KR102426316B1 - Autonomous construction system of sea dcm method - Google Patents

Abstract

The present invention relates to a construction automation technology which allows the construction of the entire process of a DCM method to be performed autonomously, while including allowing a dedicated ship used for applying a sea DCM method for weak ground improvement to autonomously move to each construction point, and comprises an anchor control system that automatically moves and sets a dedicated ship equipped with agitation equipment including a rod to a working position for DCM construction and an agitation control system that allows a construction process of forming a modified body by agitating soil in the ground with a solidifying agent while driving and pulling the rod in the ground at the working position while stirring the solidified material with soil in the ground.

Description

Autonomous construction system of offshore DCM method {AUTONOMOUS CONSTRUCTION SYSTEM OF SEA DCM METHOD}

The present invention allows the construction of the entire process of the DCM method to be autonomously performed, including allowing the dedicated line used when applying the offshore DCM method to improve the soft ground to move to each construction point autonomously. It is about the automation technology of construction.

Methods for improving soft ground include physical methods such as properties, functions and uses, drain, consolidation, and crushed stone compaction, and chemical solidification methods for stabilizing the ground by solidifying the ground with solidifying materials such as cement or lime. There is this.

The DCM method (Deep Cement Mixing Method), also called the deep cement mixing method, injects a solidified material mixed with cement and water into the soft ground as in the latter chemical solidification method, and mixes and stirs it with underground soil and steel to form a pile shape. By constructing a solid block formed continuously with the underground improvement body, the structure built on the top can be stably supported.

This DCM method is one underground improved body through the steps of setting the stirring equipment at the construction location, preparing the solidified material, and spraying (injecting) the solidified material into the ground using the stirring equipment and agitating it with the soil. is formed, and after moving the stirring equipment to the next construction location, another underground improvement body is formed through the same process.

In addition, in the preparation of solidified materials for producing solidified materials, the mixer process is usually done manually or is produced in a separate place not related to stirring equipment and transported to the site, and the production of solidified materials or transportation of the produced solidified materials is completed. Then, at the request of the operator who operates the stirring equipment, the solidified material is supplied to the rod of the stirring equipment, so that the underground improvement body formation operation by the stirring equipment can be made.

However, the production or supply of the solidified material by such manual work is a factor hindering the efficient progress of the entire process.

In order to solve this problem, the present applicant has proposed a deep stirring device for offshore construction that enables the production of solidified materials and operation of the stirrer to be automatically performed by a computer and a construction method using the same as registered Patent Publication No. 10-0870722. .

The deep stirring device of registration No. 10-0870722 above is equipped with a drive unit related to the production of solidified material for each stirrer, a flow meter supplying it to the stirrer, and a client computer controlling the auger drive of the stirrer, and each operator for each client computer is resident so that it can work to control the operation of each of the above-described components. In addition, the client computer is interconnected through a router and a server computer in which the main operator resides. The server computer receives various command signals for controlling the driving unit from the client computer and transmits them back to the controller so that the driving unit operates. However, when abnormal stratum such as hard ground occurs during the operation of the agitator, an overload occurs in the driving unit, which prevents efficient construction and deteriorates the durability of the equipment.

In addition, although the setting of the construction location of the barge equipped with agitator was possible only by the operation of the server computer of the main operator, problems such as the anchor that fixed the wire rope in the ground being dragged or the wire rope elongated during the process of moving the barge were solved. Until now, the operator had no choice but to manually operate the winch to set the construction position.

US 10-0870722 B1

The present invention solves the above problems of the prior art so that the entire process for the implementation of the deep mixing processing method at sea including the DCM dedicated line setting process, which is a preparation for the main operation of the deep mixing processing, can proceed autonomously The purpose is to provide an autonomous construction system of the offshore DCM method that can increase construction efficiency and durability of stirring equipment by automatically switching the operation status of each device for deep mixing treatment according to changes in the soil quality. have.

According to the most preferred embodiment of the present invention for solving the above problems, an anchor control system for automatically moving and setting a dedicated line equipped with a stirring equipment including a rod for DCM construction to a working position, and a rod from the working position It consists of a stirring control system that automatically proceeds with the construction process of forming an improved body by agitating the solidified material with the soil and soil in the ground while penetrating and withdrawing it into the ground, so that the offshore DCM method can be constructed autonomously.

Here, the anchor control system includes an input unit for inputting work position-related data, a GPS unit indicating the current position of the dedicated line, a moving anchoring unit for moving the dedicated line to the working position and fixing it, and the movement and settlement status of the dedicated line. It consists of a display unit for expressing, and a movement control unit for controlling the moving fixing unit.

At this time, the moving fixing unit may be composed of at least four winch means, and each of these winch means includes a winch part for winding a wire rope having an anchor installed at an end thereof and a point roller part for guiding the movement of the wire rope. The point roller part is configured to be able to rotate according to the direction of the wire rope.

