained by the following equation 6.
L1x = LL'... Equation 5
L2x = L'-L ... Equation 6
However,
L: Horizontal distance between the trencher connecting portion J3 and the boom connecting portion J1 when the folding switch SW is touched L': The trencher connecting portion J3 and the boom connecting portion J1 based on the actual excavation speed calculated from the time when the folding switch SW is touched. Horizontal distance (improved depth management method)
When digging with the trencher 4, when the backhoe 1 is in an inclined state, as shown in FIG. 13, the trencher 4 penetrates deeply by the inclination (inclination angle α) of the backhoe 1, and the improvement caused by this inclination occurs. The actual improvement depth D of the trencher 4 is inconsistent with the planned improvement depth H by the depth H'. Further, even when the backhoe 1 is in a subsided state, the actual improvement depth D of the trencher 4 is inconsistent with the planned improvement depth H by the amount of the improvement depth H'generated by the subsidence.

As described above, when digging by the trencher 4, the inclination and subsidence of the backhoe 1 affect the accuracy of the ground improvement. Therefore, in the present embodiment, the inclination of the backhoe 1 is performed by the methods (a) to (c) shown below. Or, the improvement depth H'that becomes excessive or deficient due to either one or both of the subsidence is corrected.

(A) When the backhoe 1 is tilted as shown in FIG. 13, excess or deficiency (forward tilt) is based on the horizontal distance L from the trencher connecting portion J3 to the boom connecting portion J1 and the tilt angle α of the backhoe 1. In the case of excessive penetration, in the case of backward inclination, insufficient penetration), the improved depth H'is calculated. Then, the corrected actual improvement depth D, which is the sum of the excess / deficiency improvement depth H'and the planned improvement depth H, is set as the "actual improvement depth" and displayed on the monitor screen MD. As a result, the operator who operates the backhoe 1 in the cabin 1c moves the trencher 4 up and down according to the corrected actual improvement depth D displayed on the monitor screen MD, so that the actual improvement depth D of the trencher 4 is planned and improved. Correct to match H.

First, it is calculated based on the plane position of the trencher 4 (horizontal distance L from the trencher connecting portion J3 to the boom connecting portion J1) corresponding to the planned improvement depth H and the inclination angles θ1 and θ2 of the boom 2 and the arm 3. The actual improvement depth D'before correction is an improvement depth in a state where the backhoe 1 is maintained horizontally, and is obtained by the following equation 7. Conventionally, the actual improvement depth D'before correction, which is different from the actual improvement depth obtained by this equation 7, is displayed on the monitor screen MD as the "actual improvement depth".
D'= (h1 + h2)-(h1'+ h2') ... Equation 7
= {(L1 x sinθ1) + (L2 x sinθ2)}-{(L1 x sinθ1') + (L2 x sinθ2')}
However,
h1: Vertical distance (m) between the boom connecting portion J1 and the arm connecting portion J2 when the lower end of the vertically standing trencher 4 is grounded to the improved reference height FS as shown in FIG.
h2: Vertical distance (m) between the arm connecting portion J2 and the trencher connecting portion J3 when the lower end of the vertically standing trencher 4 is grounded to the improved reference height FS as shown in FIG.
h1': Vertical distance (m) between the boom connecting portion J1 and the arm connecting portion J2 when the trencher 4 is penetrated as shown in FIGS. 2 and 13.
h2': Vertical distance (m) between the arm connecting portion J2 and the trencher connecting portion J3 when the trencher 4 is penetrated as shown in FIGS. 2 and 13.
L1: Distance from boom connecting part J1 to arm connecting part J2 (constant)
L2: Distance (constant) from the arm connecting portion J2 to the trencher connecting portion J3
θ1, θ1': Angle formed by the line L1 connecting the boom connecting portion J1 and the arm connecting portion J2 and the horizontal line Lx of the boom connecting portion J1 θ2, θ2': Line L2 connecting the arm connecting portion J2 and the trencher connecting portion J3. The angle formed by the arm connecting portion J2 with the horizontal line Lx. The θ1, θ1 ′, θ2, and θ2 ′ are “+” above the horizontal line Lx and “−” below.

