Piling device and engineering machine

Abstract

The present invention aims to provide a pile driving device capable of simultaneously driving a plurality of piles, the pile driving device comprising a main body device that travels by means of a traveling device, a first pile driver connected to the main body device and driving piles in a vertical direction, and a second pile driver connected to the main body device and driving piles in the vertical direction.

Description

Technical Field

[0001] This invention relates to piling devices and engineering machinery, and more particularly to piling devices capable of simultaneously driving multiple piles and engineering machinery capable of reducing greenhouse gas emissions. Background Technology

[0002] Previously, Patent Document 1 disclosed research on improving the efficiency of pile driving and the simultaneous driving of four anchor piles with different driving directions into the soil at a specified angle.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2015-113668 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, there is no publicly available technology for simultaneously driving multiple piles along the vertical direction. Sometimes, thousands to tens of thousands of piles need to be driven on-site, and efficient pile driving is desired.

[0008] In addition, there is a global demand to reduce greenhouse gas emissions, and construction machinery is also required to have low greenhouse gas emissions.

[0009] Therefore, the object of the first aspect and the second aspect of the present invention is to provide a piling device capable of simultaneously driving multiple piles.

[0010] Furthermore, a third aspect of the present invention aims to provide engineering machinery with low greenhouse gas emissions.

[0011] Methods for solving problems

[0012] The first aspect of the present invention relates to a piling device comprising: a main body that travels by means of a traveling device; a first piling machine connected to the main body and performing piling along the vertical direction; and a second piling machine connected to the main body and performing piling along the vertical direction.

[0013] The second aspect of the present invention relates to a piling device comprising: a main body that travels via a traveling device; a first piling machine connected to the main body and performing piling; a second piling machine connected to the main body and performing piling; and a transport unit connected to the main body and transporting components to the driven piles.

[0014] The engineering machinery according to the third aspect of the present invention includes: a main body that travels by a traveling device; a power generation device disposed on the upper surface of the main body; and a vibration power generation element disposed near the traveling device.

[0015] Invention Effects

[0016] According to the first aspect and the second aspect of the present invention, it is possible to provide a piling device that can simultaneously drive multiple piles due to having a first piling machine and a second piling machine.

[0017] According to a third aspect of the present invention, it is possible to provide engineering machinery that achieves low greenhouse gas emissions by using a power generation device and a vibration power generation element. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the piling system of the first embodiment of the present invention in its initial position. Figure 1 (a) is a top view. Figure 1 (b) is the front view.

[0019] Figure 2 This is a schematic diagram showing an example of the piling system according to the first embodiment of the present invention in the working position. Figure 2 (a) is a top view. Figure 2 (b) is the front view.

[0020] Figure 3 This is a block diagram of the piling system according to the first embodiment of the present invention.

[0021] Figure 4 This is a sectional view of the main body of the working device when it is in its initial position.

[0022] Figure 5 It is a sectional view of the main device when the working device is in the working position.

[0023] Figure 6 This is a diagram showing the open and closed states of the chuck. Figure 6 (a) is a diagram showing the chuck in the open state. Figure 6 (b) is a diagram showing the chuck in the closed state.

[0024] Figure 7 This is a flowchart of pile driving performed by the heavy machinery control device according to the first embodiment of the present invention.

[0025] Figure 8 It is a diagram showing the pile driving process. Figure 8 (a) is a diagram showing the movement of the counterweight. Figure 8 (b) is a diagram showing the situation of holding the stake. Figure 8(c) is a diagram showing the situation of pulling up the pile. Figure 8 Figure (d) shows the case where the orientation of the pile is changed. Figure 8 Figure (e) shows the process of driving piles. Figure 8 (f) is a diagram showing the installation of components on the driven piles.

[0026] Figure 9 This is a summary diagram of the engineering site for this implementation method. Figure 9 (a) is a diagram showing the working device in its initial position. Figure 9 (b) is a diagram showing the counterweight and jack in the working position. Figure 9 (c) is a diagram showing the pile driving operation.

[0027] Figure 10 This is a summary diagram of the engineering site for this implementation method. Figure 10 Figure (a) shows the pile driving operation. Figure 10 (b) is a diagram showing the situation where components are installed on the pile. Figure 10 (c) is a diagram showing the piling system moving to the next piling position.

[0028] Figure 11 This image shows the process of taking pictures of the driven piles using two drones.

[0029] Figure 12 This image shows a drone taking pictures of the driven piles.

[0030] Figure 13 This is a diagram showing the pile driving depth mark DM formed on the upper flange of the pile. Figure 13 Figure (a) is an example showing an example of placing the piling depth marker DM at the bottom of the pile. Figure 13 (b) is a diagram showing an example of placing the piling depth mark DM on the top of the pile.

[0031] Figure 14 This is a schematic diagram illustrating a modified example of the piling system according to the first embodiment of the present invention.

[0032] Figure 15 This is a schematic diagram of the piling system according to the second embodiment of the present invention.

[0033] Figure 16 This is a block diagram of the piling system according to the second embodiment of the present invention.

[0034] Figure 17 This is a flowchart of the solar panel installation performed by a heavy machinery control device according to the second embodiment of the present invention.

[0035] Figure 18 This is a diagram illustrating the operation of setting up solar panels. Figure 18 (a) is a diagram showing the piling situation. Figure 18 (b) is a diagram showing the situation where the stake is released from its grip. Figure 18 (c) is a diagram showing the case of adsorbed solar panels.

[0036] Figure 19 This is a diagram illustrating the process of setting up solar panels. Figure 19 (a) is a diagram showing the situation where the solar panel is lifted. Figure 19 (b) is a diagram showing the turning situation. Figure 19 Figure (c) shows the case of a 90-degree rotation. Figure 19 (d) is a diagram showing the setup of solar panels. Detailed Implementation

[0037] Hereinafter, a piling system 1 according to the first embodiment of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below.

[0038] (First Embodiment)

[0039] Figure 1 This is a schematic diagram showing the piling system 1 of this embodiment in its initial position. Figure 1 (a) is a top view. Figure 1 (b) is the front view. Figure 2 This is a schematic diagram showing an example of the piling system 1 according to the first embodiment of the present invention in the working position. Figure 2 (a) is a top view. Figure 2 (b) is the front view. For example... Figure 1 and Figure 2 As shown, since this embodiment is a double-arm type piling system 1, it is easy for an eccentric load to be applied in the +X direction in the figure. In this embodiment, the position where the working device 50 described later is located is where it is difficult to generate an eccentric load (i.e., a position where a small portion extends in the +X direction) is called the initial position, and the position where the working device 50 is located where the working device 50 extends in the +X direction through a series of piling actions is called the working position. Figure 3 This is a block diagram of the piling system 1 according to this embodiment. Hereinafter, it will be used... Figures 1-3 Describe the structure of piling system 1.

