JP7059820B2 - Anchor hole drilling position management system and anchor hole drilling position management method - Google Patents

Description

The present invention relates to a drilling position management method for an anchor hole using an anchor hole position management device used for ground anchor construction.

The ground anchor work is a system that applies a tensile force to the tension material by connecting the anchored part made of grout constructed in the ground and the structure near the ground surface with a tension material such as PC steel wire or PC steel stranded wire. , It has been used for stabilizing the slope of the ground, preventing the structure from tipping over and floating, and for retaining mountains.

For example, Patent Document 1 discloses a method of using a ground anchor construction as a measure for stabilizing a slope of a ground. First, the surface of the ground is cut and raised to construct a slope having a desired inclination angle and minimizing undulations, and a method frame work is formed on the slope. Next, an anchor hole is drilled from the anchor insertion hole provided in the method frame toward the immovable layer of the ground, a tension material is inserted, and grout is filled in the portion located in the immovable layer near the bottom of the hole. , Build a grout anchoring part. After that, tension is applied to the tension material, and the head of the tension material is fixed to the method frame work. This is intended to stabilize the moving layer, which is located above the immovable layer in the ground and may move along the slip surface.

In this way, when the surface of the ground is cut and filled to construct a desired slope, or when a legal frame work is formed even on a natural slope, an anchor hole for placing a ground anchor is drilled. At that time, the drilling machine can be installed by supporting it on the method frame via a frame, and the drilling angle of the drilling rod provided in the drilling machine can be easily adjusted, so that the anchor hole can be installed with stable accuracy. Drilling work can be started.

Japanese Unexamined Patent Publication No. 2012-149514

However, in recent years, there has been an increasing need to adopt a ground anchor construction to stabilize the slope without installing a frame such as a legal frame on a natural slope that is not cut and filled. In particular, if the construction target area has a complicated shape on the ground surface such as a cliff, the installation work such as positioning the drilling rod on the ground surface at the start of drilling and adjusting the drilling angle becomes complicated. , It becomes more difficult to drill an anchor hole at a three-dimensional position on the design plan.

In addition, as the drilling progresses, the drilling rod of the drilling machine tends to shift in the drilling angle due to the action of external forces such as rotation, thrust, and impact, and the hole length to be drilled is long. In addition, the excavation rod in the middle of drilling bends due to the weight of the drilling rod and the properties of the ground, and the drilling rod tends to bend during drilling. For this reason, even if the anchor hole is bent or the drilling angle is deviated, the hole length of the anchor hole is set in advance at the time of design so that the range of the anchoring length for which the anchor body is to be constructed reaches the immovable layer. It was wasted because it was set longer than the required length. Furthermore, if the hole bending of the anchor hole or the deviation of the drilling angle is larger than expected at the time of design, there is a risk that adjacent anchor holes will interfere with each other, and if interference is confirmed, re-drilling will occur. Since it is necessary, the result is that it affects the construction period and construction cost.

The present invention has been made in view of the above problems, and its main purpose is to perform irregularities such as natural slopes on the ground surface of the construction target area in the drilling work of the anchor hole for carrying out the ground anchor work. It is an object of the present invention to provide an anchor hole drilling position management system and an anchor hole drilling position management method capable of efficiently managing and controlling the position of the anchor hole even in such a state.

In order to achieve such an object, the anchor hole drilling position management system of the present invention is a ground anchor hole drilling position management system used for ground anchor construction, and is a position detection device that measures a three-dimensional position of a drilled anchor hole. , And an anchor hole position management device, the anchor hole position management device includes a ground information acquisition means for acquiring ground information including undulation information and layer information of the ground surface in the construction target area, and the construction target area. Measured three-dimensional position of the preceding anchor hole constructed in the construction target area based on the design information grasping means for acquiring the anchor hole design information of each of the plurality of anchor holes to be drilled and the measurement data obtained from the position detection device. And the leading hole position acquisition means for setting a protected area around the actually measured three-dimensional position, and the trailing hole estimated position for acquiring the estimated three-dimensional position of the trailing anchor hole based on the anchor hole design information. The acquisition means and safety confirmation means for detecting that at least a part of the estimated three-dimensional position of the trailing anchor hole interferes with the protected area of the leading anchor hole and issuing a warning.

According to the above-mentioned anchor hole drilling position management system of the present invention, the anchor hole drilling work can be performed while confirming the ground information and the anchor design information of the construction target area by using the anchor hole position management device. As a result, even if the construction target area is in an irregular state such as a natural slope that is not a cut slope, the drilling angle of the drilling machine at the start of drilling can be adjusted and the penetration position can be determined. Etc. can be easily and accurately performed, and the position of the anchor hole can be efficiently managed and controlled.

In addition, using the anchor hole position management device, it is possible to grasp the measured three-dimensional position of the preceding anchor hole that has been drilled, and to protect the ground necessary for the anchor body to be constructed in the preceding anchor hole to function soundly. The protected area can be set around the actually measured three-dimensional position. This makes it possible to compare the estimated three-dimensional position of the trailing anchor hole based on the anchor hole design information with the protected area of the preceding anchor hole that has already been drilled before drilling the trailing anchor hole. It becomes possible to manage and control the three-dimensional position of the anchor hole with higher accuracy.

The anchor hole drilling position management system of the present invention confirms the drilling accuracy of the preceding anchor hole based on the anchor hole design information and the actually measured three-dimensional position after drilling, and affects the drilling accuracy. The drilling characteristic acquisition means for calculating the drilling characteristic index which is a factor to give is provided, and the trailing hole estimation position acquisition means reflects the drilling characteristic index in the setting of the estimated three-dimensional position of the trailing anchor hole. It is characterized by letting it.