As described above, in the above equation 7, the moving distance of the trencher connecting portion J3 in the vertical direction is obtained with reference to the height position of the boom connecting portion J1, and the actual improvement depth D is measured in the vertical direction. The measurement is started by grounding the lower end of the trencher 4 standing along the line to the improvement reference height FS (see FIG. 1) and resetting the measurement of the actual improvement depth D (pressing the start switch for intrusion excavation). ..

Then, when the actual improvement depth D'before correction, which corresponds to the planned improvement depth H and is calculated based on the above equation 7 on the premise of the horizontal state, the improvement depth H'which becomes excessive or insufficient due to the inclination of the backhoe 1 is taken into consideration. The corrected actual improvement depth D is obtained by the following equation 8. Then, the actual improvement depth D after this correction is displayed as the "actual improvement depth" in the display window F3 of the monitor screen MD.
D = H + H'= H + (L × tanα) ・ ・ ・ Equation 8
However,
H': Improvement depth that becomes excessive or insufficient due to the inclination of the backhoe L: Horizontal distance from the trencher connecting portion J3 to the boom connecting portion J1 α: The inclination angle (horizontal degree) of the backhoe 1 in the case of forward inclination + Α, -α for backward tilt
Therefore, for example, when the planned improvement depth H is 7 (m), the distance L from the trencher connecting portion J3 to the boom connecting portion J1 is 10.0 (m), and the backhoe 1 is tilted forward by 5 °. Applying this to Equation 7, the corrected actual improvement depth D is as follows.
D = H + H'= H + (L × tanα) ・ ・ ・ Equation 8
= 7+ (10.0 x 0.0875)
= 7.875
≒ 7.9 (m)
As described above, in the present embodiment, the plane position of the trencher 4 (horizontal distance L from the trencher connecting portion J3 to the boom connecting portion J1) corresponding to the planned improvement depth H and the inclination angles θ1 of the boom 2 and the arm 3 The actual improvement depth D'calculated based on θ2 is corrected in consideration of the improvement depth H'that becomes excessive or insufficient with the inclination of the backhoe 1, and the actual improvement depth D is set as the "actual improvement depth" on the monitor screen MD. By displaying the display, the operator operating the backhoe 1 in the cabin 1c moves the trencher 4 up and down based on the corrected actual improvement depth D displayed on the monitor screen MD, and the actual improvement depth D of the trencher 4 is displayed. Can be corrected to match the planned improvement depth H.

(A) As shown in FIG. 4, the laser beam emitted from the rotating laser level meter LV installed near the backhoe 1 is placed at a predetermined height position on the upper part of the trencher 4 (improved reference height of the rotating laser level meter LV). By receiving light from the level sensor LS mounted at the height A from the laser FS and the height position corresponding to the sum of the planned improvement depth H), and moving the trencher 4 up and down according to the display of the level sensor LS. , Correct the actual improvement depth D of the trencher 4.

That is, the operator who operates the backhoe 1 in the cabin 1c confirms the display of each light receiving portion Z0, Z1, Z2 of the level sensor LS that emits light by receiving the laser light of the rotating laser level meter LV, and each of them. The trencher 4 can be moved up and down according to the indications of the light receiving units Z0, Z1 and Z2. Specifically, when the central light receiving portion Z0 emits light, the actual improvement depth D of the trencher 4 generally matches the planned improvement depth H, so it is necessary to correct the actual improvement depth D of the trencher 4. No, the trencher 4 does not move up and down. On the other hand, when the upper light receiving portion Z1 emits light, the actual improvement depth D of the trencher 4 is shallower than the planned improvement depth H, so the trencher 4 is moved downward to a height position where the central light receiving portion Z0 emits light. Let me. On the other hand, when the lower light receiving portion Z2 emits light, the actual improvement depth D of the trencher 4 is deeper than the planned improvement depth H, so the trencher 4 is moved upward to a height position where the central light receiving portion Z0 emits light. Let me.

