JP7344265B2 - Pile driver display system - Google Patents

Description

The present invention relates to a display system for a pile driver, and more particularly to a display system for a pile driver that has a function of supporting some operations during construction.

Traditionally, at construction sites where steel pipe piles are buried or soil improvement is carried out, the position of the pile core (center axis of the pile), which will be the construction position, is determined in advance by surveying, and during construction, construction machinery such as a pile driver is used. is moved to the pile core position by the operator's driving operation. This pile center alignment is generally performed by driving a lower running body composed of left and right crawlers to adjust the position and direction of the pile driver (see, for example, Patent Document 1).

In recent years, the use of IT in construction work has progressed, and specialized systems have been developed and put into operation for pile center alignment. By following a visually displayed guidance screen, the operator of a construction machine can perform smooth driving operations while imagining the relationship between the current position and the target position (see, for example, Patent Document 2). ).

Japanese Patent Application Publication No. 2011-6880 JP2021-110220A (Figure 12)

The construction position guidance system described in Patent Document 2 brings the current position displayed as an icon closer to the construction target position, and the circular icon is easily familiar to the intuitive operation feeling of the operator who performs the driving operation. . However, since these icons have the same diameter, most of them overlap in the final stage of guidance, so it cannot be said that the icons are easy to check while driving. Particularly at construction sites where highly precise construction is required, this inconvenience in confirmation increases the burden on the operator.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a display system for a pile driver, which displays a display according to the required construction accuracy and allows easy guidance to the pile core position.

In order to achieve the above object, the pile driver display system of the present invention includes a receiving unit that acquires vehicle body position information of the pile driver, and a memory that stores construction plan information that sets the planned burial position of the pile at the construction site. and a controller that displays a screen using the vehicle body position information acquired by the receiving unit and the construction plan information stored in the storage unit, wherein the controller The planned burial position of the pile and the actual pile core position determined from the vehicle body position information of the pile driver are added as circular icons to the display image on the display screen, and the size of each icon is determined according to the planned burial of the pile. A difference is set according to the allowable value of displacement based on the position, and the icon of the planned burial position of the pile is set to a size corresponding to the pile diameter, and the size of the icon of the actual pile core position is set to a size corresponding to the pile diameter. It is characterized in that it is set smaller by the difference according to the tolerance value .

Further, the icon is characterized in that the display color changes when the tolerance value of the positional deviation is satisfied. Further, the icon for the actual pile center position has a concentric inner circle whose radius is a difference according to the tolerance value of the positional deviation, and the icon for the planned burial position of the pile is the icon for the actual pile center position. It is characterized in that it has a mark that is set smaller than the size of the actual pile core position and that when positioned concentrically with the icon of the actual pile center position, the mark falls within the inner circle.

According to the display system of the pile driver of the present invention, as a display of pile core alignment, the size of the icon of the planned pile burying position and the icon of the actual pile core position is based on the planned pile burying position. Since the difference is provided in accordance with the permissible value of positional deviation, it becomes possible to visually display the permissible value of error, and it is possible to easily determine whether or not the management standard is satisfied. In particular, even if the icons are close to each other, the area where one of the icons is not displayed due to overlapping becomes smaller, improving the visibility of the icons themselves, and contributing to supporting the operation of pile center alignment.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view of the pile driver to which the display system which shows the example of one form of this invention is applied. It is also a configuration diagram of the display system. It is a figure which shows the display screen of the display in the same pile core positioning process. It is a figure showing the shape of an icon similarly. FIG. 6 is an explanatory diagram similarly showing changes in the display of icons.

1 to 5 show an example of a form in which the present invention is applied to a small pile driver. As shown in FIG. 1, the pile driving machine 11 is a dual-purpose machine that can perform steel pipe pile construction and soil improvement work by switching between the two. The machine includes a base machine 14 composed of an upper revolving body 13 that is rotatably provided on the upper revolving body 13, a leader 15 erected at the front of the upper revolving body 13, and a undulating cylinder 16 that supports the leader 15 from the rear. ing. A leader support 17 that supports the leader 15 in an up-and-down manner is provided at the front of the upper revolving body 13, a driver's cab 18 is housed on the right side of the upper revolving body 13, and an engine and a hydraulic unit are housed on the left side. Equipment rooms 19 are provided respectively.