According to the anchor hole drilling position management system of the present invention described above, the protection area set around the measured three-dimensional position of the preceding anchor hole and the estimated three-dimensional position of the trailing anchor hole to be drilled are compared and verified. In doing so, the estimated 3D position can be set by reflecting the drilling characteristic index in the planned 3D position based on the anchor design information, so that the position of the anchor hole can be managed and controlled with higher reliability. ..

In the anchor hole drilling position management system of the present invention, the safety confirmation means is planned to be the fixing length portion of the estimated three-dimensional position based on the estimated three-dimensional position of the trailing anchor hole and the ground information. It is characterized by detecting that it has not reached the immovable layer of the ground and issuing a warning.

According to the above-mentioned anchor hole position management device of the present invention, not only the estimated three-dimensional position of the trailing anchor hole is managed but also the soundness of the trailing anchor hole is controlled before the trailing anchor hole is drilled. In addition to being able to confirm, it is also possible to estimate in advance the position of the anchor body to be constructed in the trailing anchor hole after drilling. Therefore, at the stage of design planning, in consideration of safety, it is possible to secure a hole length longer than the required length and to eliminate waste such as increasing the number of anchor holes, which is rational and economical. It becomes possible to make a design plan.

The anchor hole drilling position management system of the present invention superimposes at least one of the actually measured three-dimensional position of the preceding anchor hole and the estimated three-dimensional position of the trailing anchor hole on the ground information, and is an output device. It is characterized in that it is provided with an information synthesizing means for displaying an image in two or three dimensions.

According to the above-mentioned anchor hole drilling position management system of the present invention, the construction manager can estimate the measured three-dimensional position of the preceding anchor hole and the trailing anchor hole that cannot be visually observed, in addition to the ground information and the anchor design information 3. Information such as the dimensional position can be confirmed as visual information via the output device. This not only makes it possible to more efficiently manage and control the three-dimensional position of the anchor hole, but also makes it possible to manage the finished shape of the entire plurality of anchor holes after the drilling work is completed on the output device.

The anchor hole drilling position management system of the present invention further includes a positioning sensor for detecting the drilling angle and the penetration position of the drilling rod installed in the drilling machine for drilling the anchor hole. The positioning sensor is characterized by using a GNSS sensor.

According to the above-mentioned anchor hole drilling position management system of the present invention, for the drilling rod of the drilling machine, not only the drilling angle is adjusted at the start of drilling and the position of the penetration position is determined, but also the drilling in the middle of drilling is performed. The hole angle can be monitored. Therefore, if a deviation in the drilling angle occurs during drilling work, it is possible to detect this and correct the angle, and it is estimated that the safety confirmation means does not interfere with the protected area of the preceding anchor hole. It is possible to accurately drill a trailing anchor hole at a three-dimensional position.

The hole drilling position management method for the anchor hole of the present invention is a drilling position management method for the anchor hole using the anchor hole drilling position management system of the present invention, and the hole is previously drilled in the ground of the construction target area. The measured three-dimensional position of the preceding anchor hole is calculated, the protected area is set around the measured three-dimensional position, and the trailing anchor scheduled to be drilled at a position close to the preceding anchor hole in which the protected area is set. It is characterized in that the estimated three-dimensional position of the hole is acquired and a warning is issued when it is detected that the estimated three-dimensional position of the trailing anchor hole interferes with the protected area.

According to the above-described anchor hole drilling position management method of the present invention, in the anchor hole drilling work in the construction target area, the measured three-dimensional position of the preceding anchor hole drilled is related to the ground information and the anchor design information. Since real-time information can be grasped, it is possible to greatly improve the work efficiency at the site. In addition, since the positional relationship between the measured 3D position of the preceding anchor and the estimated 3D position of the trailing anchor hole can be grasped at the stage before drilling the trailing anchor hole, the ground anchor construction is in progress or after the construction is completed. In, it is possible to avoid an unexpected situation that requires repair or re-construction of the anchor body. As a result, it is possible to improve the workability such as shortening the construction period and reducing the construction cost not only for the drilling work of the anchor hole but also for the entire construction related to the ground anchor construction.

According to the present invention, in the drilling work of the anchor hole for carrying out the ground anchor work, even if the construction target area is in an irregular state such as a natural slope that is not a cut slope, the three-dimensional position of the anchor hole (Drilling shape and its position) can be managed and controlled with higher accuracy.

It is a figure which shows the appearance which the tension type anchor was placed on the natural slope in embodiment of this invention. It is a figure which shows the anchor hole drilling position management system in embodiment of this invention. It is a figure which shows the unmanned aerial vehicle equipped with the drilling machine and the camera in embodiment of this invention. It is a flow chart of the drilling position management method of an anchor hole in embodiment of this invention. It is a figure which shows the 2D image (front view and the vertical cross section in the vertical direction) output to the output device of the anchor hole position management device in embodiment of this invention (the 1). It is a figure which shows the 2D image (vertical cross section) output to the output device of the anchor hole position management device in embodiment of this invention (the 2). It is a figure which shows the 2D image (horizontal cross section) output to the output device of the anchor hole position management device in embodiment of this invention.

The anchor hole drilling position management system and the anchor hole drilling position management method of the present invention are ground anchor works adopted for any of the purposes of slope stability measures of the ground, prevention of falling or floating of structures, mountain retaining, etc. However, in this embodiment, the construction of a ground anchor construction using a tension type anchor, which is adopted as a measure for stabilizing the slope of the ground, is taken as an example, and the details will be described below. ..

In the ground anchor construction using a plurality of tension type anchors 1 as shown in FIG. 1, as a general construction method, first, the hole bottom is located at a desired position of the immovable layer 21 with respect to the ground 2 of the construction target area. The anchor hole 3 is drilled until the anchor hole 3 is reached. Following the anchor hole 3 that has been drilled in advance, the anchor hole 3 that follows is sequentially drilled at a position close to the anchor hole 3.