By using a level sensor LS having a detection width (light receiving sensitivity) of about 250 (mm) for detecting the actual improved depth D of the trencher 4, the range is approximately ± 20 to 30 (mm). It is desirable to set the control tolerance of the actual improvement depth D. By using such a level sensor LS, the actual improvement depth D can be managed as follows, for example.

As shown in FIG. 4, when the planned improvement depth H is 7.0 (m) and the height A of the rotary laser level meter LV is 1.4 (m), the rotation from the lower end of the trencher 4 to the planned improvement depth H. The level sensor LS is attached at a position above the integrated value (H + A) of the height A of the laser level meter LV, that is, at a position 8.4 (m) above the lower end of the trencher 4. Then, after attaching the level sensor LS, while rotating the mixing stirring blade 45 attached to the drive chain 43, the lower end of the trencher 4 is pierced and digged until it reaches the planned improvement depth H at the planned piercing and digging speed (FIG. 2). reference). At this time, when the lower end of the trencher 4 reaches a position 125 (mm) higher than the planned improvement depth H (a height position 1/2 above the light receiving sensitivity, although it depends on the device), the upper light receiving portion Z1 emits light. A downward arrow is displayed. Therefore, the operator who operates the backhoe 1 in the cabin 1c recognizes that the penetration depth of the trencher 4 is shallow by the display of the downward arrow, and further penetrates and digs the trencher 4 gradually. Here, for example, when the management allowable range of the actual improvement depth D is ± 30 (mm), it continues until the lower end of the trencher 4 reaches a position 30 (mm) shallower than the planned improvement depth H. The upper light receiving unit Z1 emits light and a downward arrow is displayed. Then, when the trencher 4 was further pierced by 30 (mm) according to the downward arrow, the central light receiving portion Z0 of the level sensor LS indicating that the lower end of the trencher 4 reached the planned improvement depth H emitted light. The downward arrow display is switched to the horizontal bar display. Subsequently, when the lower end of the trencher 4 reaches a position 30 (mm) deeper than the planned improvement depth H, the lower light receiving portion Z2 of the level sensor LS emits light to display the horizontal bar. Will switch to the upward arrow display.

When the actual improved depth D is managed by the rotary laser level meter LV, the vertical posture of the trencher 4 is always maintained by the monitor management (inclination angle management) by the inclinometer (angle sensor AS3) mounted on the trencher 4. In addition, it is desirable to manage the actual improvement depth at the upper limit of the control allowable range (the depth at which the actual improvement depth D becomes 20 to 30 (mm) deeper). By managing the actual improvement depth D 20 to 30 (mm) deeper than the planned improvement depth H, it is possible to manage the construction without insufficient form.

(C) Management of the actual improvement depth D by the monitor screen MD by the method of (a) above until the lower end of the trencher 4 is higher than the planned improvement depth H by about 300 to 500 (mm) (generally the planned improvement depth H). After that, the actual improvement depth D is managed by using the level sensor LS by the method (a) above. As described above, the method (c) in which the method (a) and the method (b) are used in combination is particularly when the foot of the backhoe 1 is extremely soft and the backhoe 1 is severely subsided or tilted. It becomes valid.