The leader 15 is formed by connecting a plurality of leader members each having a rectangular tube shape in cross section, and is rotatably attached to a support shaft in the vehicle width direction provided on the leader support 17. A top sheave 20 around which a lifting rope is wound is disposed at the upper end of the leader 15, and an openable and closable steadying member 22 for preventing swinging of the steel pipe pile 21 is disposed at the front of the lower part. A rack gear 23 as a component of a rack and pinion lifting device is provided at the center of the front surface of the leader 15, and a pair of left and right guide pipes 24, 24 are provided continuously over the entire length of the leader 15 at the front ends of both sides. .

The auger 25, which is an example of a rotational drive device, is provided with a pair of left and right guide gibs 25a, 25a that are in sliding contact with the guide pipes 24, 24 and protrude rearward, and a pair of left and right pinions (not shown) that mesh with the rack gear 23. By rotationally driving the auger lifting hydraulic motor 25b, it moves up and down along the front surface of the leader 15.

When performing steel pipe burying work, the prepared steel pipe pile 21 is lifted by a rope hanging from the top sheave 20, and then the upper end is connected to a drive rod (rotation drive shaft) 26 via an adapter 27. At the same time, the lower end portion is held by the steadying member 22. The installed steel pipe pile 21 is rotationally driven by the auger drive hydraulic motor 25c, and is press-fitted into the ground by lowering the auger 25.

Inside the operator's cab 18, there are multiple operating levers, operating pedals, push-button switches, displays, and other equipment for running, turning, raising and lowering the auger 25, and driving the rotation of the auger 25. These devices are centrally located near the seats, and are equipped with a control device that is electrically connected to these devices and consists of a controller (CPU) that performs various calculation processes such as data processing and judgment. It is being

The control device constitutes a display system that supports pile core positioning at the construction site based on vehicle body position information of the pile driver 11, etc., and as shown in FIG. It is equipped with a controller, a construction management device 29 that is a storage unit that stores various data, and a display 30 that allows you to receive guidance support regarding pile center alignment and check the results of construction using a display screen. In addition, signals are input to the actual pile core position calculation unit 28 from various sensors that detect the operating state of the pile driver 11. Examples of the sensor include a main body inclinometer 31 provided on the upper revolving body 13 and a leader inclinometer 32 provided in the leader 15. The detection values of the main body inclinometer 31 and the leader inclinometer 32 are acquired as attitude information of the pile driver 11 and used to execute the control program.

The construction management device 29 is configured to be able to download and store control programs, construction plan data that is construction plan information, etc. through a communication connection. Construction plan data is input into a computer in the office in advance based on a construction plan prepared by examining the location and soil quality of the construction site, and in addition to the pile number, it is linked to the pile number. It includes various construction target values such as feed depth, feed speed, rotation speed, and cement milk flow rate. Inputting construction plan data is performed by inputting pile position data in comparison with construction drawings. Specifically, the planned burial position of the pile is calculated as a relative position (distance) from the origin on the coordinates. It will be specified using two-dimensional coordinates.

The created construction plan data is added with location information of the address of the construction site, information on the machine number of the pile driver 11 that will perform the construction, information on the vehicle body outline including mechanism information, and information on the turning radius, etc., and is sent to the data on the network. uploaded to the server. In addition, construction management programs for construction methods to be implemented based on the construction plan data, such as soil improvement construction methods, prefabricated pile construction methods, or cast-in-place pile construction methods, as well as data on the setting parameters of the construction management programs, are also created. and uploaded to the data server.

The vehicle body position information is acquired using the well-known GNSS (Global Navigation Satellite System) technology. While receiving radio waves from GNSS satellites, the pile driver 11 acquires antenna position information that changes as the pile driver 11 moves, turns, etc. The actual pile core position calculation section 28 calculates the position and orientation of the upper revolving structure 13 from the positional relationship between the two antennas 35 and 36 separated in the front-rear direction, and further calculates the position and orientation of the upper revolving structure 13. The position of the central axis of the steel pipe pile 21 (various construction members) on the ground, that is, the actual pile core position C, is specified by taking into consideration the posture information acquired in each of the above (FIG. 1).