On the other hand, in parallel with the drilling work of the anchor hole 3, the tension material 11 such as the PC steel wire or the PC steel stranded wire is inserted into the drilled anchor hole 3, and the anchor body 12 made of grout is inserted into the hole bottom. It is constructed and the tip portion of the tension member 11 is fixed to the anchor body 12. After that, the base end portion is fixed to the bearing plate 13 arranged on the surface of the ground while applying tension force to the tension material 11, and the exposed portion of the tension material 11 is protected by the cap 14 filled with the rust preventive material. The anchor head of the tension type anchor 1 is formed.

A phenomenon in which the moving layer 22 of the ground slides along the immovable layer 21 by arranging a plurality of tension type anchors 1 to be driven in this way in the height direction and the lateral direction so as to cover the construction target area. Is being suppressed.

In the ground anchor work constructed by the above procedure, the allowable distance L (generally 1.5 m or more) between the anchor bodies 12 in the adjacent tension type anchors 1 is specified in the design standard, the design procedure, and the like. Therefore, the three-dimensional position of the anchor hole 3 before the anchor body 12 is constructed is managed and controlled so that the allowable distance L between the anchor bodies 12 is secured in the tension type anchor 1 after construction.

≪Anchor hole drilling position management system≫
As shown in FIG. 2, the method of managing and controlling the three-dimensional position of the anchor hole 3 is to drill the anchor hole position management device 4 and the drilling rod 61 installed in the drilling machine 6 for drilling the anchor hole 3. Anchor drilling equipped with a positioning sensor 7 that detects the hole angle and the penetration position into the ground 2, and a position detection device 8 that measures the three-dimensional position (drilling shape and its position) of the drilled anchor hole 3. This is performed using the hole position management system 10.

<Anchor hole position management device>
First, the outline of the anchor hole position management device 4 constituting the anchor hole drilling position management system 10 will be described below with reference to FIG. Hereinafter, the anchor hole 3 for which the preceding hole has been drilled is referred to as a preceding anchor hole 31, and the anchor hole 3 for which the preceding anchor hole 3 is subsequently drilled at a position close to the preceding anchor hole 31 is referred to as a trailing anchor hole 32.

The anchor hole position management device 4 is a so-called computer including at least an information processing device 41, an input device 42, and an output device 43. The information processing device 41 is composed of hardware such as an arithmetic processing unit and a storage device, and software operating on the hardware, and includes a ground information acquisition means 411, a design information grasping means 412, and a leading hole position acquisition means. 413, trailing hole estimation position acquisition means 414, safety confirmation means 415, drilling machine information acquisition means 416, and information synthesis means 417 are provided. The drilling characteristic acquisition means 418 will be described later in the position management method for the anchor hole 3.

The ground information acquisition means 411 images the ground information including the undulation information and the layer information of the ground surface in the construction target area acquired from the input device 42 in two or three dimensions with respect to the output device 43 such as a display. It is processed into displayable data and stored in the storage device of the information processing device 41. For the undulation information on the surface of the ground, for example, three-dimensional data obtained from a position sensor installed on the ground, a fixed-point observation camera, an image taken by an artificial satellite, or the like may be used, or as shown in FIG. 3, the camera is used. The aerial image obtained by the mounted unmanned aircraft 5 may be adopted. Further, as the geological information including the stratum information, any information such as columnar chart data obtained by a boring survey can be used as long as it can grasp at least the slip surface 23 formed between the moving layer 22 and the immovable layer 21. May be good.

The design information grasping means 412 has the arrangement position and total length of each of the tension type anchors 1 to be placed in the construction target area acquired from the input device 42, the fixed body length and cross-sectional diameter of the anchor body 12, and the tolerance between the adjacent anchor bodies 12. The anchor design information necessary for drilling the anchor hole 3 such as the interval L is processed into data that can be displayed in two or three dimensions with respect to the output device 43 such as a display, and is stored in the information processing device 41. Store in the device. The anchor design information may be a two-dimensional design drawing of the ground anchor work or a three-dimensional model by 3D CAD, or may be directly input by the construction manager via the input device 42.

The leading hole position acquisition means 413 outputs information related to the actually measured three-dimensional position (measured drilling shape and its position) of the leading anchor hole 31 drilled in the construction target area acquired from the input device 42 to an output device such as a display. The data is processed into data that can be displayed in two or three dimensions with respect to 43, and stored in the storage device of the information processing apparatus 41. As the information related to the actually measured three-dimensional position of the preceding anchor hole 31, the information obtained from any position detecting device conventionally adopted for grasping the drilling locus in the field of underground drilling may be adopted. ..

In the present embodiment, the actually measured three-dimensional position of the preceding anchor hole 31 is calculated based on the measurement data obtained by the position detection device 8 described later. Therefore, the leading hole position acquisition means 413 calculates the actually measured three-dimensional position of the leading anchor hole 31 from the information of the position detecting device 8 described later, and stores it in the storage device of the information processing device 41.

Further, the leading hole position acquisition means 413 calculates the range of the protected area P, processes it into data that can be displayed in two or three dimensions with respect to the output device 43 such as a display, and stores the information processing device 41. Store in the device. The protection area P is set around the planned range to be the fixing length portion when the anchor body 12 is constructed in the preceding anchor hole 31, and is necessary for the anchor body 12 to function soundly. It is a protected part. The range is calculated based on the information related to the actually measured three-dimensional position of the preceding anchor hole 31, and the permissible distance L between the adjacent anchor bodies 12 acquired by the design information grasping means 412. A specific calculation method will be described in the position management method of the anchor hole 3 described later.