(How to manage the verticality of the trencher)
As described above, the horizontal excavation of the trencher 4 is premised on the state where the trencher 4 is maintained vertically. However, since horizontal excavation is actually performed by swinging the boom 2 and the arm 3, the lower end of the trencher 4 is slightly closer to the front side (closer to the backhoe 1) or the back side (farther from the backhoe 1). Horizontal excavation is carried out while repeating the state of inclining. Therefore, the verticality of the trencher 4 is not maintained during horizontal excavation, and the end face of the improved body (the wall surface of the improved body that is on the front side or the back side with respect to the backhoe 1) is not vertical, and the lower end portion from the upper end portion of the improved body portion. There is a possibility that an unprocessed portion U (a portion indicated by hatching in FIG. 15) may be generated. The unprocessed portion U is obtained by the following equation 9.
U = H × tanβ ・ ・ ・ Equation 9
However, H: Plan improvement depth (m)
β: Tilt angle (°) of the trencher 4
Therefore, the planned improvement depth H is 7.0 (m), and the inclination angle (hereinafter, also referred to as “vertical degree”) β of the trencher 4 with respect to the vertical line (see the vertical line Zx shown in FIG. 15) is 3 (°). The unprocessed portion U in a certain case is as follows.
U = H × tanβ ・ ・ ・ Equation 9
= 7.0 × 0.0524
= 0.37
≒ 0.4 (m)
As described above, when the planned improvement depth H is 7.0 (m), even if the verticality β has an inclination of only 3 (°), the end face of the improved body has about 0.4 (m). The unprocessed portion U of is left. Therefore, maintaining the verticality of the trencher 4 is an important factor, and the operator who operates the backhoe 1 in the cabin 1c must always check the verticality of the trencher 4 while performing the operation. In particular, it is necessary to check the verticality of the trencher 4 with particular attention at the ends of the improved body (folding lines R1 and R2 on the back side or the front side).

The actual improvement depth D when the trencher 4 is tilted by 3 (°) is as follows.
D = H × cosβ
= 7.0 × cos3 °
= 7.0 x 0.9986
= 6.99
≒ 7.0
As described above, when the trencher 4 is tilted by 3 (°), the actual improvement depth D is as shallow as 6.99 (m), but this error is within the permissible range, and it can be said that there is no problem.

From the above, in the present embodiment, when the verticality β of the central portion (range other than the end portion of the improved body) of the improved body is less than 3 (°), the actual improvement depth D is not affected. , The verticality β is controlled by the following method.

As described above, the tilt angle of the trencher 4 is measured by the angle sensor AS3 provided on the side surface of the trencher 4, and the result is displayed on the display window F4 of the monitor screen MD as the verticality β by five lamps. (See FIGS. 11 and 12). In this lamp, the central lamp (green) has a verticality of less than β = ± 1 (°), and the second lamp from the center (yellow) has a verticality of less than ± 1 to ± 3 (°) at both ends. The lamp (red) in the above indicates that the verticality β = ± 3 (°) or more.

By operating the trencher 4 according to such a lamp display and digging horizontally, it is possible to maintain the trencher 4 preferably less than ± 1 (°), at least less than ± 3 (°). In the lamp display of the display window F4, when the lower end of the trencher 4 is tilted toward the front side, it is displayed as "+", and when it is tilted toward the back side, it is displayed as "-".

On the other hand, it is desirable to control the verticality β at the ends of the improved body (folding lines R1 and R2) to be absolute vertical (± 0 °), but it is practically difficult to make the absolute verticality. Therefore, when folding back at the back side of the compartment, set it to 0 to -3 (°), and when folding back at the front side of the compartment, set it to 0 to +3 (°) so that the lower end of the trencher 4 exceeds the folding lines R1 and R2. By managing the verticality β, it is possible to manage the verticality β without leaving the unprocessed portion U.

On the other hand, when the trencher 4 is inclined to the "+" side at the folding line R1 on the back side of the compartment, or when the trencher 4 is inclined to the "-" side at the folding line R2 on the front side of the compartment. In other words, when the trencher 4 is inclined inward in the section on the turn-back lines R1 and R2, it is desirable to warn the operator in the cabin 1c with an alarm buzzer, a lamp, or the like.

Further, in the present embodiment, the verticality (tilt angle) of the trencher 4 is displayed as a level by a lamp in the display window F4 of the monitor screen MD, so that the operator in the cabin 1c visually recognizes the tilt of the trencher 4. It's easy. However, the display of the inclination of the trencher 4 in the display window F4 of the monitor screen MD is not limited to the lamp display as in the present embodiment, and is, for example, a numerical display of verticality (0, + 0.5 °, −). Any mode in which the operator in the cabin 1c can recognize the inclination of the trencher 4, such as 0.5 °) or the numerical display of the absolute value of the inclination angle (90 °, + 89 °, -89 °, etc.). It may be a display mode.