Below, the pile core positioning support function (pile core guidance) provided by the display system will be explained. First, when the engine of the pile driver 11 brought to the construction site is started, the system is activated, and the first positioning device 33 and the second positioning device 34 acquire current vehicle body position information of the pile driver 11. Furthermore, construction plan data is automatically downloaded corresponding to the construction site where the pile driver 11 is located, and various information such as position information of each pile number and vehicle body outline information is acquired. Furthermore, the actual pile core position C is specified by the calculation of the actual pile core position calculation unit 28. As a result, the shortest travel route toward the planned pile burial position is set based on the pile position data of the first pile number and the vehicle body position data, and a two-dimensional image showing the shortest travel route is displayed on the display 30 as a guidance screen. Is displayed.

When the pile driver 11 travels and approaches the planned pile burying position (target pile core position), the guidance screen displays the surrounding area including the planned pile burying position P and the actual pile core position C, as shown in FIG. The screen switches to the approach screen (final position adjustment screen) that enlarges the image. The display image on the approach screen is displayed on a grid divided by a plurality of cells, and a turning trajectory S of the actual pile center position C corresponding to the turning radius of the upper rotating body 13 is added. The turning trajectory S is a circular arc corresponding to the turning radius, which is the horizontal distance between the turning center of the upper rotating body 13 and the actual pile center position C, and is fixed at the center of the display image together with the actual pile center position C. Ru. As a result, in the turning operation according to the displayed image, the left-right moving direction of the actual pile core position C and the left-right operating direction (lever tilting direction) of the operating lever are aligned from the driver's perspective.

As shown in Fig. 4, the planned pile burial position P and the actual pile core position C are icon image data added with a circle imagining a common pile cross section, and have different display colors that are easy to distinguish from each other. . The size of each icon is set to have a difference depending on a permissible positional shift based on the planned burial position P of the pile, that is, a set management standard. As shown in Fig. 4(a), as an example, if the pile diameter is set to D and the tolerance is set to D/8, the icon for the actual pile core position C will be 1/8 in the top, bottom, left, and right of the pile diameter. The diameter is 5D/4 (D+D/8+D/8), which takes into account the amount of deviation. In addition, the icon of the actual pile center position C is a concentric inner circle whose radius is the difference according to the allowable value, that is, the inner side of the radius D/8 and the diameter D/4 (D/8 + D/8). It has a circle and is displayed as a double circle paired with an outer circle having a diameter of 5D/4.

On the other hand, as shown in Fig. 4(b), the icon for the planned pile burial position P is displayed in a size corresponding to the pile diameter D, and is displayed in the diagonal direction of the grid as a mark indicating the center (pile core). Two line segments that extend and intersect, that is, a roughly x shape are displayed. The display color of the planned burial position P of the pile is, for example, red, which is easy to see, and the inside of the circle is lightly painted. In addition, since the icon for the planned pile burial position P has a size corresponding to the pile diameter D, it is larger than the icon for the actual pile core position C by the difference (D/8) according to the tolerance value. It will be set small. As shown in FIG. 4(c), each icon is a mark ( The lines representing the shape of each icon do not overlap and the display does not disappear.

At the stage of pile center alignment, the operator of the pile driver 11 appropriately performs the crawler running operation and the turning operation of the upper revolving body 13 while checking the icon display, and as shown in FIG. The inner circle of the actual pile core position C is brought closer to the mark (x shape) of the planned burial position P. At this time, the amount of deviation in the front-back direction (X direction) and the left-right direction (Y direction) is shown on the grid. The size is a numerical value, and the required driving operation (driving, turning) is displayed in the direction of the arrow. When operation is performed from this state and the amount of deviation falls within the management standard of D/8, the icon for the planned pile burial position P will indicate the allowable value of the positional deviation, as shown in Figure 5(b). When satisfied, change the display color from red to blue. At this time, the mark (x shape) is in a state where its center coordinates are located within the inner circle (radius D/8). In this way, the operator of the pile driver 11 determines that the management standard has been cleared when the color becomes blue, and completes the driving operation for aligning the pile center position.