In addition, a tension sensor for measuring the tension of the wire rope may be installed in the winch unit. In this case, if the tension of the wire rope does not rise to the value set in the movement control unit and only winding of the wire rope is continued, the tension by the movement control unit The setting value of can be changed automatically.

In addition, a proximity sensor for measuring the degree of unwinding and winding of the wire rope may be installed in the fulcrum roller unit, and in this case, the proximity sensor may be configured as a pair of a forward sensor and a reverse sensor.

Such an anchor control system may further include a manual winch operation unit that allows the operator to directly control the winch unit.

The stirring control system includes an input unit for inputting stirring data, a solidification unit for producing a solidified material by the input stirring data, a supply unit for supplying the solidified material produced in the solidification unit to a stirring unit to be described later, and the input stirring A stirring unit configured to include a power motor and a rod to perform excavation and stirring according to data, a measurement unit measuring the operation status of the stirring unit, a management unit that expresses or stores each construction data constructed by the stirring unit to the outside; , it may be composed of an operation control unit that controls them.

At this time, the stirring unit may be configured to include a multi-axis rod and a guide pipe for reinforcing the multi-axis rod and integrating each rod by a connecting body. Separately installed in each of the pipes, the discharge port installed on the rod allows the solidified material to be discharged when the rod penetrates, and the discharge port installed on the guide pipe can allow the solidified material to be discharged when the rod is drawn out.

In addition, the operation of the stirring unit is to be performed while mutually switching between each step of the multi-step in which the elevating/lowering speed and rotation speed of the rod and the discharge amount of the solidified material are set differently according to the standard allowable load, but the phase conversion of the stirring unit operation is It can be made according to the load amount of the power motor measured by the measuring unit.

The present invention enables autonomous construction so that the entire process from the setting stage of the DCM dedicated line to the formation of underground agitation and improved body, as well as post-data record management, can be carried out with only one operator, thereby economic feasibility through manpower reduction, etc. In addition to ensuring safety and safety, it also ensures the timeliness and accuracy of the production and supply of solid materials and the accuracy of construction, thereby enabling the construction of high-quality improved body and shortening of construction period.

In addition, the present invention automatically changes the load amount of the power motor, the speed of the rod penetration or extraction, the rotation speed of the rod, the discharge flow rate of the solidified material, etc. In addition, it is possible to improve the durability of the stirring equipment.

1 is a structural diagram of an autonomous construction system of an offshore DCM method according to an embodiment of the present invention.
2 is a block diagram of the anchor control system of the autonomous construction system.
3 is an explanatory view of the operation of the anchor control system.
4 is a block diagram of the stirring control system of the autonomous construction system.
5 is a block diagram of the solidification unit of the stirring control system.
6 is a state diagram in which the autonomous construction system is installed on a dedicated line of the present invention.
7 is an elevation view of the stirring unit of the stirring control system.
8 to 10 are explanatory views of a mechanism for automatically operating the stirring unit.
11 is an explanatory view of a mechanism of an embodiment related to the automatic conversion of the stirring unit.
12 is an example of the real-time progress status of the construction displayed on the display unit of the stirring control system.
13 is a graph showing construction data completed by the invention.

Hereinafter, the most preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. However, in the description of the present invention, in the case of obscuring or obscuring the technical idea of the present invention due to the detailed description of the known configuration, the description of the above known configuration will be omitted.

1 schematically shows the structure of an autonomous construction system of an offshore DCM method according to an embodiment of the present invention.

The autonomous construction system of the above-described offshore DCM method enables the entire process of deep mixing processing to be performed automatically by one operator's computer operation.

The offshore DCM method for deep underground processing is largely an anchoring operation of setting a dedicated line (S) equipped with a stirring equipment including a rod 254 at the working position, and penetrating the rod 254 into the ground at the above working position. And this operation of forming an improved body by stirring the solidified material with the soil and soil in the ground while drawing it out is sequentially performed. In addition to allowing the operator to perform all tasks, the operator can check all the progress of each task in real time to ensure the efficiency and accuracy of the task.

For example, the automatic construction system of the present invention consists of an anchor control system 100 related to the positioning of the work section and a stirring control system 200 for a full-scale deep mixing processing operation, wherein the operator stirs with the anchor control system 100 By inputting necessary data to each input unit 110 and 210 of the control system 200 and turning them ON-OFF, DCM operation at sea can be automatically performed.

That is, when the operator sets and inputs the position of the work section to the input unit 110 of the anchor control system 100, the movement control unit 120 compares the current position received through the GPS with the dedicated line S for the work section. In order to move to the position of , the operator can check the moving process of the dedicated line (S) in real time with the display unit 140 provided in the anchor control system 100 . When the movement of the dedicated line S is completed, the operator turns off the anchor control system 100 and turns on the stirring control system 200 at the same time so that each process of the deep mixing process can proceed. The progress of such deep mixing processing also allows the operator to check in real time through the display unit 271 provided in the stirring control system 200, so that the deep mixing processing can proceed normally. The on-off (ON-OFF) operation of the anchor control system 100 and the on-off (ON-OFF) operation of the agitation control system 200 may be performed by an operator, and are automatically performed through a linked signal system. it might make you lose Each input unit 110 , 210 of the anchor control system 100 and the stirring control system 200 may have an integrated structure.