(Action and effect of this embodiment)
As described above, the ground that serves as the scaffolding for the backhoe 1 which is the base machine is rarely flat, and the backhoe 1 may be dug in an inclined state. Further, since the ground is soft, excavation may be performed with the backhoe 1 subsided. In this case, in the conventional ground improvement method, no consideration is given to the excess or deficiency of the actual improvement depth that occurs due to the inclination or subsidence of the backhoe 1, so that the improvement depth displayed on the monitor screen MD and the actual improvement depth are actually used. There was a risk that the improvement depth would not be properly managed due to the discrepancy with the improvement depth.

On the other hand, in the ground improvement method according to the present embodiment, the excess or deficiency of the actual improvement depth by the trencher 4 with respect to the planned improvement depth due to either the inclination or the subsidence of the backhoe 1 or both is detected on the monitor screen MD. And the level sensor LS visually displays it, and the trencher 4 is moved up and down according to this display so that the excess or deficiency of the actual improvement depth can be corrected.

Specifically, regarding the inclination of the backhoe 1, the angle sensor AS0 as an inclinometer provided on the backhoe 1 grasps the inclination state (forward inclination or backward inclination) of the backhoe 1, and the result is displayed on the monitor screen MD. To. As a result, the operator who operates the backhoe 1 can correct the excess or deficiency of the actual improvement depth of the trencher 4 by moving the trencher 4 up and down according to the display of the monitor screen MD. As a result, the improvement depth by the trencher 4 can be appropriately managed, and the ground improvement can be appropriately performed according to the planned improvement depth.

At this time, in the present embodiment, the tilted state of the trencher 4 is displayed on the monitor screen MD by displaying the level of each color by the lamp. Therefore, the operator can easily visually, instantly and appropriately recognize the tilted state of the trencher 4, and can appropriately correct the excess or deficiency of the actual improvement depth due to the subsequent vertical movement operation of the trencher 4.

Further, in the present embodiment, in addition to the display by the monitor screen MD described above, the level sensor LS provided on the upper part of the trencher 4 is used to check the excess or deficiency of the actual improvement depth by the trencher 4 due to the inclination or sinking of the backhoe 1. It can be confirmed from inside the cabin 1c of. As a result, the operator who operates the backhoe 1 can correct the excess or deficiency of the actual improvement depth of the trencher 4 by moving the trencher 4 up and down according to the display of the level sensor LS. As a result, the improvement depth by the trencher 4 can be appropriately managed, and the ground improvement can be appropriately performed according to the planned improvement depth.

Moreover, in the present embodiment, in the level sensor LS, the horizontal bar display of the central light receiving portion Z0, the downward arrow display of the upper light receiving portion Z1, and the lower light receiving portion are displayed according to the excess or deficiency of the actual improvement depth by the trencher 4. It is configured to be displayed with an upward arrow display of part Z2. Therefore, the operator does not need to operate the trencher 4 after recognizing, for example, the direction of inclination of the trencher 4 (forward inclination or backward inclination) due to the inclination of the backhoe 1 and the required movement amount of the trencher 4, and each light receiving unit does not need to operate. The excess or deficiency of the actual improvement depth can be appropriately corrected only by operating the trencher 4 according to the indications of Z0, Z1 and Z2.

Further, in the conventional ground improvement method, only the time from the start to the end of the ground improvement is determined by the planned time, and the progress in the process is not controlled at all, and the backhoe 1 is used in the cabin 1c. The operating operator performed the ground improvement according to the planned time by adjusting the horizontal excavation speed by calculating back from the planned time based on the remaining horizontal distance displayed on the monitor screen MD. For this reason, the horizontal excavation speed varies depending on the ability and experience of the operator, and as a result, the amount of the solidifying material mixed with the raw soil varies, which causes the quality of the ground improvement to vary. There was a risk.