As shown in FIGS. 6A and 6B, the trailing hole estimation position acquisition means 414 is a means for grasping design information about the trailing anchor hole 32 scheduled to be drilled in the vicinity of the preceding anchor hole 31 that has already been drilled. Detects the planned 3D position (planned drilling shape and its position) based on the anchor design information acquired in 412, and processes it into data that can be displayed in 2D or 3D for the output device 43 such as a display. Then, this is stored in the storage device of the information processing apparatus 41 as an estimated three-dimensional position (estimated drilling shape and its position). The position information used as the estimated 3D position of the trailing anchor hole 32 does not have to be only the planned 3D position based on the anchor design information, and will be described in detail later, but the drilling characteristic index is added to the planned 3D position. The predicted three-dimensional position (predicted drilling shape and its position) may be adopted.

The safety confirmation means 415 includes information related to the protection area P set around the actually measured three-dimensional position of the leading anchor hole 31 by the leading hole position acquiring means 413, and the trailing anchor acquired by the trailing hole estimated position acquiring means 414. It is a means for outputting an alarm to the output device 43 when the information relating to the estimated three-dimensional position of the hole 32 is compared and verified and the possibility that the estimated three-dimensional position and the protected area P interfere with each other is detected.

Further, the safety confirmation means 415 has a planned range to be a fixing length portion when the anchor body 12 is constructed at the estimated three-dimensional position of the trailing anchor hole 32 acquired by the trailing hole estimated position acquisition means 414, and ground information. A device that outputs an alarm when it is compared with the ground information acquired by the acquisition means 411 and it is detected that the planned range to be the fixing length of the estimated three-dimensional position does not reach the immovable layer 21 of the ground 2. Output to 43.

By doing so, it is possible not only to manage the estimated three-dimensional position of the trailing anchor hole 32 but also to confirm the soundness of the trailing anchor hole 32 at the stage before drilling the trailing anchor hole 32, and also to confirm the soundness of the trailing anchor hole 32 after drilling. It is also possible to estimate in advance the position of the anchor body 12 to be constructed in the trailing anchor hole 32.

As shown in FIG. 3, the drilling machine information acquisition means 416 captures the drilling angle of the drilling rod 61 from the measurement data of the positioning sensor 7 mounted on the drilling machine 6 described later, which is acquired from the input device 42. (Including horizontal angle and vertical angle) and the penetration position of the ground 2 are calculated, processed into data that can be displayed in 2D or 3D for the output device 43 such as a display, and stored in the information processing device 41. Store in the device.

The information synthesizing means 417 is processed into data that can be displayed in two or three dimensions, and is stored in the storage device of the information processing apparatus 41. Ground information, anchor design information, and actual measurement 3 of the preceding anchor hole 31. Each information related to the dimensional position, the estimated three-dimensional position of the trailing anchor hole 32, the drilling angle of the drilling rod 61, the penetration position of the ground 2, etc. is output to the output device 43 such as a display independently or superimposed. do. The overlay of each information may be such that the information to be superposed can be appropriately selected via the input device 42.

With the anchor hole position management device 4 described above, the construction manager can carry out the drilling work of the anchor hole 3 while confirming the ground information and the anchor design information of the construction target area. As a result, even if the construction target area is in an irregular state such as a natural slope that is not a cut slope, the drilling angle of the drilling rod 61 of the drilling machine 6 at the start of drilling can be adjusted and the penetration position can be adjusted. Positioning and the like can be easily and accurately performed, and the position of the anchor hole 3 can be efficiently managed and controlled.

Further, the anchor hole position management device 4 can be used to grasp the actually measured three-dimensional position of the preceding anchor hole 31 that has been drilled, and the ground necessary for the anchor body 12 to be constructed in the preceding anchor hole 31 to function soundly. The protected area P, which is the protected part of the mountain, can be set around the actually measured three-dimensional position. As a result, before drilling the trailing anchor hole 32, the protected area P of the preceding anchor hole 31 that has already been drilled is compared and verified with the estimated three-dimensional position of the trailing anchor hole 32 based on the anchor hole design information. This makes it possible to manage and control the three-dimensional position of the anchor hole 3 with higher accuracy.

<Positioning sensor>
Next, a position for detecting the drilling angle of the drilling rod 61 installed in the drilling machine 6 for drilling the anchor hole 3 and the penetration position into the ground 2 constituting the anchor hole drilling position management system 10. The outline of the output sensor 7 will be described below with reference to FIG.

The drilling machine 6 forms a horizontal, vertical, or diagonal drilling hole in the ground by using a drilling rod 61 that can move along the leader 62, and determines the position and posture of the drilling rod 61. A positioning sensor 7 that can be grasped is provided. The drilling machine 6 may employ a drilling rod 61 for drilling the ground 2 by applying any external force such as rotation, thrust, or impact.

The positioning sensor 7 is composed of two GNSS sensors 71 and 72 for performing relative positioning, which is generally known as a method for obtaining a relative positional relationship (vector) between two points using GNSS. .. By arranging the two GNSS sensors 71 and 72 apart from each other near the front end and the rear end of the leader 62, information on the extending position of the leader 62 and the vertical and horizontal tilt angles can be obtained. Based on the position information of the leader 62, the drilling angle (including the horizontal angle and the vertical angle) and the penetration position (ground surface position) of the drilling rod 61, which is always parallel to the leader 62, into the ground 2 ) And calculate.

<Position detector>
Next, the outline of the position detection device 8 used when measuring the three-dimensional position of the drilled anchor hole 3 constituting the anchor hole drilling position management system 10 will be described below with reference to FIG.

The position detection device 8 includes a measuring rod 82 having a gyro sensor 81 installed at the tip thereof and a GNSS sensor, and the GNSS sensor also serves as GNSS sensors 71 and 72 mounted on the drilling machine 6 as a positioning sensor 7. Further, the measuring rod 82 is installed in the leader 62 of the drilling machine 6 after drilling the preceding anchor hole 31 in place of the drilling rod 61.

