JP7388972B2 - 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 driver'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).

Japanese Patent Application Publication No. 2011-6880

However, in order to move the pile driver to the pile core position, currently a guide is placed there who gives driving instructions to the driver, and the driver operates according to the guide's signals. For this reason, there was a problem in that the process of aligning the pile cores required time and cost. Furthermore, in order to suppress the positional deviation caused by the difference in the left and right driving forces of the crawler, it is necessary to concentrate more on the driving operation, so the experience and skills of the driver are also required.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a display system for a pile driver that has a support function that allows a driver to easily and independently perform pile core positioning.

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 display screen on a display using the vehicle body position information acquired by the receiving unit and the construction plan information stored in the storage unit. The machine includes a lower traveling body equipped with a crawler, an upper rotating body rotatably provided on the upper part of the lower traveling body, a leader rotatably provided at the front part of the upper rotating body, and a leader of the leader. a working machine that can be raised and lowered along the front surface, and the controller corresponds to the planned burial position of the pile, the actual pile core position determined from the vehicle body position information of the pile driver, and the turning radius of the upper rotating body. The predicted trajectory of the actual pile center position is added to the display image on the display screen.

According to the display system for a pile driver of the present invention, the controller displays the planned burial position of the pile, the actual pile core position determined from the vehicle body position information, and the predicted trajectory of the actual pile core position corresponding to the turning radius on a display image. Therefore, once the driver understands these positional relationships on the display screen and overlaps the predicted trajectory with the planned pile burial position, he then performs operations related to pile center alignment using stable turning movements. be able to. That is, this method can be performed more easily and reliably than the method of directly matching the actual pile core position to the target pile core position. This makes it possible to easily align the pile cores without the assistance of guide personnel, contributing to labor and labor savings at the construction site.

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.

1 to 3 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 driver 11 includes a lower traveling body 12 equipped with a crawler 12a, and an upper rotating body 14 rotatably provided on the lower traveling body 12 via a swing bearing 13. The working machine includes a base machine 15, which is equipped with a base machine 15, a leader 16 erected at the front of the upper revolving structure 14, a leader undulating cylinder 17 that supports the leader 16 from behind, and a working machine installed on the leader 16 so as to be movable up and down. It includes an auger 18 and a lifting hydraulic motor 20 that raises and lowers the auger 18 via a lifting chain 19.

A leader support 21 that supports the leader 16 in a vertically movable manner is provided at the front of the revolving upper structure 14, a driver's cab 22 is provided on the right side of the upper revolving structure 14, and an equipment room housing a power unit and the like is located on the left side of the upper revolving structure 14. 23 are installed respectively. Further, stabilizing jacks 24 are provided at four locations on the front, rear, left, and right sides of the upper revolving body 14, and a counterweight 25 for balancing the pile driver 11 is mounted on the rear end of the upper revolving body 14. .

Inside the operator's cab 22, there are multiple operating levers, operating pedals, pushbutton switches, displays, and other equipment for running, turning, raising and lowering the auger 18, and driving the rotation of the auger 18. 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 pile driver 11 can perform two types of work, soil improvement and steel pipe burying, with one unit. For example, when used for the purpose of soil improvement, the pile driver 11 is equipped with a digging blade 26a and a stirring blade 26b. A hollow rod 28 is used, which has a drilling head 26 attached to its tip (lower end) and a swivel joint 27 attached to its upper end. The hollow rod 28 is attached so that its upper part passes through the drive section of the auger 18, and is held rotatably and vertically movably by a steadying device 29 provided at the lower end of the leader 16. In addition, a soil improver such as cement milk is supplied to the swivel joint 27 from a batcher plant (not shown) through a grout hose 30, and is supplied to the excavation head 26 through the internal flow path of the hollow rod 28 for drilling. Injected into the hole.

Here, 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. a construction management device 32 that is a storage unit that stores various data, and a display 33 that receives guidance support regarding pile core positioning and confirms construction results on a display screen. There is. In addition, signals are input to the actual pile core position calculation unit 31 from various sensors that detect the operating state of the pile driver 11. Examples of the sensor include a main body inclinometer 34 provided on the upper revolving body 14 and a leader inclinometer 35 provided in the leader 16. The detection values of the main body inclinometer 34 and the leader inclinometer 35 are acquired as attitude information of the pile driver 11 and used to execute the control program.

The construction management device 32 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, and for example, the first positioning device 36 and the second positioning device are used as receiving units provided in the upper revolving body 14 of the pile driver 11. 37, and acquires antenna position information that changes as the pile driver 11 moves, turns, etc. while receiving radio waves from GNSS satellites. The actual pile core position calculating section 31 calculates the position and orientation of the upper revolving structure 14 from the positional relationship between the two antennas 38 and 39 separated in the front-rear direction, and further calculates the position and orientation of the upper revolving structure 14. The position of the central axis of the hollow rod 28 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).