On the other hand, in the ground improvement method according to the present embodiment, the navigator graph G1 that displays the plane position of the trencher 4 when horizontally excavated at the planned horizontal excavation speed and the plane of the trencher 4 at the time of actual horizontal excavation The locus graph G2, which displays the position as an image, is displayed on the monitor screen MD so as to be visually comparable, and the trencher 4 is horizontally dug so as to match the display of the locus graph G2 with the display of the navigation graph G1.

As described above, in the present embodiment, horizontal excavation can be performed while guiding (navigating) the locus graph G2 with the navigation graph G1. Therefore, regardless of the ability and experience of the operator who operates the backhoe 1, it is always possible to dig at the planned horizontal digging speed. As a result, the variation in the horizontal excavation speed for each operator can be suppressed, and the variation in the quality of ground improvement due to the variation in the amount of solidifying material mixed with the raw soil can be suppressed.

Further, in the present embodiment, at the time of horizontal excavation, the verticality (tilt state) of the trencher 4 is grasped by the angle sensor AS3 as an inclinometer provided on the trencher 4, and the result is displayed on the monitor screen MD. ing. As a result, the operator can contribute to appropriate ground improvement by managing the verticality of the trencher 4 according to the display of the monitor screen MD.

Moreover, in the present embodiment, at the time of horizontal excavation, the lower end of the trencher 4 is inclined toward the outside of the section based on the display of the monitor screen MD, and the lower end of the trencher 4 is the folding line R1 and R2 in the folding lines R1 and R2. The verticality of the trencher 4 is controlled so as to exceed the above. As a result, it is possible to suppress the occurrence of the untreated portion U at the end portions (folding lines R1 and R2) of the improved body, and further improve the quality of the ground improvement.

The present invention is not limited to the configuration exemplified in the above embodiment, and can be freely changed according to the specifications and the like to be applied within a range not deviating from the gist of the present invention.

In particular, the display modes of the navigation graph G1 and the locus graph G2 illustrated in the above embodiment are examples of the navigation graph and the locus graph according to the present invention, and the plane positions of the trencher 4 can be visually recognized and compared. If there is, any display mode may be used.

1 ... Backhoe (base machine)
2 ... Boom 3 ... Arm 4 ... Trencher (mixing stirring head)
46 ... Mixing stirring blade AS1 ... Angle sensor (measuring means)
AS2 ... Angle sensor (measuring means)
MD ... Monitor screen (display means)
G1 ... Navigraph G2 ... Trajectory graph

Claims (6)