The position detecting device 8 having such a configuration moves the measuring rod 82 from the hole opening of the preceding anchor hole 31 toward the hole bottom by the propulsive force of the drilling machine 6, and determines the azimuth angle at the tip of the measuring rod 82. The continuous data of the vertical inclination and the moving distance are acquired by the gyro sensor 81. The three-dimensional position of the anchor hole 3 is grasped from the data of the movement locus with respect to the hole opening located on the ground surface thus obtained and the position data of the hole opening obtained from the GNSS sensors 71 and 72.

In the anchor hole drilling position management system 10 described above, by installing the anchor hole position management device 4 in the construction office or the like at the construction site, the construction manager can use the ground information and the anchor design information in the construction office or the like. In addition, information such as the actually measured three-dimensional position of the leading anchor hole 31 and the estimated three-dimensional position of the trailing anchor hole 32 that cannot be visually confirmed can be confirmed as visual information via the output device 43. Therefore, not only can the position of the anchor hole 3 be managed and controlled more efficiently, but it is also possible to manage the finished shape of the entire plurality of anchor holes 3 after the drilling work is completed on the output device 43.

≪How to manage the anchor hole drilling position using the anchor hole drilling position management system≫
Hereinafter, a method of position management of the anchor hole 3 using the anchor hole drilling position management system will be described according to the flow chart shown in FIG. 5 (a) is a front image of the ground 2 output to the output device 43 of the anchor hole position management device 4, and FIGS. 5 (b) and 6 are vertical images of the ground 2 output to the output device 43. It is a vertical cross-sectional image of a direction.

In this embodiment, as shown in FIG. 3, a case where a ground anchor work is constructed on a natural slope without installing a frame such as a legal frame on the ground 2 in the construction target area is given as an example. .. The various data required for the position management method of the anchor hole 3 are obtained from the aerial image obtained from the camera mounted on the unmanned aerial vehicle 5 with the undulation information of the ground surface, and from the column chart data obtained by the boring survey with the stratum information. The design plan of the ground anchor work shall be obtained from the two-dimensional design drawing. Further, the output to the output device 43 exemplifies the case where an image is displayed in two dimensions.

<Pretreatment: STEP1>
First, for the ground 2 in the construction target area, the undulation information of the ground surface obtained from the aerial image and the geological layer information of the ground 2 obtained from the columnar map data are displayed as a two-dimensional image by the ground information acquisition means 411. It is processed into possible data and stored in the storage device of the information processing device 41. Further, the information related to the planned 3D position of each of the plurality of anchor holes 3 obtained from the anchor design information of the 2D design drawing based on the design plan of the ground anchor work can be displayed as a 2D image by the design information grasping means 412. It is processed into various data and stored in the storage device of the information processing device 41.

At this time, it is preferable to associate the information related to the planned three-dimensional position of each of the plurality of anchor holes 3 with the information related to the order of drilling predetermined in each of the construction plans. By doing so, it is possible to easily determine which of the plurality of anchor holes 3 obtained from the anchor design information corresponds to the leading anchor hole 31 and the trailing anchor hole 32 in the later work.

Further, as shown in FIG. 5A, the ground information and the information related to the planned ground surface position of each of the plurality of anchor holes 3 are overlaid on the output device 43 via the information synthesis means 417. It is output as a front image of 2, and the construction manager inputs which of the plurality of anchor holes 3 on the image corresponds to the preceding anchor hole 31 and the trailing anchor hole 32 at the present time via the input device 42. It may be specified and the two may be associated with each other.

<Drilling of anchor hole: STEP2>
In the anchor hole position management device 4, among the anchor design information acquired by the design information grasping means 412 via the information synthesizing means 417, the first planned three-dimensional position of the anchor hole 3 to be drilled is set to the ground. It is overlaid on the ground information acquired by the mountain information acquisition means 411 and output to the output device 43. On the other hand, the drilling machine 6 having the positioning sensor 7 installed is carried into the construction target area.

Next, referring to the 3D data of the ground 2 that overlays the planned 3D position of the anchor hole 3 to be drilled first, the drilling machine 6 is set to the drilling position of the first anchor hole 3. In addition to guiding, the position of the penetration position of the drilling rod 61 into the ground 2 and the drilling angle (including the horizontal angle and the vertical angle) are adjusted. After that, as shown in FIG. 5B, the first anchor hole 3 is drilled.

For adjusting the drilling angle of the drilling rod 61 and positioning the penetration position at the start of drilling the anchor hole 3, refer to the information output to the output device 43 of the anchor hole position management device 4. Good to do. That is, when the measurement data obtained from the positioning sensor 7 provided in the drilling machine 6 is input to the anchor hole position management device 4 via the input device 42, the drilling machine information acquisition means 416 uses these measurement data. The current drilling angle of the drilling rod 61 and the penetration position into the ground 2 are calculated, processed into data capable of displaying a two-dimensional image, and stored in the storage device of the information processing apparatus 41.

After that, of the information related to the current drilling angle of these drilling rods 61 and the penetration position into the ground 2 and the anchor design information acquired by the design information grasping means 412 via the information synthesizing means 417. First, the planned three-dimensional position of the anchor hole 3 to be drilled is overlaid on the ground information and output to the output device 43. As a result, the construction manager can drill holes while visually recognizing the image output to the output device 43 so that the drilling rod 61 is located on the central axis at the planned three-dimensional position of the anchor hole 3 to be drilled. The penetration position of the rod 61 into the ground 2 and the drilling angles in the horizontal and vertical directions may be appropriately adjusted.