2 is a block diagram of the anchor control system 100 of the present invention.

The anchor control system 100 controls the input unit 110 for inputting work position-related data such as position coordinates, the moving anchoring unit 130 for moving and fixing the dedicated line S, and the moving anchoring unit 130 . It consists of a movement control unit 120, a display unit 140 for displaying the movement and settlement status of the dedicated line (S), and a GPS unit 150 indicating the current location of the dedicated line (S). In addition, the anchor control system 100 may further include a manual winch operation unit 160 .

The input unit 110 is configured such that the location coordinates or location coordinates related to the work location, that is, the destination of the movement are input in advance, and a zone unique number set is inputted.

The movable fixing unit 130 is basically composed of four first to fourth winch means 130A, 130B, 130C, and 130D for moving the dedicated line S or fixing it at a specific position. In addition, each winch means (130A, 130B, 130C, 130D) is a wire rope 135 having an anchor 136 installed at an end thereof, a winch unit 131 for winding it, and a point roller for guiding the movement of the wire rope 135. (132). The fulcrum roller 132 is also located at four corners of the dedicated line S to correspond to the first to fourth winch means 130A, 130B, 130C, and 130D, and each fulcrum roller 132 is a wire It is installed to rotate according to the direction of the rope (135).

Of course, additional winch means may be further installed to reinforce the fixed state of the dedicated line (S) on the side of the dedicated line (S), etc. depending on the situation of the site. However, here, the first to fourth winch means (130A, 130B, 130C, 130D) will be described as an example installed.

When only the first to fourth winch means 130A, 130B, 130C, and 130D are installed, four winch parts 131 are also installed to correspond to the four point roller parts 132, and each of these winch parts 131 moves According to the command of the controller 120, the anchor winch 131a is automatically operated independently of each other to adjust the length of each wire rope 135, thereby allowing the dedicated line S to move to the moving destination.

A tension sensor 131b is installed in the winch part 131 , and a proximity sensor 132b is installed in the point roller part 132 .

The tension sensor 131b not only allows the movement control unit 120 to determine whether the dedicated line S at the destination is stably fixed by measuring the tension of the wire rope 135, but also to the anchor 136. It is possible to check the abnormal state such as whether a drag phenomenon is occurring and take action against it.

Proximity sensor 132b grasps whether or not the dedicated line (S) has reached the destination by grasping the degree of unwinding and the degree of winding of the wire rope 135.

The proximity sensor 132b is composed of a pair of a forward sensor and a reverse sensor. A roller 132a guiding the unwinding and winding of the wire rope 135 extended from the anchor winch 131a of the winch part 131 is installed in the point roller part 132, and these forward and reverse sensors are By sensing the rotation direction and amount of rotation of the roller 132a, the degree of unwinding and winding of the wire rope 135 can be measured.

The display unit 140 enables the operator to monitor all the operation status of the anchor control system 100 and, if necessary, allows the automatic operation by the anchor control system 100 to be manually switched by the operator.

This display unit 140, the location of the destination and the current position of the dedicated line (S), the movement status of the dedicated line (S), the change in length and tension for each wire rope 135, the arrival status of the destination location, etc. visually or Audibly, such as an alarm.

The manual winch operation unit 160 allows the operator to manually manually move the dedicated line S without using the movement control unit 120 . For example, when the automatic movement is inefficient due to the long-distance movement after anchoring the anchor 136 away using the anchor anchor line to start the work, or a sudden severe wave occurs, or the wire rope 135 is damaged. When replacement is necessary, the manual winch operation unit 160 may be used. At this time, a transfer relay 161 is installed between the movement control unit 120 and the manual winch operation unit 160 to give the manual winch operation unit 160 the authority to control each winch unit 131 . The structure of switching between the automatic operation method and the manual operation method may be directly applied between the operation control unit 220 and the solidification unit 230 to the stirring unit 250 in the stirring control system 200 to be described later.

3 illustrates a process in which the dedicated line S moves to the destination by the anchor control system 100 .

When data such as location coordinates are input to the input unit 110 of the anchor control system 100, the movement control unit 120 calculates the movement distance between the current location and the destination of the dedicated line S by GPS and moves to the anchorage unit ( 130) is activated.

Each winch unit 131 of the moving fixing unit 130 winds or unwinds the wire rope 135 by the calculated length according to the command of the movement control unit 120, so that the dedicated line S can move to the destination. .