[0040] The piling system 1 of this embodiment includes a foundation machine 10 (see reference). Figure 3 ), multiple piling accessories 60 and unmanned aerial vehicles (UAVs, hereinafter referred to as UAVs 100). Furthermore, to simplify the diagram, in Figure 3 The diagram only shows a block diagram of a drone 100 and the constituent elements of an operating device 50. Additionally, in Figure 2 To illustrate the take-off and landing configuration, only one drone 100 is shown.

[0041] In addition, by Figure 1 and Figure 2 As can be seen, the foundation machine 10 in this embodiment is an autopilot type device without a driver's seat. This foundation machine 10 can also be set to autopilot for movement at the construction site and transported on a trailer on the road. Furthermore, the operation of the foundation machine 10 can be automatic or remote, from a location far from the piling site.

[0042] (Base machine 10)

[0043] The base unit 10 of this embodiment includes a traveling device 20, a rotating device 30, and a main unit 40. Furthermore, the base unit 10 includes two unmanned aerial vehicles (UAVs) 100 capable of taking off and landing from a landing gear located on the upper surface of the main unit 40. Additionally, there may be one or more UAVs 100.

[0044] The traveling device 20 has a pair of tracks 22 wound around an idler wheel and a drive wheel 21 (not shown). The drive wheel 21 drives the pair of tracks 22, thereby moving the base machine 10. Furthermore, the internal combustion engine 23 constituting the traveling device 20 (see reference...) Figure 3 It can be configured on the main unit 40. Alternatively, the travel device 20 can be driven by a battery and a motor instead of an internal combustion engine 23, or it can be a hybrid type combining an internal combustion engine 23 and a motor. Furthermore, the travel device 20 can also be a wheeled type with tires.

[0045] A slewing device 30 is disposed between the traveling device 20 and the main device 40. The slewing device 30 includes a bearing (not shown) and a slewing hydraulic motor 31, which rotates the main device 40 and the working device 50.

[0046] The upper surface of the main unit 40 is flat, and two working devices 50 are connected to its side. Inside the main unit 40 are the aforementioned engine 23, hydraulic system 41, and attitude sensor 42 (see reference). Figure 3 ) and the electric motor 44 that moves the counterweight 43 (described later) (see Figure 3 ).

[0047] The hydraulic device 41 has a hydraulic pump and hydraulic control valve connected to the engine 23, and drives multiple cylinders located in the working device 50 as actuators.

[0048] Attitude sensor 42 (reference) Figure 3The attitude sensor 42 is used to detect the attitude of the main body device 40. It can be an inclinometer or a level. In this embodiment, the attitude sensor 42 is located inside the main body device 40 and detects the attitude of the main body device 40 when driving the working device 50 and the two piling accessories 60.

[0049] Figure 4 This is a cross-sectional view of the main body 40 when the working device 50 is in the initial position. Figure 5 This is a cross-sectional view of the main unit 40 when the working device 50 is in the working position. Hereinafter, we will use... Figure 4 and Figure 5 The counterweight 43, which is a mass body, will be explained.

[0050] A counterweight 43 is located on the lower side of the main body 40 and is equipped with a pair of sliding members 45 separated in the Y direction. These sliding members 45 extend in the X direction and are supported on a pair of base members 46 in a manner that allows them to move in the X direction. The counterweight 43 corrects the eccentric load acting on the piling system 1 when the working device 50 moves. In this embodiment, the weight of the counterweight 43 is approximately 4 to 7 tons, but it is not limited to this. A portion of the counterweight 43 can also be used as a container filled with a liquid with a high specific gravity at room temperature (e.g., mercury) to form the counterweight 43. Furthermore, as described above, an electric motor 44 is used to drive the counterweight, but other actuators can also be used. By moving the counterweight 43 in the X direction, its weight can be reduced compared to when the counterweight 43 does not move in the X direction.

[0051] The counterweight 43 is housed within the main unit 40 when the working device 50 is in its initial position, and moves in the -X direction as the working device 50 moves to the working position. As a method to prevent accidents when the counterweight 43, weighing approximately 4 to 7 tons, moves outward from the main unit 40, it is desirable to provide a warning light on the main unit 40 to visually attract attention, or a speaker on the main unit 40 to audibly attract attention, or both. Alternatively, before moving the counterweight 43, images of the surrounding area of ​​the counterweight 43's movement can be acquired by the drone 100's imaging device 102, and safety can be confirmed using the UAV control device 108 or the heavy machinery control device 29. Furthermore, the imaging by the drone 100's imaging device 102 preferably continues until the movement of the counterweight 43 is complete.

[0052] Furthermore, from the viewpoint of preventing accidents, it is preferable to move the working device 50 to the working position after the counterweight 43 moves in the -X direction, but it is also possible to move the counterweight 43 and the working device 50 to the working position approximately simultaneously.

[0053] The working device 50 has a pair of jacks 47 between the two working devices 50. In this embodiment, the pair of jacks 47 are hydraulic jacks, and when the working device 50 is in the initial position, they are positioned in the +Z direction relative to the pair of tracks 22 without contacting the ground. Furthermore, when the working device 50 is in the working position, the pair of jacks 47 extend to support the piling system 1 in contact with the ground. The eccentric load acting on the piling system 1 due to the aforementioned counterweight 43 is corrected, but since there is still a possibility of tilting at the construction site, the pair of jacks 47 is used to prevent the piling system 1 from tipping over. Moreover, the pair of jacks 47 may not be a pair but a single jack, or there may be three or more jacks, or it may be omitted.

[0054] like Figure 2 As shown in (a), a take-off and landing section for a drone 100 is formed on the upper surface of the operating device 50, and a visual identification mark 25 is formed on this take-off and landing section. When the drone 100 lands on the take-off and landing section, the visual identification mark 25 is visually identified by the imaging device 102 (described later) to identify the landing position. Furthermore, the size of the multiple visual identification marks 25 is smaller than the size of the drone 100, so that if one drone 100 lands on a visual identification mark 25, that single visual identification mark 25 becomes unrecognizable from other drones 100. Additionally, the spacing between the multiple visual identification marks 25 is such that the drones 100 do not interfere with each other when multiple drones 100 land on the take-off and landing section. Furthermore, the shape of the visual identification mark 25 is not limited to a circle; it can be rectangular, elliptical, or triangular, and can be a double mark or a single mark. Alternatively, there can be only one visual identification mark 25.

[0055] In this embodiment, the main body device 40 has Figure 3 The diagram shows the first GNSS 26 (Global Navigation Satellite System), the first communication device 27, the first memory 28, and the heavy machinery control device 29 that controls the entire base unit 10. The first GNSS 26 uses artificial satellites to measure the position of the base unit 10.

[0056] The first communication device 27 is a wireless communication unit that accesses the second communication device 106 (described later) or a wide area network such as the Internet. In this embodiment, the first communication device 27 communicates the flight paths of multiple UAVs 100 to the second communication device 106 based on the location of the base machine 10 detected by the first GNSS 26.