<Detection of measured 3D position of leading anchor hole: STEP3>
As shown in FIG. 2, the first anchor hole 3 that has been drilled is set as the preceding anchor hole 31, and the three-dimensional position is confirmed. The three-dimensional position is measured by using the position detection device 8 described above, and is obtained from the measured movement trajectory data based on the hole opening located on the ground surface of the preceding anchor hole 31 and the GNSS sensors 71 and 72. The position data of the hole opening is input to the anchor hole position management device 4 via the input device 42. In the anchor hole position management device 4, the leading hole position acquisition means 413 calculates the measured three-dimensional position of the leading anchor hole 31 from the above measurement data, processes the data into data capable of displaying a two-dimensional image, and processes the information processing device 41. Store in storage.

<Accuracy confirmation of the measured 3D position of the preceding anchor hole: STEP4>
In the anchor hole position management device 4, the measured three-dimensional position of the preceding anchor hole 31 calculated in STEP 3 and the preceding anchor hole 31 based on the anchor design information acquired by the design information grasping means 412 via the information synthesizing means 417. The planned three-dimensional position is overlaid on the ground information and output to the output device 43.

The measured 3D position of the leading anchor hole 31 output to the output device 43 and the planned 3D position are compared and verified, and a large deviation is confirmed between the measured 3D position of the leading anchor hole 31 and the planned 3D position. If it is determined that prior examination is necessary before drilling the trailing anchor hole 32, a protected area P is set around the actually measured three-dimensional position of the leading anchor hole 31 (STEP 5), and the trailing anchor hole 32 is set. Examine the drilling start position of.

On the other hand, the measured 3D position of the preceding anchor hole 31 almost matches the planned 3D position based on the anchor design information, and there is no need for prior examination before drilling the trailing anchor hole 32 scheduled to be drilled at a close position. If it is determined that this is the case, the drilling work (STEP 8) for the second anchor hole 3 to be the trailing anchor hole 32 is continuously started based on the design plan.

<Protection area P is set in the leading anchor hole: STEP5>
In the leading hole position acquiring means 413 of the anchor hole position management device 4, the protected area P is based on the actually measured three-dimensional position of the leading anchor hole 31 and the allowable distance L between the adjacent anchor bodies 12 acquired by the design information grasping means 412. Is calculated, processed into data capable of displaying a two-dimensional image, and stored in the storage device of the information processing apparatus 41. After that, the measured three-dimensional position and the protected area P related to the drilling shape of the preceding anchor hole 31 are overlaid on the ground information and output to the output device 43 via the information synthesizing means 417.

As shown in FIG. 2, the range of the protected area P is a cylindrical body concentric with the anchor body 12 whose radius is the sum of the radius of the anchor body 12 to be constructed and the allowable interval L, and the length thereof. Is longer than the body length of the anchor body 12 to be constructed by twice the allowable interval L, which is obtained by adding the allowable interval L to each of the tip and the base end of the planned range to be the anchoring length when the anchor body 12 is constructed. It will be a long length.

<Set the estimated 3D position of the trailing anchor hole: STEP6, 7>
The ground information, the measured 3D position of the preceding anchor hole 31, the protected area P set around the measured 3D position in STEP 5, and then the cutting are performed via the information synthesis means 417 of the anchor hole position management device 4. As the estimated three-dimensional position of the trailing anchor hole 32 of the hole schedule, the planned three-dimensional position based on the anchor design information acquired by the design information grasping means 412 is overlaid and output to the output device 43. In the present embodiment, the case where the trailing anchor hole 32 scheduled to be drilled next is located below the leading anchor hole 31 is taken as an example, but the present invention is not limited to this, and the leading anchor hole 31 is not limited to this. It may be in any position, such as when it is located horizontally or diagonally downward.

As shown in FIG. 6A, the protected area P set around the actually measured three-dimensional position in the leading anchor hole 31 and the estimated three-dimensional position of the trailing anchor hole 32 are compared and verified, and the protected area P is followed. When it is confirmed that the estimated three-dimensional position of the anchor hole 32 may interfere, the safety confirmation means 415 detects this and issues a warning via the output device 43.

Further, the estimated three-dimensional position of the trailing anchor hole 32 and the ground information are compared and verified, and when the anchor body 12 at the estimated three-dimensional position is constructed, the planned range to be the fixing length portion reaches the immovable layer 21. Even when it is confirmed that the safety confirmation means has not been performed, the safety confirmation means 415 detects this and issues a warning via the output device 43.

When a warning is issued, the process returns to STEP 6, and the ground 2 of the excavation rod 61 is used for the information related to the planned three-dimensional position of the trailing anchor hole 32 acquired by the design information grasping means 412 via the input device 42. The estimated three-dimensional position will be reset by changing the penetration position to the hole or adjusting the drilling angle as appropriate. After that, the positional relationship between the revised estimated three-dimensional position and the protected area P in the preceding anchor hole 31 is compared and verified again. This verification work is repeated until it is confirmed that there is no interference.

<Setting of estimated 3D position considering drilling characteristics: SUBSTEP1, 2>
By the way, when drilling a ground 2 with a drilling machine 6, hole bending as shown in FIG. 5B is likely to occur depending on the ground conditions. In particular, when the anchor hole 3 is long, the drilling rod 61 is easily bent due to its own weight, and further large hole bending is generated. Therefore, in order to predict this hole bending and reflect it in the management and control of the anchor hole 3, the information processing device 41 of the anchor hole position management device 4 may be provided with the hole drilling characteristic acquisition means 418.

The drilling characteristic acquisition means 418 compares the actually measured three-dimensional position acquired by the preceding hole position acquiring means 413 with the planned three-dimensional position based on the anchor design information acquired by the design information grasping means 412 for the preceding anchor hole 31. Then measure the difference between the two. From this difference information, for example, the tendency related to hole bending, such as the relationship between the amount of misalignment of the hole bottom and the anchor length, is grasped and the drilling characteristic index is calculated. The above-mentioned method for calculating the drilling characteristic index is an example, and is not limited to this.