For example, when moving the dedicated line S to the north, the anchor winch 131a of the winch unit 131 located in the north winds each wire rope 135 while the anchor winch 131a of the winch unit 131 located in the south side. ) by releasing each wire rope 135 and moving the dedicated line (S) to fix the operation of the anchor winch (131a) of all winch parts 131 when reaching the destination.

As described above, the operation of the winch unit 131 calculates the current position of the dedicated line S by the GPS and the destination position input by the movement control unit 120 to each winch unit 131 on the wire rope 135. This is done by giving a command for winding and unwinding, and along with this, the movement control unit 120 controls the exact position of the movement distance through the proximity sensor 132b so that the dedicated line S can reach the destination.

When the dedicated line S by the proximity sensor 132b reaches the destination within a preset error distance (eg, 10 cm), the movement control unit 120 determines that all anchor winches 131a have the tension of the wire rope 135. Each winch unit 131 is instructed to wind the wire rope 135 until a preset value (eg, 10Ton) is reached. Whether the wire rope 135 has reached the set tension is determined by the tension sensor 131b installed in the winch unit 131 .

When the wire rope 135 tension of each anchor winch 131a reaches a set value, the operation of the anchor winch 131a is stopped. However, if the tension of the wire rope 135 does not rise to the set value and only the winding of the wire rope 135 continues, the movement control unit 120 recognizes this as a drag phenomenon of the anchor 136 and automatically sets the tension. By lowering the value, the tension of the wire rope 135 reaches the newly changed set value.

As described above, after the tension of each wire rope 135 reaches a set value (changed value if changed) and stops the operation of the anchor winch 131a, the movement control unit 120 is set in the stopped state for a set time (eg, 20 sec), check whether the dedicated line (S) moves. If there is no change in the movement of the dedicated line (S), the movement control unit 120 approves the completion of the movement of the dedicated line (S), and displays this on the display unit 140 to allow the operator to complete the operation of the anchor control system (100) and start the operation of the following stirring control system 200, or by transmitting a signal directly to the stirring control system 200 from the movement control unit 120 of the anchor control system 100, the operation of the stirring control system 200 is can get it started

4 is a block diagram of the stirring control system 200 of the present invention.

The stirring control system 200 includes an input unit 210 for inputting stirring data, a solidification unit 230 for producing and supplying a required amount of solidification material according to the input stirring data, and a solidification material produced in the solidification material unit. A supply unit 240 for supplying to the stirring unit to be described later, a stirring unit 250 for excavating and stirring according to the input stirring data, a measuring unit 260 for measuring the operation status of the stirring unit 250, a stirring unit ( 250), the management unit 270 for expressing or storing each construction data constructed by the outside, and the operation control unit 220 for controlling them is included.

The input unit 210 is a part for inputting the set values of agitation data necessary for the construction of a planned improved body, for example, a pre-planned starting depth, a target depth, penetration and withdrawal speed, a discharge amount of solidified material and a time point, etc. related to the stirring operation. By selectively inputting numerical values and the like, operations in each device required by the operation control unit 220 can be sequentially or simultaneously performed.

The solidifying unit 230 produces a solidifying agent in an amount required for this operation according to the command of the operation control unit 220 and supplies it to the rod 254 of the stirring unit 250 .

5 shows the solidification unit 230 .

The solidification unit 230 includes a water tank 231 for supplying water, and a silo 232 for supplying a solidification material (for example, cement powder, etc., here, for convenience, cement powder will be used as an example). , a mixer 233 for producing a solidified material by mixing these solidified materials with water, and a mooring tank 235 for temporarily storing the produced solidified material is included.

In the solidification unit 230 , water and cement powder are supplied to the mixer 233 from the water tank 231 and the silo 232 according to the command of the operation control unit 220 . In this case, if necessary, various admixtures may be further supplied to the mixer 233 , and an admixture tank (not shown) for this purpose may be further provided in the solidification unit 230 .

The solidified material is produced in the solidification unit 230 accurately by the amount input into the stirring control system 200 at a set concentration (eg, water-cement ratio), and the produced solidified material is temporarily stored in the mooring tank 235 after It is supplied to the stirring unit 250 according to the discharge time.

A water supply means 231a for supplying or blocking water is installed in the water tank 231 for proper supply of water, and an input means 232a for supplying or blocking the proper supply of cement powder to the silo 232 is also provided. is installed The water supply means 231a and the input means 232a are composed of a pump or a valve, and each of these devices is operated according to a signal from the operation control unit 220 .

A first weighing sensor 233a is installed at a lower portion of the mixer 233 . The first weighing sensor 233a measures the amount of each material input into the mixer 233 and transmits it to the operation control unit 220, so that the solidified material can be produced by a set concentration and a set amount.