[0057] The first memory 28 is a non-volatile memory (e.g., flash memory) that stores various data and programs used to drive the base unit 10, and various data and programs used to enable the base unit 10 to operate automatically. In addition, the first memory 28 stores data related to the flight paths of the multiple drones 100.

[0058] The heavy machinery control unit 29, equipped with a CPU, is the control device for the entire foundation machine 10. The control of the foundation machine 10 and the piling accessories 60 via the heavy machinery control unit 29 will be discussed later. Figure 7 The flowchart is used for illustration.

[0059] The working device 50 includes a first working device 51 and a second working device 52. For example... Figure 1 As shown, the first working device 51 and the second working device 52 extend from one side of the main body 40 along the X direction and separate in the Y direction. In this embodiment, the first working device 51 and the second working device 52 are connected to the main body 40 in a manner parallel to the X direction. Furthermore, the number of working devices 50 is not limited to two, and may be three or more. In this case, the third working device 50 may also be connected to a portion of the main body 40 that is not on one side. Furthermore, in this embodiment, the first piling machine and the second piling machine are constituted by the foundation machine 10 and the two piling accessories 60.

[0060] In this embodiment, since the first working device 51 and the second working device 52 have the same structure, the structure of the first working device 51 will continue to be described. Furthermore, the structures and reference numerals of the first working device 51 and the second working device 52 are the same, but when identification is required, each structure of the first working device 51 is appended with 'a' after the reference numeral, and each structure of the second working device 52 is appended with 'b' after the reference numeral. The first working device 51 includes a boom 53, a boom cylinder 54, a stick 55, a stick cylinder 56, and a boom mounting base 57.

[0061] The boom 53 is a rotating L-shaped component connected to the main body 40 via a boom mounting base 57, and is rotated by a boom cylinder 54. The boom 53 becomes [the maximum extension state of the boom cylinder 54] when [the boom is in its longest extension state]. Figure 1 The initial position, which becomes when boom cylinder 54 retracts. Figure 2 The work location.

[0062] The stick 55 is connected to the front end of the boom 53 and rotates via the stick cylinder 56. The stick 55 becomes the longest extended state when the stick cylinder 56 is in its extended position. Figure 1 The initial position, which becomes when the boom cylinder 56 shortens. Figure 2 The work location.

[0063] The shift cylinder 58 is a cylinder that adjusts the Y-direction interval between the first working device 51 and the second working device 52 according to the interval between the two pile drivers. For example... Figure 4 and Figure 5 As shown, the shift cylinder 58 uses a pair of guides 48 separated in the Z direction as guides to adjust the Y-direction spacing between the first working device 51 and the second working device 52. In this case, the shift cylinder 58 can fix the first working device 51 and allow the second working device 52 to slide in the Y direction, or it can allow the first working device 51 and the second working device 52 to slide in the Y direction respectively.

[0064] Cylinder 59 causes the piling accessory 60 to rotate. Cylinder 59 becomes... (The sentence is incomplete and requires more context to translate accurately.) Figure 1 The initial position, which becomes when cylinder 59 shortens. Figure 2 The work location.

[0065] In this embodiment, the boom cylinder 54, stick cylinder 56, shift cylinder 58, and cylinder body 59 are hydraulic cylinders that extend and retract under hydraulic pressure. Furthermore, the boom cylinder 54, stick cylinder 56, shift cylinder 58, cylinder body 59, and the vibrator 63 (described later) extend and retract via a hydraulic device 41.

[0066] One end (-Z side) of the piling accessory 60 is connected to the boom 55 and cylinder 59, and the other end (+Z side) has a pile 5 for mounting the pile to be driven (see reference). Figure 6 (or disassembly / removal mechanism of the driven pile 5.) The pile driving accessory 60 has an installation arm 61, a hanger 62, a vibrator 63, and a clamp 64.

[0067] Mounting arm 61 is a rotating L-shaped component, with one end (-Z side) connected to stick 55 and cylinder 59.

[0068] The hanger 62 is lifted from the other end of the mounting arm 61 and can rotate about the Z-axis.

[0069] The vibrator 63 is suspended from the hanger 62 and generates vibration using hydraulic power. Piling in this embodiment is performed using the vibration of the vibrator 63. Furthermore, the vibrator 63 can be either an oscillator type or a piston type.

[0070] The clamp 64 is installed at the lower end of the vibrator 63 to detachably hold the pile 5. In addition, the clamp 64 transmits the vibration from the vibrator 63 to the pile 5 when holding it.

[0071] Figure 6 This is a diagram showing the open and closed states of the chuck 64. Figure 6 (a) is a diagram showing the chuck 64 in the open state. Figure 6 (b) is a diagram showing the chuck 64 in the closed state. The opening and closing of the chuck 64 is also achieved by the extension and retraction of the hydraulic device 41.

[0072] return Figure 3 The power supply device 95 supplies power to the power receiving device 103 (described later) on the side of the drone 100. In this embodiment, wireless power supply is used. Wireless power supply supplies power to the power receiving device 103 in a non-contact manner, and methods such as magnetic resonance and electromagnetic induction are known. The power supply device 95 in this embodiment includes a power supply, a control circuit, and a power supply coil. The power supply coil is preferably located in the landing section. In this case, if the power supply coil is located inside the visual recognition mark 25, charging can begin quickly when the drone 100 lands.

[0073] Alternatively, a contact-based power supply method can be used instead of wireless power supply. In this case, metal contacts can be provided on both the power supply device 95 and the power receiving device 103, and the contacts can be mechanically connected to each other to supply power. For example, concave contacts can be provided on the take-off and landing section, and convex contacts can be provided on the UAV 100 side. There can be one concave contact and one convex contact, or multiple contacts can be provided.

[0074] When the UAV 100 is landed on the landing gear, and the base unit 10 moves on an uneven construction site, it is desirable for the UAV 100 to be mechanically engaged or electromagnetically connected to the landing gear so that the UAV 100 does not separate from the landing gear. In this embodiment, a locking mechanism that applies mechanical locking when the UAV 100 lands on the landing gear is employed.

[0075] The UAV 100 of this embodiment includes a flight device 101, a shooting device 102, a power receiving device 103, a sensor group 104, a battery 105, a second communication device 106, a second memory 107, and a UAV control device 108.

[0076] The flight unit 101 has a motor (not shown) and multiple propellers, which enable the drone 100 to float in the air and generate thrust for movement. Furthermore, the number of drones landing at the landing site is... Figure 1 The initial configuration is two drones, but this can be arbitrarily set and is not limited to two. Furthermore, the structure of each drone 100 can be identical, or parts of it can be modified. Also, the size of each drone 100 can be the same or different.