Here, the pile core positioning support function (pile core guidance) provided by the display system will be described with reference to FIG. 3. 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 36 and the second positioning device 37 acquire the 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 31. As a result, the shortest travel route toward the planned burial position of the pile 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 33 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 planned pile burying position P and the actual pile core position C, as shown in FIG. 3(A). The approach screen changes to an enlarged view of the surrounding area, including the area. The planned burial position P of the pile and the actual pile core position C are image data added by a circle or a circle center line imagining a common pile cross section. Further, the predicted trajectory S of the actual pile center position C corresponding to the turning radius of the upper rotating body 14 is added to the display image on the approach screen. The predicted trajectory S is an arc corresponding to the turning radius, which is the horizontal distance between the turning center of the upper rotating body 14, that is, the rotation center of the swing bearing 13, and the actual pile center position C, and is Fixed to the center of the displayed image. 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.

At the stage of pile core positioning, the crawler 12a is driven at a slow speed to move straight, and as shown in FIG. 3(B), the predicted trajectory (arc) S is superimposed on the planned burial position P of the pile. From this state, when the upper rotating body 14 is turned to the left, the planned burial position P of the pile is moved to the actual pile center position C while tracing the predicted trajectory S according to the turning operation, as shown in FIG. 3(C). In other words, the actual pile core position C is moved toward the planned pile burial position P without deviating from its predicted trajectory S. Then, the driving operation for aligning the pile core is completed by braking and holding at the rotation stop position where the actual pile core position C and the planned pile burial position P match.

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.

As described above, according to the display system of the pile driver 11 of the present invention, the controller displays the planned pile burial position P, the actual pile core position C determined from the vehicle body position information, and the actual pile core position C corresponding to the turning radius. The predicted trajectory S is added to the display image, so once the driver understands the positional relationship between them on the display screen and superimposes the predicted trajectory S on the planned pile burial position P, he can then check the pile core position. The operation related to alignment can be performed by a stable turning operation. That is, this method can be performed more easily and reliably than the method of directly aligning the actual pile core position C with the target pile core position P. This makes it possible to easily align the pile cores without the assistance of guide personnel, contributing to labor and labor savings at the construction site.

Further, since the predicted trajectory S is shown as a circular arc, the direction of the turning operation can be intuitively understood when aligning the pile center. Furthermore, regarding the setting of the actual pile center position C, since the attitude information acquired by the main body inclinometer 34 and the leader inclinometer 35 are taken into consideration, the vehicle body position caused by the topography of the construction site and the movement of the movable part of the pile driver 11 is taken into account. It becomes possible to eliminate errors in information, and it is possible to accurately align the pile center position.

In addition, at construction sites where multiple piles are planned to be buried in a concentrated location, routine work such as repeating pile center alignment many times has traditionally been done, but this can be made shorter and more compact. There is a need to shorten the time required. The present invention can meet the need for reducing man-hours at construction sites where such a pile driver 11 is used.

It should be noted that the present invention is not limited to the above-mentioned embodiment, but can also be applied to steel pipe burying that performs the same work as ground improvement. In this case, the present invention can also be applied to a large pile driver such as a three-point pile driver. Additionally, if there are obstacles such as existing piles around the planned pile burial location, the crawler's entry and exit directions may be restricted, but even in such a narrow space, the pile Pile core positioning can be performed while the approach angle to the planned burial position is intentionally shifted. This is expected to not only improve the safety and reliability of operation, but also provide a sense of security to the driver inside the cab.

DESCRIPTION OF SYMBOLS 11...Pile driver, 12...Lower traveling body, 12a...Crawler, 13...Swivel bearing, 14...Upper rotating body, 15...Base machine, 16...Leader, 17...Leader undulating cylinder, 18...Auger, 19...Elevating Chain, 20...Hydraulic motor for lifting, 21...Leader support, 22...Driver's cab, 23...Equipment room, 24...Jack, 25...Counterweight, 26...Drilling head, 26a...Drilling blade, 26b...Stirring blade, 27... Swivel joint, 28... Hollow rod, 29... Steady device, 30... Grout hose, 31... Actual pile core position calculation unit, 32... Construction management device, 33... Display, 34... Main body inclinometer, 35... Leader inclinometer, 36...First positioning device, 37...Second positioning device, 38, 39...Antenna

Claims (1)

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 display system for a pile driver, the display system includes a controller that displays a display screen on a display using construction plan information obtained.
The pile driver includes a lower traveling body equipped with a crawler, an upper revolving body rotatably provided on the upper part of the lower traveling body, and a leader rotatably provided at the front part of the upper revolving body. A working machine that can be raised and lowered along the front of the leader,
The controller displays the planned burial position of the pile, the actual pile core position determined from the vehicle body position information of the pile driver, and the predicted trajectory of the actual pile core position corresponding to the turning radius of the upper rotating body. A display system for a pile driver, characterized in that it is added to a display image on a screen.

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