For example, water is first supplied into the mixer 233 and then cement powder is supplied. When the amount of water and the mixed mixture, that is, the amount of solidification material, is measured by the first metering sensor 233a, the amount of cement powder injected This can be calculated, so that the water-cement ratio can be immediately confirmed. These measured values are transmitted to the operation control unit 220 and calculated, and when it is confirmed that the calculated concentration and the amount of solidified material produced reach the set values, the operation control unit 220 controls the water supply means 231a and the input means ( 232a) to be closed, so that overproduction of solidified material does not occur.

When the production of the solidified material is completed by sufficiently stirring and mixing the cement powder and water by the mixer 233 , the solidified material in the mixer 233 is transferred to the mooring tank 235 and temporarily stored. The solidified material stored in the mooring tank 235 is supplied to the stirring unit 250 through the supply pipe 241 in a timely and appropriate amount according to the command of the operation control unit 220 .

The mooring tank 235 is provided with a second weighing sensor 235a for constantly measuring a change in the amount of the stored solidified material. When the second weighing sensor 235a confirms that the set amount of solidified material has been transferred to the mooring tank 235, the operation control unit 220 controls the transfer valve ( 234) is closed.

The supply unit 240 is located between the mooring tank 235 and the solidified fire pipe 257 so that the solidified material waiting in the mooring tank 235 responds to the command of the operation control unit 220 at the right time to the stirring unit 250 ) to be supplied to, and the above-described supply pipe 241 and the solidified material injection pump 242 installed on the supply pipe 241 are included. A flow sensor 242a is installed on the front surface of the solidified material injection pump 242 .

The timing of supplying the solidified material to the stirring unit 250 corresponds to the operation of the rod 254 , and the supply valve 236 provided in the operation control unit 220 and the mooring tank 235 and the second metering sensor 235a are mutually connected. This is done by signal transmission. Taking an example of the penetration-and-draw simultaneous injection method in which solid fire is injected into the ground during pull-out as well as penetration of the rod 254, when the underground penetration of the rod 254 progresses and reaches a set time point, the operation control unit 220 controls the supply valve By opening 236 , the solid material is discharged through the solid material injection pump 242 of the supply unit 240 while the rod 254 penetrates. Whether the solid material discharged during penetration or extraction is appropriate can be determined by real-time measurement by the flow sensor 242a provided in the solid material injection pump 242 . When the discharge of the set amount of solid material during the intrusion process of the rod 254 is completed, the operation control unit 220 closes the supply valve 236 and stops the operation of the solid material injection pump 242 at the time of withdrawal. Order to wait for discharge.

Figure 6 shows an example of the dedicated line (S) of the present invention, Figure 7 shows the stirring unit 250 installed in the dedicated line (S).

Agitating unit 250, a leader 252 installed vertically on the dedicated line (S), an auger drive 253 elevating and descending along the leader 252, and the auger drive 253 while rotating by the underground A rod 254 penetrating into the, and a rod winch 251 for elevating and lowering the auger drive 253 and the rod 254 is included, and the rod 254 has an excavation means 255 such as an excavation bit. ) and a discharge port 254a for spraying the solidification material into the ground, a stirring blade 256 for mixing and stirring them, and a solidification material pipe 257 connected to the supply pipe 241 and supplying the solidification material to the discharge port 254a. are provided for each.

In addition, when the rod 254 is made of a plurality, that is, in the case of a multi-axis rod, a guide pipe 258 for reinforcing them may be further included. The guide pipe 258 is positioned at the center, and each rod 254 is integrated using the connecting body 259 .

The discharge port 254a is installed at least at the tip of the rod 254, and, if necessary, discharges the solidification material when the rod 254 is drawn out at the portion where the stirring blade 256 is located or at the lower end of the guide pipe 258. A discharge port 258a may be further installed as a means for this. When the discharge ports 254a and 258a are respectively installed in the rod 254 and the guide pipe 258 , the discharge ports 254a installed in the rod 254 discharge solid fire when the rod 254 penetrates, and the guide pipe The discharge port 258a provided at 258 is configured such that the solidified material is discharged when the rod 254 is drawn out.

8 to 10 illustrate a mechanism by which the stirring unit 250 automatically operates, FIG. 8 shows a penetration injection type, FIG. 9 shows a pull-out injection type, and FIG. It shows the simultaneous injection method of drawing and drawing.

When the solid fire produced by the set amount is stored in the mooring tank 235, the operation control unit 220 operates the rod winch 251 and the auger drive 253 to cause the rod 254 to reach the design depth of the ground. By repeating penetration and extraction, the soil in the ground is agitated. During this process, the solidified material is injected into the ground through the discharge parts 254a and 258a while penetrating or drawing out at a depth set according to the command of the operation control unit 220, and mixed with the underground soil and agitated.

The automatic operation of the stirring unit 250 is performed efficiently and stably while being linked with the measurement operation of the measurement unit 260 .