[0077] The shooting device 102 includes a lens, a shooting element, an image processing engine, etc., and is a digital camera for capturing animation or still images. In this embodiment, the shooting device 102 performs measurements or takes pictures to support piling. Additionally, the shooting device 102 visually identifies a visual recognition mark 25 to identify the landing position when the drone 100 lands on the landing gear. Furthermore, if a power supply coil or contact of a power supply device 95 is provided within the visual recognition mark 25, the battery 105 can be quickly charged via the power receiving device 103 after the drone 100 lands on the landing gear. Furthermore, in order to perform shake-free aerial photography, a two-axis or three-axis gimbal is preferably provided in the shooting device 102. Additionally, shake of the shooting device can also be prevented by software.

[0078] exist Figure 1 In the enlarged view enclosed by a single-dotted line, the lens of the imaging device 102 is mounted on the side (front) of the drone 100. However, the lens of the imaging device 102 can also be mounted on the lower surface of the drone 100, or multiple lenses can be mounted on the drone 100. Additionally, a moving mechanism can be provided to move the side-mounted lens toward the lower surface. Furthermore, a mechanism can be provided to rotate the imaging device 102 around the Z-axis, positioning the lens of the imaging device 102 at any position around the Z-axis. Furthermore, when the drone 100 lands at the take-off and landing section, if the lens of the imaging device 102 is oriented toward the X and Y directions, images can be captured from multiple directions that approximate the images visually recognized by the operator from the pilot's seat of a conventional base unit. Additionally, for example from... Figure 1 As can be seen, the take-off and landing unit is located on the top of the main unit 40, so the drone 100 is not obstructed by the main unit 40 and can take pictures through the shooting device 102. In addition, as the shooting device 102, an all-around camera (360-degree camera) can be used, or a 3D scanner can be used instead of the shooting device 102.

[0079] The power receiving device 103 has a power receiving coil, a charging circuit, etc., which are provided on the legs 109 of the drone 100, so that the battery 105 is charged with power from the power transmitting device 95.

[0080] Battery 105 is a secondary battery connected to power receiving device 103, and can be a lithium-ion secondary battery, lithium polymer secondary battery, etc., but is not limited to these. Battery 105 can supply power to flight device 101, shooting device 102, second communication device 106, second memory 107 and UAV control device 108.

[0081] The sensor group 104 includes GNSS, infrared sensors for preventing the UAV 100 from colliding with other devices (such as the work device 50), barometric pressure sensors for measuring altitude, magnetic sensors for detecting orientation, gyroscope sensors for detecting the attitude of the UAV 100, and accelerometer sensors for detecting the acceleration acting on the UAV 100.

[0082] The second communication device 106 has a wireless communication unit and communicates with the first communication device 27. In this embodiment, the second communication device 106 sends image data captured by the imaging device 102 and detection results detected by the sensor group 104 to the first communication device 27, or sends flight commands from the first communication device 27 to the UAV control device 108.

[0083] The second memory 107 is a non-volatile memory (e.g., flash memory) that stores various data and programs used to enable the drone 100 to fly, or stores image data captured by the imaging device 102, detection results detected by the sensor group 104, etc.

[0084] The UAV control device 108 includes a CPU, attitude control circuit, flight control circuit, etc., and controls the entire UAV 100. In addition, the UAV control device 108 determines the charging time based on the remaining power of the battery 105 or controls the shooting position, angle, frame rate, etc. of the shooting device 102.

[0085] Pile 5 (refer to) Figure 8 H-beams, L-beams, angle steel, channel steel, round steel, etc., can be used, but H-beams are used in this embodiment. The H-beam pile 5 consists of an upper flange, a lower flange, and a web sandwiched between the upper and lower flanges. The H-beam pile 5 is placed on the construction site with the end faces of the upper and lower flanges in contact with the ground. The operation of the piling system 1 constructed in the above manner will be described below.

[0086] (Explanation of the flowchart)

[0087] Figure 7 This is a flowchart of pile driving performed by the heavy machinery control device 29 of this embodiment. Figure 8 It is a diagram showing the pile driving process. Figure 8 (a) is a diagram showing the movement of counterweight 43. Figure 8 (b) is a diagram showing the situation of holding stake 5. Figure 8 Figure (c) shows the situation where pile 5 is pulled up. Figure 8 Figure (d) shows the situation where the orientation of pile 5 is changed. Figure 8 Figure (e) shows the situation of driving pile 5. Figure 8 (f) is a diagram showing the installation of components on the driven pile 5.

[0088] in addition, Figure 9 This is a summary diagram of the engineering site for this implementation method. Figure 9 (a) is a diagram showing the working device 50 in its initial position. Figure 9 (b) is a diagram showing the counterweight 43 and jack 47 in the working position. Figure 9 (c) is a diagram showing the situation where the working device 50 is driving the pile 5.

[0089] in addition, Figure 10 This is a summary diagram of the engineering site for this implementation method. Figure 10 Figure (a) shows the situation where the working device 50 is driving the pile 5. Figure 10 Figure (b) shows the situation where components are installed on pile 5. Figure 10 Figure (c) shows the piling system 1 moving to the next piling site. Furthermore, to avoid complicating the figures, in... Figures 8-10 Only the structures required for illustration are labeled with reference numerals in the drawings. Figure 9 as well as Figure 10 The illustration of drone 100 is omitted.

[0090] The following is for reference Figures 8-10 illustrate Figure 7 The flowchart.

[0091] In addition, Figure 7 In the flowchart, a part of it can also be done by the operator.

[0092] Before piling begins, the heavy machinery control device 29 performs measurements using the imaging device 102 of the two drones 100, acquiring point group data from the images (step S1). Furthermore, during measurement, the lens of the imaging device 102 is directed towards the lower surface (-Z direction). By utilizing two drones 100 for measurement, the measurement time can be shortened compared to using only one drone 100.

[0093] Alternatively, measurements can be taken using three or more drones 100. Furthermore, since there is a considerable amount of time between the measurement in step S1 and the implementation of step S2, step S1 can be removed from the flowchart as a preparatory step.

[0094] Based on the measurements taken in step S1 and the location data of the piles 5 to be driven, multiple piles 5 are placed horizontally at the construction site. At this time, the multiple piles 5 are placed horizontally at the construction site, avoiding the travel path P of the pile driving system 1. The horizontal placement of the multiple piles 5 can be performed by a handling robot (not shown) or by a worker. Furthermore, Figure 9 and Figure 10Multiple points in the diagram are used to hypothetically indicate the locations where piles are to be driven.

[0095] In this embodiment, solar panels 67 are arranged at an angle relative to the four piles 5 (see reference). Figure 10 (c)). Therefore, as Figure 9 As shown by the arrow in (a), long piles 5a are driven into the two points on the +X side of the four pile driving points, and short piles 5b are driven into the two points on the -X side. Furthermore, the tilt of the solar panel 67 is adjusted using the angle adjustment component 65, which will be described later.

[0096] The piling accessories 60, respectively installed on the first working device 51 and the second working device 52, are as follows: Figure 9 As shown in (c), after extending the first working device 51 and the second working device 52 towards the +X side to drive two long piles 5a, as shown in (c), Figure 10 As shown in (a), the first working device 51 and the second working device 52 are shortened towards the -X side to drive two short piles 5b. Furthermore, the piles 5 supporting the solar panel 67 can be two, three, or one.