The calculated drilling characteristic index is adopted when setting the estimated three-dimensional position of the trailing anchor hole 32 described above (STEP 6). That is, next, for the trailing anchor hole 32 scheduled to be drilled, the drilling characteristic index is added to the planned three-dimensional position based on the anchor design information acquired by the design information grasping means 412 as shown in FIG. 6A. Then, the predicted three-dimensional position is calculated in consideration of the hole bending and the like as shown in FIG. 6 (b). This predicted three-dimensional position is acquired as an estimated three-dimensional position of the trailing anchor hole 32, processed into data capable of displaying a two-dimensional image, and stored in the storage device of the information processing device 41.

After that, via the information synthesis means 417 of the anchor hole position management device 4, the ground information, the measured three-dimensional position of the preceding anchor hole 31, the protected area P calculated in STEP 5, and the subsequent anchor to be drilled next. The predicted three-dimensional position calculated as described above as the estimated three-dimensional position of the hole 32 is overlaid and output to the output device 43 as shown in FIG. 6 (b). As a result, when drilling a plurality of anchor holes 3 in the ground 2 of the construction target area, it is possible to perform safe drilling work after performing appropriate comparative verification according to the ground characteristics and the anchor length. Will be.

The above difference measurement work is repeated and accumulated every time the anchor hole 3 is drilled in the construction target area, and the predicted three-dimensional position of the trailing anchor hole 32 is improved while improving the accuracy of the drilling characteristic index. It may be reflected in the calculation. Further, before the main construction in which the drilling step of the anchor hole 3 is carried out, a test drilling may be performed in the construction target area and the drilling characteristic index may be grasped in advance.

From this, it is possible to verify with higher accuracy the possibility that the protection area P set around the leading anchor hole 31 and the estimated three-dimensional position of the trailing anchor hole 32 interfere with each other, and the anchor hole 3 has higher reliability. It becomes possible to manage and control the three-dimensional position. Further, at the stage before drilling the trailing anchor hole 32, not only the estimated three-dimensional position of the trailing anchor hole 32 can be managed, but also the soundness of the trailing anchor hole 32 can be confirmed, and after drilling. It is also possible to estimate in advance the position of the anchor body 12 to be constructed in the row anchor hole 32. Therefore, in consideration of safety at the stage of design planning, waste such as securing the hole length of the anchor hole 3 longer than the required length and increasing the number of anchor holes 3 can be eliminated, which is rational and economical. It is possible to make a design plan.

<Drilling of trailing anchor holes: STEP8, 9>
As shown in FIG. 6B, after confirming that the estimated three-dimensional position of the trailing anchor hole 32 and the protected area P in the leading anchor hole 31 do not interfere with each other, the first anchor hole described in STEP 2 is performed. With reference to the procedure related to the drilling of No. 3, the drilling rod 61 of the drilling machine 6 is adjusted to the drilling angle based on the information related to the estimated three-dimensional position, and the penetration angle to the ground is positioned. After that, the drilling work of the trailing anchor hole 32 is started using the drilling machine 6.

The excavation rod 61 of the drilling machine 6 not only positions the penetration position into the ground 2 and adjusts the drilling angle at the start of drilling the anchor hole 3, but also drills the anchor hole 3 during drilling. The hole angle may be adjusted. Specifically, for the drilling machine 6, measurement by the positioning sensor 7 and calculation of the excavation angle of the excavation rod 61 by the anchor hole position management device 4 are performed intermittently to confirm the drilling angle and safety of the excavation rod 61. The estimated three-dimensional position confirmed to not interfere with the protected area P of the preceding anchor hole 31 in the means 415 is constantly monitored.

Then, when the excavation rod 61 deviates from the central axis of the estimated three-dimensional position, the drilling work is temporarily stopped, the drilling angle of the drilling rod 61 is adjusted, and then the drilling work is restarted again. You may. By doing so, it becomes possible to accurately drill the trailing anchor hole 32 along the estimated three-dimensional position where it is confirmed that the leading anchor hole 31 does not interfere with the protected area P.

After the drilling of the trailing anchor hole 32 is completed, the trailing anchor hole 32 is treated as the leading anchor hole 31, the work is repeated by returning to STEP3, and all the anchor holes 3 to be drilled are drilled in the construction target area. Repeat the above steps until you are done.

Each time the drilling operation is repeated, the number of leading anchor holes 31 increases, and accordingly, the number of leading anchor holes 31 adjacent to the estimated three-dimensional position of the trailing anchor hole 32 also increases. Therefore, when setting the estimated three-dimensional position of the trailing anchor hole 32 (STEPs 6 and 7), if there are a plurality of leading anchor holes 31 for which the possibility of interference should be examined, all of them and the trailing anchor hole 31 are present. Compare and verify with the estimated 3D position of.

After all the anchor holes 3 have been drilled, a plurality of anchor holes based on the anchor design information acquired by the ground information and the design information grasping means 412 via the information synthesis means 417 of the anchor hole position management device 4 3 All the planned three-dimensional positions and the actually measured three-dimensional positions of all the leading anchor holes 31 acquired by the leading hole position acquiring means 413 are overlaid and output to the output device 43. As a result, the construction manager can confirm the completed shape of the anchor hole 3 after construction as visual information.

It should be noted that the above output may be performed not only after all the anchor holes 3 have been drilled but also in a timely manner during the construction to confirm the overall balance of the preceding anchor holes 31 with respect to the construction target area. By doing so, it becomes possible to review the design plan according to the actually measured three-dimensional position of the preceding anchor hole 31 that has already been drilled in the middle of the drilling work, and a more economical and rational ground anchor work is constructed. It becomes possible.