For example, if the description is based on the embodiment of FIG. 8 in which the solidification material is injected only when the rod 254 penetrates, the anchoring completion signal of the dedicated line (S) in the anchor control system 100 is transmitted to the stirring control system 200. When the operator who has passed or confirmed this turns on the operation of the stirring control system 200 , each process is sequentially performed according to the command of the operation control unit 220 based on each data input through the input unit 210 in advance. proceeds automatically.

First, the solidified material is discharged at a set flow rate while intruding into the ground at the set speed and rotation speed of the rod 254 .

At this time, the measurement unit 260 detects the operation state of the stirring unit 250 and transmits it to the operation control unit 220, thereby causing the operation control unit 220 to change the operation of the stirring unit 250 to prevent the intrusion of the rod 254. Make it possible to do it efficiently without any problem in the device. This will be described in detail later.

The measurement unit 260 includes a depth meter 261 , a penetrating and pulling elevating speed meter 262 , a tachometer 263 , and a load meter 264 .

The depth meter 261 confirms the depth of the rod 254 in real time and transmits it to the operation control unit 220, thereby confirming whether the design depth has been reached or the degree of extraction, and is used for setting the discharge timing of solid fire, etc. get involved The depth meter 261 is installed on the lower side of the reader 252 .

The elevating speedometer 262 for measuring the elevating rate for penetration and drawing of the rod 254 is installed in the rod winch 251 to check the elevating rate of the rod 254 in real time by an encoder method, and this is the operation control unit By transmitting to 220 , the operation control unit 220 allows the solidified material to be discharged at an appropriate speed.

The tachometer 263 and the load meter 264, which are measured to control the rotational speed of the rod 254, are respectively installed in the power motor 253a constituting the auger drive 253, and the current rotation of the rod 254. Check the speed and the current load applied to the power motor 253a. When the load meter 264 exceeds the set load, by transmitting it to the operation control unit 220, the operation control unit 220 adjusts the rotational speed or penetration speed of the rod 254 together with the set amount of the load. Prevent damage due to overload to the motor 253a.

When it is confirmed by the depth meter 261 that the penetration to the design depth is completed, the operation control unit 220 stops the descent of the rod 254 and stops the underground injection of the solidified material, and the set time During the period, the solidification of the tip can be progressed by rotating it at a set number of revolutions or repeating penetration and drawing for a certain section.

When the solidification operation for the tip is completed, the rod 254 is drawn out at a set speed and rotation speed, thereby completing the formation operation of the underground improved body for the worker.

In the embodiment of Fig. 9 of the pull-out injection method, which is mainly applied when the ground is hard, the excavated water is underground through the solidified fire pipe 257 instead of the solidified material so as to ensure the ease of penetration during the penetration process of the rod 254. As it is sprayed into the , the rod 254 is only allowed to penetrate, and the stirring unit 250 according to the sensing of the operation state of the stirring unit 250 by the measurement unit 260 and the control of the stirring unit 250 of the operation control unit 220 accordingly. Changing the operation of , so that the process can be performed efficiently without excessive device, is not significantly different from the embodiment of FIG. 8 , but also the embodiment of FIG. 10 to be described later.

Next, when it is confirmed by the depth meter 261 that the rod 254 has reached the mounting point, that is, the design depth, the operation control unit 220 stops the injection of the excavated water and reversely rotates the rod 254 for a certain section. , for example, to the portion where the upper discharge port (not shown) is located (in the case where the discharge port 258a is provided at the lower end of the guide pipe 258, to the lower end of the guide pipe 258), then the load is lowered again to the mounting point The solidified material is injected into the ground through the discharge port 254a provided at the tip of the 254 .

When the injection of a set amount of solidified material for the front end, that is, the section between the mounting point and the upper discharge port is completed, the operation control unit 220 stops the supply of the solidified material in the same manner as in the embodiment of FIG. 8 rod 254. Allow the tip to be solidified by rotating it in place or raising and lowering it at a set speed.

When the tip solidification is completed, the operation control unit 220 sprays the solidifying material into the ground through the discharge port 258a provided at the bottom of the portion where the stirring blade 256 is located or the guide pipe 258, while spraying the rod 254 into the surface layer portion. draw with

In the embodiment of FIG. 10 , the solidification material is injected when the rod 254 is penetrated, and the solidification material is injected even when the rod 254 is drawn out, so that the solidification material is uniformly injected into the entire soil to form the improved body. As a result, the penetration process is the same as that of the embodiment of FIG. 8 and the drawing process is the same as that of the embodiment of FIG. 10 .

FIG. 11 shows a mechanism of an embodiment regarding automatic conversion of the stirring unit 250 that can be commonly applied to each of the embodiments of FIGS. 8 to 10 described above.