[0097] In this embodiment, when the driving of the four piles 5 is completed, the heavy machinery control device 29 moves the piling system 1 along the Y direction via the traveling device 20. The piling system 1 drives the first working device 51 and the second working device 52 during movement in the X direction, and drives the traveling device 20 during movement in the Y direction. To enable rapid movement in both the X and Y directions, at the initial and working positions, the traveling device 20 is positioned such that a pair of tracks 22 face along the Y direction, and the first working device 51 and the second working device 52 are positioned along the X direction.

[0098] The heavy machinery control device 29 moves the counterweight 43 along a pair of base components 46 in the -X direction via an electric motor 44 (step S2). Furthermore, as... Figure 8 As shown in (a), the heavy machinery control device 29 takes pictures of the area around the counterweight 43 using the camera device 102 of another drone 100. Furthermore, it is desirable for the heavy machinery control device 29 to notify the counterweight 43 of its movement using warning lights or a loudspeaker before the counterweight 43 moves. Additionally, the heavy machinery control device 29 moves a pair of jacks 47 from their initial position to the working position, implementing a countermeasure to prevent the piling system 1 from tipping over using the pair of jacks 47. Furthermore, in Figure 9 The state after step S2 is completed is also shown in (b).

[0099] The heavy machinery control device 29 controls the first working device 51 and the second working device 52 to approach the two piles 5 that are the pile driving targets, and controls each chuck 64 to change from an open state to a closed state, so that the two pile driving accessories 60 hold a portion of the web of the two piles 5 (step S3). Figure 8 Figure (b) shows the operation in step S3, where another drone 100, having completed the photography of the area around the counterweight 43, is charging at the take-off and landing unit. Alternatively, another drone 100 can be used to photograph the area around the first working device 51 and the second working device 52, or the area around the two piling accessories 60, based on one drone 100.

[0100] The heavy machinery control device 29 controls the first working device 51 and the second working device 52 respectively to pull up the two piles 5 respectively (step S4). Figure 8 (c) shows the case of the pile 5 being pulled up by step S4.

[0101] like Figure 8 As shown in (d), the heavy machinery control device 29 adjusts the orientation of the pile 5 in the X direction (with the upper and lower flanges orthogonal to the plane of the paper) by means of the web of the H-beam pile 5. The orientation of the pile 5 can be adjusted by a rotary motor (not shown) mounted on the piling fitting 60, or by an operator. Furthermore, after step S5, in order to drive the two piles 5 approximately simultaneously, the heavy machinery control device 29 pre-adjusts the Y-direction interval between the first working device 51 and the second working device 52 based on the interval between the two piles by driving the shift cylinder 58.

[0102] The heavy machinery control device 29 applies vibration to each H-beam pile 5 via two vibrators 63, while simultaneously... Figure 8 (e) and Figure 9 The piling is carried out as shown in (c) (step S6). Furthermore, the heavy machinery control device 29 determines whether piling correction is needed during step S6 (step S7).

[0103] Figure 11 This image shows the situation where two drones (100) are used to photograph the driven piles (5). For example... Figure 11 As shown, the heavy machinery control device 29 enables the two drones 100 to fly. The heavy machinery control device 29 also enables the imaging device 102 of one of the drones 100 to capture images from the X-direction. Figure 11 The image IMG1 is shown in the quadrilateral frame on the upper side. Additionally, the heavy machinery control device 29 causes the imaging device 102 of another drone 100 to capture images from the Y direction, which is orthogonal to the X and Z directions, to obtain... Figure 11Image IMG2 is shown in the quadrilateral frame on the lower side. Furthermore, in both images IMG1 and IMG2, the thick line extending along the Z-direction within the quadrilateral frame represents a reference image. The heavy machinery control device 29 compares the reference image with the acquired image to determine whether pile driving corrections are needed.

[0104] Here, the heavy machinery control device 29 determines that the pile driving needs to be corrected and proceeds to step S8. The heavy machinery control device 29 appropriately controls the boom cylinder 54, stick cylinder 56, shift cylinder 58, and cylinder body 59, adjusting the position of the pile 5 while continuing the pile driving action, and acquires images from the two drone 100's imaging devices 102. The acquired images are compared with the reference images to adjust the attitude of the pile 5 (step S8).

[0105] exist Figure 11 In order to use two drones 100 to photograph the attitude of a pile 5, four drones 100 are needed when driving the two piles 5 roughly at the same time.

[0106] Figure 12 This image shows a drone taking pictures of the driven pile 5. Figure 12 In the image, a circular mark is formed on the flange (e.g., the upper flange) of the pile 5. The image captured by the drone's imaging device 102 includes an image of the lower flange indicating tilt in the Y direction and an image of the circular mark indicating tilt in the X direction. Even when there is no tilt in the X direction, the image captured by the drone's imaging device 102 is circular; however, when there is tilt in the X direction, the image captured by the drone's imaging device 102 is elliptical. Furthermore, a reference image extending in the Z direction is displayed in image IMG3, but a circular reference image can also be displayed based on this.

[0107] The heavy machinery control device 29 determines whether each pile 5 has been driven to the specified depth (step S9). Figure 13 This is a diagram showing the pile driving depth mark DM formed on the upper flange of pile 5. Figure 13 Figure (a) is an example showing an example where the piling depth marker DM is placed at the bottom of pile 5. Figure 13 Figure (b) shows an example of placing the piling depth mark DM on the upper part of pile 5. Furthermore, a horizontal line is used as an example of the depth mark DM.

[0108] like Figure 13As shown in (a), based on the image captured by the camera device 102 of the drone 100 from an obliquely above the pile 5, if the ground surface is approximately aligned with the horizontal line forming the pile depth mark DM, the heavy machinery control device 29 determines that the pile 5 has been driven to the specified depth and proceeds to step S10. On the other hand, if the horizontal line forming the pile depth mark DM is above the ground surface, the heavy machinery control device 29 considers that the pile has not been driven to the specified depth and repeats the steps after step S6.

[0109] Furthermore, the heavy machinery control device 29 sets the altitude of the drone 100 based on the measurement results of step S1 and the height information of the pile depth mark DM formed on the upper part of the pile 5. This is to detect the position of the pile depth mark DM based on the altitude of the drone 100. The UAV control device 108 controls the altitude of the drone 100 to the set altitude based on the output of the barometric pressure sensor. When the drone 100 is at the set altitude, the UAV control device 108 causes the imaging device 102 to capture images of the pile depth mark DM. Figure 13 As shown in (b), based on the image captured by the imaging device 102, if the pile depth marker DM is at a specified height above the ground surface, the heavy machinery control device 29 determines that pile 5 has been driven to the specified depth and proceeds to step S10. On the other hand, if the pile depth marker DM is above the specified height above the ground surface, the heavy machinery control device 29 considers that the pile has not been driven to the specified depth and repeats the steps after step S6.