According to the position management method of the anchor hole 3 described above, in the drilling work of the anchor hole 31 in the construction target area, real-time information regarding the actually measured three-dimensional position of the preceding anchor hole 3 drilled together with the ground information and the anchor design information. It is possible to greatly improve the work efficiency at the site because it is possible to grasp.

In addition, since the positional relationship between the measured three-dimensional position of the preceding anchor 31 and the estimated three-dimensional position of the trailing anchor hole 32 can be grasped at the stage prior to drilling the trailing anchor hole 32, the ground anchor construction is in progress or during construction. After the construction is completed, it is possible to avoid an unexpected situation in which the anchor body 12 needs to be repaired or reconstructed. As a result, it is possible to improve the workability such as shortening the construction period and reducing the construction cost not only for the drilling work of the anchor hole 3 but also for the entire construction related to the ground anchor construction.

The anchor hole drilling position management system and the position management method of the anchor hole 3 of the present invention are not limited to the above-described embodiment, and various changes can be made without departing from the spirit of the present invention.

In the present embodiment, the case where the ground anchor work is constructed on a natural slope without installing a frame such as a legal frame is given as an example, but it is not necessarily limited to this, and the construction target area is not necessarily limited to this. Regardless of which state the ground 2 is on the ground surface, it is possible to adopt the position management method of the anchor hole drilling position management system 10 and the anchor hole 3.

Further, in the present embodiment, the anchor hole drilling position management stem 10 detects the anchor hole position management device 4, the drilling angle of the drilling rod 61, and the penetration position into the ground 2, and the positioning sensor 7. Although the configuration includes the position detection device 8, the configuration may further include an unmanned aerial vehicle 5 equipped with a camera for acquiring ground surface data.

In the present embodiment, the case where the image is displayed in two dimensions as the output to the output device 43 is illustrated, but the present invention is not limited to this, and the image may be displayed in three dimensions. Further, in the case of displaying an image in two dimensions, not only the image display in the vertical vertical section as shown in FIGS. 5 to 6 but also the image display in the horizontal cross section as shown in FIG. 7 is used together. good,

10 Anchor hole drilling position management system 1 Tensile type anchor 11 Tension material 12 Anchor body 13 Support plate 14 Cap 2 Ground 21 Immovable layer 22 Moving layer 23 Sliding surface 3 Anchor hole 31 Leading anchor hole 32 Trailing anchor hole 4 Anchor hole Position management device 41 Information processing device 411 Ground information acquisition means 412 Design information acquisition means 413 Leading hole position acquisition means 414 Trailing hole estimation position acquisition means 415 Safety confirmation means 416 Drilling machine information acquisition means 417 Information synthesis means 418 Drilling Characteristic acquisition means 42 Input device 43 Output device 5 Unmanned aircraft 6 Drilling machine 61 Drilling rod 62 Leader 71 GNSS sensor 72 GNSS sensor 8 Position detection device 81 Gyro sensor 82 Measuring rod P Protected area

Claims (6)

A ground anchor drilling position management system used for ground anchor construction.
Equipped with a position detection device that measures the three-dimensional position of the drilled anchor hole and an anchor hole position management device.
The anchor hole position management device is
Ground information acquisition means for acquiring ground information including undulation information and stratum information on the ground surface in the construction target area, and
A design information grasping means for acquiring anchor hole design information for each of a plurality of anchor holes to be drilled in the construction target area.
Based on the measurement data obtained from the position detection device, the leading hole position acquisition means for calculating the measured three-dimensional position of the leading anchor hole constructed in the construction target area and setting a protected area around the measured three-dimensional position. When,
A trailing hole estimated position acquisition means for acquiring an estimated three-dimensional position of the trailing anchor hole based on the anchor hole design information, and a trailing hole estimated position acquisition means.
A safety confirmation means that detects that at least a part of the estimated three-dimensional position of the trailing anchor hole interferes with the protected area of the leading anchor hole and issues a warning.
Anchor drilling position management system characterized by being equipped with. In the anchor drilling position management system according to claim 1,
For the preceding anchor hole, the drilling accuracy is confirmed based on the anchor hole design information and the measured three-dimensional position after drilling, and the drilling characteristic index that is a factor affecting the drilling accuracy is calculated. Equipped with a means for acquiring hole characteristics
The trailing hole estimation position acquisition means is an anchor hole drilling position management system characterized in that the drilling characteristic index is reflected in the setting of the estimated three-dimensional position of the trailing anchor hole. In the anchor hole drilling position management system according to claim 1 or 2.
Based on the estimated three-dimensional position of the trailing anchor hole and the ground information, the safety confirmation means does not reach the immovable layer of the ground in the planned range to be the fixing length portion of the estimated three-dimensional position. Anchor drilling position management system characterized by detecting and issuing a warning. In the anchor drilling position management system according to any one of claims 1 to 3, the anchor drilling position management system
Information synthesis that overlays at least one of the measured 3D position of the preceding anchor hole and the estimated 3D position of the trailing anchor hole on the ground information and displays the image on the output device in 2D or 3D. Anchor drilling position management system characterized by providing means. In the anchor hole drilling position management system according to any one of claims 1 to 4.
Further equipped with a positioning sensor for detecting the drilling angle of the drilling rod installed in the drilling machine for drilling the anchor hole and the penetration position into the ground.
An anchor drilling position management system characterized in that a GNSS sensor is used for the positioning sensor. A method for managing the hole drilling position of an anchor hole by using the anchor hole drilling position management system according to claim 1.
The measured three-dimensional position of the preceding anchor hole previously drilled in the ground of the construction target area is calculated, and the protected area is set around the measured three-dimensional position.
The estimated three-dimensional position of the trailing anchor hole to be drilled is obtained at a position close to the preceding anchor hole in which the protection area is set.
A method for managing the drilling position of an anchor hole, which issues a warning when it is detected that the estimated three-dimensional position of the trailing anchor hole interferes with the protected area.

Images