The automatic construction system of the present invention is economical by automatically switching the operation of the stirring unit 250 according to the change of the soil condition in the ground, so that damage to the equipment such as the power motor 253a of the auger drive 253 does not occur. , according to this, the operation of the stirring unit 250 is made in multiple stages, and the standard allowable load of the power motor 253a is set for each stage, and the elevating/lowering (penetration and drawing) speed and rotation speed of the rod 254 optimal therefor. to prevent damage to the power motor 253a while securing economic feasibility and efficiency by setting and discharging solid fire to suit it. The phase change of the operation of the stirring unit 250 is made according to the load amount of the power motor 253a measured by the measurement unit 260 .

Using this as an example of the intrusion injection method shown in FIG. 8, the operation of the stirring unit 250 is switched according to the mechanism of FIG. 11 as follows.

The operation of the stirring unit 250 consists of four steps, in each step the standard allowable load of the power motor 253a, the standard penetration speed and rotation speed of the rod 254, the standard discharge flow rate of the solidified material, the standard allowable load is exceeded Allowable time is set for each. However, when the excavation water, not the solidification material, is injected during the penetration process of the rod 254 as in the case of the pull-out injection method as in FIG. 9 , there is no need to separately set the discharge flow rate for this. In addition, it is possible to have an automatic switching structure of each step described above even when the solid fire is injected underground during the drawing process as well as the penetration process.

The automatic switching structure will be described in more detail as follows.

When the load of the power motor 253a exceeds the standard allowable load set in the first step, which is the initial step, for a predetermined time during the rod 254 penetration process, the stirring unit 250 operates in the second step in which the standard allowable load is set a little larger. is automatically switched, and if the standard allowable load set in step 2 is exceeded for a certain time, the standard allowable load is set to be larger in step 3 automatically. ) is converted into 4 steps to automatically stop. Of course, if the load during the operation of the stirring unit 250 in the second or third step is maintained below the standard allowable load of each step for a certain period of time, it is automatically switched to each sub-step.

For example, step 1 sets the standard allowable load 100A, penetration speed 1M/min, rotation speed 30rpm, flow rate 100L/min, and step 2 sets standard allowable load 150A, elevation speed 0.7M/min, rotation speed 20rpm, flow rate 70L/ min, and in step 3, the standard allowable load is 200A, the rising/lowering speed is 0.4M/min, the rotation speed is 10rpm, and the flow rate is 40L/min. take as an example

First, 100 L/min of solidified material is discharged while penetrating the rod 254 into the ground at a penetration speed of 1 m/min and a rotation speed of 30 rpm, which is the reference set in step 1 for penetration of the rod 254 by excavation. When the load of the power motor 253a exceeds the standard allowable load 100A for 3 seconds or more due to the appearance of the abnormal stratum during the work process according to the first step, the operation control unit 220 sets the value set in the second step, that is, the standard allowable Load 150A, penetration speed 0.7M/min, rotation speed 20rpm, flow rate 70L/min by changing each set value to allow the stirring unit 250 to proceed with the work accordingly. However, if the load amount of the power motor 253a continues for more than 3 seconds at 100A or less, which is the standard allowable load for the first stage, during the work in progress by the two steps of the stirring unit 250, the operation control unit 220 resets each set value. By changing to the first step, the penetration of the rod 254 and the discharge of the solidified material can be made economically and efficiently.

This process is switched between steps 2 and 3 in the same way. That is, when the load amount of the power motor 253a exceeds the standard allowable load 150A for more than 3 seconds during the operation of the stirring unit 250 by the second step, the operation control unit 220 controls the standard allowable load 200A set in the third step, elevating and lowering Each set value is changed to a speed of 0.4M/min, a rotation speed of 10rpm, and a flow rate of 40L/min, and the load of the power motor 253a during the work process by these three steps is lower than the standard allowable load of the second step of 150A for 3 seconds If the abnormality continues, the operation control unit changes each set value back to the second step. However, when the standard allowable load 200A is exceeded for 3 seconds or more, the operation control unit 220 changes the setting in 4 steps to stop the operation of the stirring unit 250 to prevent damage due to overload of the power motor 253a. After the automatic stop of the stirring unit 250, the automatic operation of the stirring unit 250 by the operation control unit 220 may be executed again after taking necessary measures by manually switching.

The management unit 270 includes a display unit 271 and a storage unit 272 .

The display unit 271 displays the construction status by each device, that is, the excavation status, the injection status of solid fire, and the penetration and withdrawal status of the rod 254 so that the operator can check the process of automatic construction in real time on the monitor. As such, it can have an integrated structure with the display unit 140 of the anchor control system 100 like the input units 110 and 210 .

12 shows a situation in which the progress of the construction automatically performed by the display unit 271 is displayed on the monitor. The storage unit 272 stores various data acquired during the entire construction process so that it can be easily obtained as reference data for future construction. The data stored in the storage unit 272 can be visually confirmed by the output means, and FIG. 13 is a graph showing the construction data output by the output means.

In the above, the present invention has been described in detail with reference to specific embodiments, but the embodiments are merely examples for easy understanding of the present invention. It is obvious that it can be implemented with various modifications within. Accordingly, such modifications will be said to be within the scope of the present invention as described in the claims.