Using a ground improvement device equipped with a mixing stirring head having a mixing stirring blade that orbits in the vertical direction at the tip of the boom and arm of a construction machine that functions as a base machine, the original ground is excavated and mixed with a solidifying material. In the ground improvement method for increasing the strength of the original ground by stirring.
When the height of the finished surface planned in the ground improvement plan is used as the improvement standard height,
The ground improvement device includes display means for displaying the operating status of the ground improvement device.
The display means
The planned improvement depth, which is the improvement depth designed from the improvement reference height,
Based on the measurement results of the inclinometer provided on the base machine, the actual improvement depth, which is the actual penetration depth of the mixing and stirring head calculated in consideration of the inclination of the base machine,
To display
Based on the display of the display means, the mixing stirring head is moved up and down so as to match the actual improvement depth with the planned improvement depth to correct the excess or deficiency with respect to the planned improvement depth caused by the inclination of the base machine. A ground improvement method characterized by. Using a ground improvement device equipped with a mixing stirring head having a mixing stirring blade that orbits in the vertical direction at the tip of the boom and arm of a construction machine that functions as a base machine, the original ground is excavated and mixed with a solidifying material. In the ground improvement method for increasing the strength of the original ground by stirring.
When the height of the finished surface planned in the ground improvement plan is defined as the improvement reference height and the improvement depth designed from the improvement reference height is defined as the planned improvement depth.
The ground improvement device includes a level sensor that receives laser light emitted from a rotary laser level meter installed in the vicinity of the base machine and uses it for detecting the improvement depth of the mixing and stirring head.
By receiving the laser beam, the level sensor raises or lowers the mixing stirring head according to the excess or deficiency with respect to the planned improvement depth caused by either the inclination or the sinking of the base machine, or both. Instruct,
A ground improvement method comprising correcting the excess or deficiency by moving the mixing stirring head up and down according to an ascending instruction or a descending instruction of the level sensor. Using a ground improvement device equipped with a mixing stirring head having a mixing stirring blade that orbits in the vertical direction at the tip of the boom and arm of a construction machine that functions as a base machine, the original ground is excavated and mixed with a solidifying material. In the ground improvement method for increasing the strength of the original ground by stirring.
When the height of the finished surface planned in the ground improvement plan is used as the improvement standard height,
The ground improvement device is
The mixing and stirring head calculated in consideration of the inclination of the base machine based on the planned improvement depth, which is the improvement depth designed from the improvement reference height, and the measurement result of the inclinometer provided on the base machine. A display means for displaying the actual improvement depth, which is the actual penetration depth, and
The laser light emitted from the rotating laser level meter installed in the vicinity of the base machine is received and used to detect the improved depth of the mixing and stirring head, and either the tilting or sinking of the base machine, or both of them. A level sensor that instructs the raising or lowering of the mixing stirring head according to the excess or deficiency with respect to the planned improvement depth generated by
With
Based on the display of the display means, the mixing stirring head is moved up and down so as to match the actual improvement depth with the planned improvement depth, and the excess or deficiency with respect to the planned improvement depth caused by the inclination of the base machine is corrected. ,
The mixing and stirring head is moved up and down according to the ascending or descending instruction of the level sensor to correct the excess or deficiency with respect to the planned improvement depth caused by either the inclination or the sinking of the base machine, or both. A characteristic ground improvement method. The ground improvement device includes a measuring means for measuring a horizontal distance from a connecting portion between the arm and the mixing and stirring head to a connecting portion between the boom and the base machine.
The ground improvement method according to claim 1 or 3, wherein the actual improvement depth is the actual improvement depth D obtained by the following equation (1).
D = H + H'= H + (L × tanα)… (1)
However,
H: Planned improvement depth H': Improvement depth that is excessive or insufficient based on the inclination of the base machine L: Horizontal distance from the connection portion between the arm and the mixing and stirring head to the connection portion between the boom and the base machine α: The tilt angle of the base machine, "+ α" for forward tilt and "-α" for backward tilt.
And. The ground improvement device includes a measuring means for measuring a horizontal distance from a connecting portion between the arm and the mixing and stirring head to a connecting portion between the boom and the base machine.
The display means
A navigator graph representing the plane position of the mixing / stirring head when the mixing / stirring head is horizontally excavated at the planned horizontal excavation speed obtained from the planned construction soil volume and a visually recognizable image.
A locus graph that is obtained by calculation based on the measurement result of the measuring means and is represented by a visually recognizable image of the plane position of the mixing stirring head at the time of actual horizontal excavation in comparison with the navigation graph. ,
To display
One of claims 1, 3 and 4, wherein when the mixing and stirring head is horizontally dug, the mixing and stirring head is horizontally dug so as to match the display of the locus graph with the display of the navigation graph. The ground improvement method described in. The ground improvement device is
A measuring means for measuring the horizontal distance from the connecting portion between the arm and the mixing and stirring head to the connecting portion between the boom and the base machine.
A display means for displaying the operating status of the ground improvement device and
With
The display means
A navigator graph representing the plane position of the mixing / stirring head when the mixing / stirring head is horizontally excavated at the planned horizontal excavation speed obtained from the planned construction soil volume and a visually recognizable image.
A locus graph that is obtained by calculation based on the measurement result of the measuring means and is represented by a visually recognizable image of the plane position of the mixing stirring head at the time of actual horizontal excavation in comparison with the navigation graph. ,
To display
The ground improvement method according to claim 2, wherein when the mixing / stirring head is horizontally dug, the mixing / stirring head is horizontally dug so that the display of the locus graph matches the display of the navigation graph.

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