Construction for the first pile number is automatically performed by executing the construction management program while acquiring construction data, and when construction is completed, a predetermined switching operation is performed by the driver. Thereby, the control device sets a travel route toward the planned burial position of the next pile based on the pile position data of the next pile number and the vehicle body position data. Then, in response to the above-mentioned pile core guidance, the pile core positioning of the next pile is performed in the same manner, and the pile core positioning is performed in the same manner for the planned burial positions of subsequent piles. In this way, pile core positioning and construction are repeatedly performed according to the planned pile burying order. Information on pile core positioning (information on pass/fail determination, etc.) obtained at that time is recorded as part of the construction management information.

As described above, according to the display system of the pile driver 11 of the present invention, as a display of pile core alignment, the size of the icon of the planned pile burial position P and the icon of the actual pile core position C is Since the difference is set according to the permissible value of positional deviation based on the planned burial position P, it is possible to visually display the permissible value of error, making it easy to judge whether the management standards are satisfied. It can be carried out. In particular, even if the icons are close to each other, the area where one of the icons is not displayed due to overlapping becomes smaller, improving the visibility of the icons themselves, and contributing to supporting the operation of pile center alignment.

Furthermore, since the display color of the icon changes when the positional deviation tolerance is satisfied, it can be seen at a glance that the management standard has been satisfied. Moreover, since the magnitude of the deviation is displayed numerically, it is possible to aim for higher accuracy (for example, accuracy on the order of several centimeters) from the time the management standard is cleared. In particular, the icon for the actual pile core position C has a concentric inner circle whose radius is the difference according to the tolerance for positional deviation, and furthermore, the icon for the planned pile burial position P has Since it has a mark that is set smaller than the size of the icon and falls within the inner circle when positioned concentrically with the icon of the actual pile center position C, the operator focuses on the positional relationship between the inner circle and the mark. Even if strict standards are set, pile core positioning can be done quickly and accurately because all you have to do is operate the pile.

It should be noted that the present invention is not limited to the above-mentioned embodiment, and the display system may be used independently, instead of as an add-on to an existing construction management system. Further, the screen configuration is just an example, and when displaying various icons, numerical data, etc., the display area can be divided from various viewpoints, or can be configured as a single area. In this case, visibility of the circular icon display is emphasized, and the size is adjusted as appropriate in accordance with management standards. Furthermore, when the management criteria are satisfied, a voice guidance can be provided at the same time as the display color is changed. In addition, although the embodiments have been explained using a small pile driver as an example, the explanation is not limited to this, and the explanation is not limited to this. It can also be applied to ground improvement machines that perform

11...Pile driver, 12...Lower traveling body, 13...Upper revolving body, 14...Base machine, 15...Leader, 16...Luffing cylinder, 17...Leader support, 18...Operator's cab, 19...Equipment room, 20...Top Sheave, 21... Steel pipe pile, 22... Steady member, 23... Rack gear, 24... Guide pipe, 25... Auger, 25a... Guide gib, 25b... Hydraulic motor for raising and lowering the auger, 25c... Hydraulic motor for driving the auger, 26... Drive rod , 27... Adapter, 28... Actual pile core position calculation unit, 29... Construction management device, 30... Display, 31... Main body inclinometer, 32... Reader inclinometer, 33... First positioning device, 34... Second positioning device, 35, 36...antenna

Claims (3)

a receiving unit that acquires vehicle body position information of the pile driver; a storage unit that stores construction plan information that sets the planned burial position of piles at the construction site; and a storage unit that stores the vehicle body position information acquired by the receiving unit and the storage unit. In a pile driver display system comprising a controller that displays a screen using construction plan information obtained,
The controller adds the planned burial position of the pile and the actual pile core position determined from the vehicle body position information of the pile driver to the display image on the display screen as circular icons, respectively;
The size of each icon is set to have a difference according to an allowable value of positional deviation based on the planned burial position of the pile ,
The icon for the planned burial position of the pile is set to a size corresponding to the pile diameter, and is set smaller than the size of the icon for the actual pile core position by a difference according to the tolerance value. display system. 2. The display system according to claim 1, wherein the icon changes a display color when the positional deviation tolerance is satisfied. The icon of the actual pile center position has a concentric inner circle whose radius is a difference according to the allowable value of the positional deviation,
The icon for the planned burial position of the pile is set smaller in size than the icon for the actual pile core position, and has a mark that enters the inner circle when located concentrically with the icon for the actual pile core position. The display system according to claim 1 or 2, characterized in that:

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