100; anchor control system 110,210; input
120; movement control unit 130; mobile anchorage
130A; first winch means 130B; second winch means
130C; third winch means 130D; 4th winch means
131; winch part 131a; anchor winch
131b; tension sensor 132; point roller
132a; roller 132b; proximity sensor
135; wire rope 136; anchor
140,271; display unit 150; GPS unit
160; Manual winch operation unit 161; transfer relay
200; agitation control system 220; operation control unit
230; solidification unit 231; water tank
231a; water supply means 232; silo
232a; input means 233; mixer
233a; a first weighing sensor 234; transfer valve
235; mooring tank 235a; 2nd Weighing Sensor
236; supply valve 240; supply
241; supply line 242; solid fire infusion pump
242a: flow sensor 250; stirring part
251; road winch 252; leader
253; Auger Drive 253a; power motor
254; rods 254a, 258a; outlet
255; excavation means 256; stirring blade
257; 258, Gohwajaegwan-ro; guide pipe
259; linking body 260; measurement unit
261; depth meter 262; elevating speedometer
263; Tachometer 264; load gauge
270; management 272; storage
S; dedicated line

Claims (10)

As for deep processing of the underground of the sea,
For DCM construction, the anchor control system 100 for automatically moving and setting the dedicated line (S) equipped with a stirring equipment including the rod 254 to the working position, and the rod 254 from the above working position intrusion into the ground and It consists of a stirring control system 200 that automatically proceeds with the construction process of forming an improved body by stirring the solidified material with the soil and soil in the ground while drawing it,
The anchor control system 100 includes an input unit 110 for inputting work position-related data, a GPS unit 150 indicating the current position of the dedicated line S, and the dedicated line S after moving it to the working position. It consists of a moving fixing unit 130 for fixing, a display unit 140 displaying the movement and fixing status of the dedicated line (S), and a movement control unit 120 controlling the moving and fixing unit 130,
The agitation control system 200 includes an input unit 210 for inputting agitation data, a solidification unit 230 for producing a solidified material according to the input agitation data, and excavation and stirring according to the input agitation data. a stirring unit 250 configured to include a power motor 253a and a rod 254 so as to A measurement unit 260 for measuring the operation status of the stirring unit 250, a management unit 270 for expressing or storing each construction data constructed by the stirring unit 250 to the outside, and an operation control unit 220 for controlling them is made of,
The stirring unit 250 includes a multi-axial rod 254 and a guide pipe 258 for integrating each rod 254 by a connecting body 259 as reinforcing the multi-axial rod 254. The discharge ports 254a and 258a for discharging the solidified material are separately installed in each of the rod 254 and the guide pipe 258, and the discharge ports 254a installed in the rod 254 are the rod 254. An autonomous construction system of the offshore DCM method, characterized in that the solidified material is discharged when the intrusion of the solidified material is discharged, and the solidified material is discharged when the rod 254 is drawn out from the discharge port 258a installed in the guide pipe 258. According to claim 1,
The movable fixing unit 130 includes a winch unit 131 for winding the wire rope 135 having an anchor 136 installed at the end thereof and a point roller unit 132 for guiding the movement of the wire rope 135. Consists of at least four winch means (130A, 130B, 130C, 130D) configured,
The point roller unit 132 is an autonomous construction system of the offshore DCM method, characterized in that it is configured to be able to rotate according to the direction of the wire rope (135). 3. The method of claim 2,
The winch unit 131 has a tension sensor (131b) for measuring the tension of the wire rope (135) is installed, characterized in that the autonomous construction system of the offshore DCM method. 4. The method of claim 3,
If the tension of the wire rope 135 does not rise to the value set in the movement control unit 120 and only the winding of the wire rope 135 continues, the set value of the tension is automatically changed by the movement control unit 120 Autonomous construction system of offshore DCM method, characterized in that. 3. The method of claim 2,
The self-construction system of the offshore DCM method, characterized in that a proximity sensor (132b) for measuring the degree of unwinding and the degree of winding of the wire rope (135) is installed in the point roller part (132). 6. The method of claim 5,
The proximity sensor 132b is an autonomous construction system of the marine DCM method, characterized in that it is composed of a pair of a forward sensor and a reverse sensor. 3. The method of claim 2,
The anchor control system 100 includes a manual winch operation unit 160 that allows the operator to directly control the winch unit 131. Autonomous construction system of the offshore DCM method, characterized in that it further includes. delete delete According to claim 1,
The operation of the stirring unit 250 is performed while being switched between each step of the multi-step in which the elevating/lowering speed and rotation speed of the rod 254 and the discharge amount of the solidified material are set differently according to the standard allowable load, but the stirring The step switching of the operation of the unit 250 is an autonomous construction system of the offshore DCM method, characterized in that it is made according to the load amount of the power motor 253a measured by the measurement unit 260.

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