[0110] In step S9, the heavy machinery control device 29 determines that each pile 5 has been driven to the specified depth, and assumes that the chuck 64 has changed from the closed state to the open state, and releases the grip on the web of the pile 5 (step S10).

[0111] The heavy machinery control device 29 installs the angle adjustment component 65 and the crossbeam component 66 onto the two driven stakes 5 respectively (step S11). The angle adjustment component 65 is a mechanical component for adjusting the tilt of the solar panel 67. The crossbeam component 66 is a mechanical component for mounting the solar panel 67. Furthermore, the installation of the angle adjustment component 65 and the crossbeam component 66 can be performed by an assembly robot (not shown) or by a worker.

[0112] Before moving, the heavy machinery control device 29 moves a pair of jacks 47 from the working position to the initial position (step S12). In this case, since the two piling accessories 60 do not hold the pile 5, the possibility of overturning is extremely low, but the heavy machinery control device 29 can also move a portion of the first working device 51 and the second working device 52 in the -X direction.

[0113] The heavy machinery control device 29 determines whether the predetermined piling has ended (step S13). If the predetermined piling has not ended (step S13 / No), the heavy machinery control device 29 moves to the next piling location and repeats the process after step S3 until the predetermined piling is completed. On the other hand, if the predetermined piling has ended (step S13 / Yes), the heavy machinery control device 29 terminates this process flow. Furthermore, when terminating this process, the heavy machinery control device 29 returns the piling system 1 to its initial position and stores the counterweight 43 in the main unit 40. Then, the heavy machinery control device 29 moves the piling system 1 to the designated location.

[0114] Furthermore, in the implementation of this flowchart, the heavy machinery control device 29 can also monitor the output of the attitude detector 42. If the main unit 40 tilts more than a specified distance due to wind or loose ground, the piling operation can be interrupted, and the piling system 1 can be returned to its initial position. In this case, the heavy machinery control device 29 can either position the counterweight 43 outside the main unit 40 or store the counterweight 43 inside the main unit 40 based on the output of the attitude detector 42.

[0115] (Modified Example)

[0116] Figure 14 This is a schematic diagram showing a modified example of the piling system 1 according to the first embodiment. In the first embodiment, the first working device 51 and the second working device 52 are connected to the main body 40 in a manner parallel to the X direction. In this modified example, the first working device 51 and the second working device 52 are connected to the main body 40 at an angle relative to the X direction. Therefore, a swing section 68 and a swing cylinder 69 are provided instead of a pair of guides 48, a boom mounting seat 57, a shift cylinder 58, etc.

[0117] The portion of the swing section 68 connected to the main body 40 and the portion connected to the boom 53 are axially supported so that they can rotate about the Z-axis. The swing cylinder 69 is a hydraulic cylinder with one end connected to the main body 40 and the other end connected to the swing section 68, and it performs extension and retraction actions through the hydraulic device 41.

[0118] Furthermore, in this modified piling system 1, a power generation device 8 is provided on the upper surface of the main body 40. Preferably, the power generation device 8 uses electricity generated from natural energy sources; in this modified example, it is a solar power generation device using solar panels. The electricity generated by the power generation device 8 charges a battery (not shown) to drive the engine 23, hydraulic device 41, electric motor 44, power transmission device 95, etc. By using electricity from natural energy sources for the piling system 1, it is possible to reduce the emissions of greenhouse gases, namely carbon dioxide, produced by the piling system 1.

[0119] Alternatively, a tilting mechanism can be provided between the upper surface of the main body 40 and the power generation device 8 to tilt the power generation device 8 toward the sun. With this tilting mechanism, if the power generation device 8 is tilted according to the rotation of the rotation device 30, efficient solar power generation can be achieved. Furthermore, the power generation device 8 can also be applied to the piling system 1 of the first embodiment and the second embodiment described later, enabling the upper surface of the main body 40 to function as a power generation unit in addition to its functions as a take-off and landing unit and a charging unit for the drone 100.

[0120] Furthermore, in the modified pile driving system 1, vibration power generation elements 9 are respectively installed on two vibrators 63. Each vibration power generation element 9 has a piezoelectric element, and generates electricity through the piezoelectric effect caused by deformation when force is applied to the piezoelectric element. The electricity generated by the vibration power generation element 9 also charges a battery (not shown), thereby reducing carbon dioxide emissions from the pile driving system 1. Furthermore, the vibration power generation element 9 can also be applied to the pile driving system 1 of the first embodiment and the second embodiment described later. Additionally, the electricity generated by the power generation device 8 and the vibration power generation element 9 can also be used to charge the battery 105 of the drone 100.

[0121] In addition, Figure 14 To simplify the accompanying drawings, the counterweight 43 and jack 47 are omitted from the illustrations, but in this modified example, at least one of the counterweight 43 and jack 47 may be added.

[0122] (Second Implementation)

[0123] The following uses Figures 15-19 The second embodiment will be described, and the same reference numerals will be used to mark the same structures as in the first embodiment, and the description will be omitted or simplified. Figure 15 This is a schematic diagram of the piling system 1 according to the second embodiment of the present invention. Figure 16 This is a block diagram of the piling system 1 according to the second embodiment of the present invention.

[0124] The piling system 1 of the second embodiment of the present invention has a power generation device 8 provided on the side of the main body 40. If the side of the main body 40 is formed into a cone shape and the power generation device 8 is tilted towards the sun, efficient solar power generation can be achieved.

[0125] In addition, the piling system 1 of the second embodiment of the present invention, besides the two vibrators 63, also has a vibration power generation element 9 installed on the stick component connected to a pair of tracks 22. Furthermore, the vibration power generation element 9 can also be installed on the engine 23 or the main body of the drone 100.

[0126] Furthermore, the piling system 1 of the second embodiment of the present invention, based on the structure of the first embodiment, has a third working device 35 as a third working device 50 for transporting solar panels 67 to the driven piles 5.

[0127] Like the first and second working devices 51 and 52, the third working device 35, in addition to the boom 53, boom cylinder 54, stick 55, and stick cylinder 56, also has a swing section 68 and a swing cylinder 69 as described in the modified example. Furthermore, the third working device 35 is connected to the center position of the main body device 40 via the swing section 68 in the Y direction, which is orthogonal to the X and Z directions.

[0128] Additionally, the third working device 35 has a mounting accessory 70 for mounting the solar panel 67 onto the crossbeam member 66. The mounting accessory 70 has a mounting arm 71, a Y-axis rotating part 72, a Z-axis rotating part 73, a main body part 74, and an adsorption part 75.

[0129] One end of the mounting arm 71 on the +X side is connected to the cylinder 59 that rotates the boom 55 and mounting accessories 70. The other end of the mounting arm 71 on the -X side is connected to the Y-axis rotating part 72.

[0130] The Y-axis rotating part 72 has a motor that causes the mounting accessory 70 to rotate about the Y-axis, which is orthogonal to the X-axis and Z-axis. In addition, one end of the Y-axis rotating part 72 on the +Z side is connected to the mounting arm 71, and the other end on the -Z side is connected to the Z-axis rotating part 73.

[0131] The Z-axis rotating part 73 has a motor that causes the mounting accessory 70 to rotate around the Z-axis. In addition, one end of the Z-axis rotating part 73 on the +Z side is connected to the Y-axis rotating part 72, and the other end on the -Z side is connected to the main body part 74.

[0132] The main body 74 is rectangular in shape, consisting of a long side and a short side, and uses an adsorption part 75 to hold the solar panel 67. In addition, one end of the main body 74 on the +Z side is connected to the Z-axis rotating part 73.

[0133] An adsorption section 75 is formed on the main body 74, and adsorbs the solar panel 67 through multiple adsorption surfaces. The adsorption of the adsorption section 75 can be performed using vacuum adsorption, electromagnetic adsorption, etc., wherein vacuum adsorption uses a vacuum. Alternatively, the adsorption section 75 can also be a hybrid adsorption section having a vacuum adsorption section for vacuum adsorption and an electromagnetic adsorption section for electromagnetic adsorption.

[0134] The third working device 35 can also function as a counterweight, correcting the eccentric load acting on the piling system 1 when the first working device 51 and the second working device 52 are operating. If the third working device 35 is driven as a counterweight, the jack 47 can be omitted, or the counterweight 43 can be reduced or omitted. Furthermore, the counterweight 43 can be changed from a movable type to a fixed type. Therefore, in Figure 16 In the block diagram, the electric motor 44 and jack 47 that move the counterweight 43 are omitted. Furthermore, when moving the third working device 35 as a counterweight, it is preferable to provide a warning light to visually attract attention, or to provide a loudspeaker to auditorily attract attention, or both.

[0135] The operation of the piling system 1 of the second embodiment constructed in the manner described above will be further explained below.

[0136] (Explanation of the flowchart)

[0137] Figure 17 This is a flowchart describing the handling and installation of the solar panel 67 performed by the heavy machinery control device 29 according to the second embodiment of the present invention. Furthermore, to explain the operation of making the third working device 35 function as a counterweight, Figure 17 The flowchart includes some steps of piling, but is not limited to them. Additionally, in Figure 17 In the flowchart, a part of it can also be performed by the operator.

[0138] Figure 18 This diagram illustrates the action of setting up solar panel 67. Figure 18 (a) is a diagram showing the piling situation. Figure 18 (b) is a diagram showing the situation where the stake is released from its grip. Figure 18 (c) is a diagram showing the case where the solar panel 67 is adsorbed.

[0139] in addition, Figure 19 This diagram also illustrates the operation of setting up the solar panel 67. Figure 19 Figure (a) shows the situation where the solar panel 67 is lifted. Figure 19 (b) is a diagram showing the turning situation. Figure 19 Figure (c) shows the case of a 90-degree rotation. Figure 19 Figure (d) shows the configuration of the solar panel 67. Furthermore, to avoid complicating the figures, in... Figures 18-19 Only the structures required for illustration are labeled with reference numerals in the accompanying drawings.

[0140] The following is for reference Figure 18 and Figure 19 illustrate Figure 17 The flowchart.

[0141] like Figure 18 As shown in (a), the heavy machinery control device 29 uses the first working device 51, the second working device 52, and two piling accessories 60 to drive two short piles 5b (step S101). Furthermore, the heavy machinery control device 29 performs this operation simultaneously during the piling process in step S101. Figure 7 Steps S7 to S9 in the flowchart are the same as those in the first embodiment, so their descriptions are omitted.

[0142] During piling in step S101, the heavy machinery control device 29 performs eccentric load correction using the third working device 35 and the mounting accessory 70 (step S102). The heavy machinery control device 29 performs eccentric load correction by moving the third working device 35 in the -X direction.

[0143] If the piling in step S101 is completed, the heavy machinery control device 29 opens the chuck 64 from the closed state, releasing the grip on the webs of the two short piles 5b. Furthermore, the heavy machinery control device 29 can also move the third working device 35 and the mounting accessories 70 to continuously correct eccentric loads based on the action accompanying the release of the grip on the short piles 5b. In this case, the heavy machinery control device 29 only needs to move the third working device 35 based on the output of the attitude detector 42.

[0144] The heavy machinery control device 29 uses the third working device 35 and mounting accessories 70 to attach the solar panel 67 (step S103). Figure 18 As shown in (c), the heavy machinery control device 29 causes the drone 100 to fly above the mounting accessory 70, and the imaging device 102 takes pictures of the solar panel 67 and the main body 74. The heavy machinery control device 29 moves the third working device 35 to align the positions of the solar panel 67 and the main body 74 in the X and Y directions. When the positions of the solar panel 67 and the main body 74 are aligned in the X and Y directions, the solar panel 67 is mostly obscured by the main body 74 in the images captured by the imaging device 102. Therefore, the heavy machinery control device 29 can determine whether the positions of the solar panel 67 and the main body 74 are aligned in the X and Y directions by using pattern matching of the reference image. In addition, the determination of the alignment of the solar panel 67 and the main body 74 in the X and Y directions can also be performed by an operator.

[0145] After the solar panel 67 and the main body 74 are aligned in the X and Y directions, the heavy machinery control device 29 controls the third working device 35 to move the mounting accessory 70 in the -Z direction, and then the solar panel 67 is adsorbed by the adsorption part 75.

[0146] like Figure 19 As shown in (a), the heavy machinery control device 29 uses the third working device 35 and the mounting accessories 70 to lift the solar panel 67 (step S104).

[0147] Next, as Figure 19 As shown in (b), the heavy machinery control device 29 rotates the slewing device 30 by 180 degrees (step S105). Alternatively, after step S105, one of the two UAVs 100 can be landed at the landing site for charging.

[0148] like Figure 19 As shown in (c), the heavy machinery control device 29 rotates the solar panel 67 90 degrees around the Z-axis via the Z-axis rotation unit 73 (step S106). Figure 10 As shown in (c), the solar panel 67 is a rectangle composed of a long side and a short side. If the direction of the long side of the solar panel 67 is aligned with the X direction during the rotation in step S105, the solar panel 67 will protrude much beyond the third working device 35 in the X direction, which may not be safe. Therefore, in this embodiment, the direction of the short side of the solar panel 67 is aligned with the X direction before the rotation ends, and the solar panel 67 is rotated 90 degrees around the Z-axis by the Z-axis rotating part 73 after the rotation ends.

[0149] Furthermore, if the adsorption section 75 adsorbs the solar panel 67 from above, the solar panel 67 may fall if the adsorption section 75 malfunctions. Therefore, the rotation device 30 can be used to rotate the solar panel 67 from below while the Y-axis rotation section 72 is rotated 180 degrees.

[0150] like Figure 19 As shown in (d), the heavy machinery control device 29 controls the third working device 35 to place the solar panel 67 onto the crossbeam member 66 (step S107). Furthermore, the positioning of the solar panel 67 relative to the crossbeam member 66 can be based solely on the image captured by the camera device 102 of the drone 100, and can be performed using pattern matching of the reference image. Additionally, the positioning and securing of the solar panel 67 relative to the crossbeam member 66 can also be performed by an operator. After placing the solar panel 67 onto the crossbeam member 66, the heavy machinery control device 29 releases the adsorption unit 75 from the solar panel 67. Furthermore, in this embodiment, since the solar panel 67 is magnetic, therefore... Figure 19 (c) and Figure 19 As shown in (d), the adsorption section 75 is a hybrid adsorption section composed of a vacuum adsorption section 75a and an electromagnetic adsorption section 75b.

[0151] The heavy machinery control device 29 determines whether the installation of the solar panel 67 is complete (step S108). If there is another solar panel 67 to be installed (step S108 / No), the heavy machinery control device 29 rotates the slewing device 30 180 degrees and repeats the steps after step S103. Alternatively, if the predetermined installation of the solar panel 67 is complete (step S108 / Yes), the heavy machinery control device 29 terminates this flowchart. Furthermore, upon termination of this flowchart, the heavy machinery control device 29 returns the first working device 51 and the second working device 52 to their initial positions and moves the piling system 1 to the designated location. As described in detail above, in the second embodiment, the solar panel 67 can be installed after piling, thus enabling efficient construction and shortening the construction period.

[0152] The embodiments described above are merely illustrative examples of the present invention, and various modifications can be made without departing from the spirit of the invention. For example, if an infrared camera is used as the imaging device 102, pile driving can be carried out even at night, shortening the construction period. The warning light and speaker described above can also be installed in locations other than the main device 40. In addition, the first embodiment, the modified embodiment, and the second embodiment can be appropriately combined.

[0153] Furthermore, even when the remaining battery 105 of the drone 100 in flight decreases, the drone 100 that is not flying is recharged, thus allowing for rapid replacement of the drone 100 to be flown, and therefore the limitation on the flight time of the drone 100 can be substantially disregarded. Additionally, according to this embodiment, since the drone 100 assists the piling system 1, automated engineering construction can be achieved efficiently.

[0154] The power generation device 8 is not limited to being installed on the piling system 1, but can also be installed on construction machinery such as backhoes. In this case, it is preferable to apply it to an automatic driving type without a driver's seat, as in this embodiment. In addition, the vibration power generation element 9 is not limited to being installed on the piling system 1, but can also be installed on the mechanical components or engine of the traveling device that holds the backhoe or other heavy construction machinery.

[0155] Explanation of reference numerals in the attached figures

[0156] 1. Pile driving system

[0157] 10 Basic Machines

[0158] 20. Traveling device

[0159] 29 Heavy machinery control devices

[0160] 30 Rotary device

[0161] 35. Third working device

[0162] 40 Main Unit

[0163] 41 Hydraulic Unit

[0164] 50 working devices

[0165] 51 First working device

[0166] 52. Second working device

[0167] 60 Pile Driving Accessories

[0168] 70 Installation accessories

[0169] 100 drones

[0170] 102 Filming Device

[0171] 103 Power receiving device

[0172] 104 sensor group

[0173] 105 battery

[0174] 108 UAV control device

Claims

1. A piling device, characterized in that, have: The main body of the device moves via a traveling mechanism; The first pile driver is connected to the main body and drives piles along the vertical direction; The second pile driver is connected to the main body and drives piles along the vertical direction; and The interval adjustment unit adjusts the interval between the first pile driver and the second pile driver in a direction orthogonal to the vertical direction.

2. The piling device according to claim 1, characterized in that, have: The take-off and landing section, which is located in the main body device; and Unmanned aerial vehicles take off and land at the aforementioned landing site.

3. The piling device according to claim 2, characterized in that, A communication device is provided to communicate with the communication device located on the unmanned aerial vehicle.

4. The piling device according to claim 2 or 3, characterized in that, A portion of the power supply unit that supplies power to the unmanned aerial vehicle is located in the take-off and landing section.

5. The piling device according to claim 2 or 3, characterized in that, It is equipped with a first control device that controls the first pile driver and the second pile driver based on the measurement results of the unmanned aerial vehicle.

6. The piling device according to claim 2 or 3, characterized in that, The unmanned aerial vehicle is equipped with a camera unit for taking pictures. The piling device includes a second control device that controls at least one of the first piling machine and the second piling machine based on the piling image captured by the imaging unit.

7. The piling device according to claim 6, characterized in that, A recording unit with a reference image of a recording stake. The second control device controls at least one of the first pile driver and the second pile driver based on the pile images captured by the unmanned aerial vehicle and the reference images.

8. The piling device according to claim 2 or 3, characterized in that, The take-off and landing unit is equipped with visual identification markings.

9. The piling device according to any one of claims 1 to 3, characterized in that, The first pile driver and the second pile driver are connected to the main body at a predetermined angle.

10. The piling device according to any one of claims 1 to 3, characterized in that, The first pile driver and the second pile driver are connected to the main device in such a way that the forward direction of the traveling device is consistent with the pile driving direction of the multiple piles driven by the first pile driver and the second pile driver.

11. The piling device according to any one of claims 1 to 3, characterized in that, It has a first moving device that moves the mass body before driving the first pile driver and the second pile driver.

12. The piling device according to any one of claims 1 to 3, characterized in that, It has a second moving device that moves the stabilizing component toward the ground before driving the first pile driver and the second pile driver.

13. The piling device according to any one of claims 1 to 3, characterized in that, A power generation device is provided on the main unit.

14. The piling device according to any one of claims 1 to 3, characterized in that, A vibration-generating element is provided near the traveling device.

15. The piling device according to any one of claims 1 to 3, characterized in that, At least one of the first pile driver and the second pile driver is provided with a vibration power generation element.

16. A piling device, characterized in that, have: The main body of the device moves via a traveling mechanism; The first pile driver is connected to the main unit and performs pile driving. The second pile driver is connected to the main unit and performs pile driving; and The transport unit, which is connected to the main body, transports components to the driven piles. The transport unit includes an adsorption unit that adsorbs the component by at least one of vacuum adsorption and electromagnetic adsorption.

17. The piling device according to claim 16, characterized in that, The first pile driver and the second pile driver are connected to one side of the main body device. The transport unit is connected to the other side of the main body device.

18. The piling device according to claim 16 or 17, characterized in that, The eccentric load acting on the main body device due to the driving of the first and second pile drivers is corrected by driving the transport unit.

19. The piling device according to claim 18, characterized in that, It is equipped with a warning unit that issues a warning when the eccentric load acting on the main body device is corrected by driving the conveying unit.

20. The piling device according to claim 16 or 17, characterized in that, The positioning of the transport unit relative to the component is achieved by a camera mounted on the unmanned aerial vehicle.

Images