Press-in construction method, press-in construction system, and program

Abstract

The press-fitting construction method comprises: a holding step; a position measurement step in which the position of the pile in the objective coordinate system is measured by a measurement management device disposed separately from the press; a command generation step for generating a command by using first position information of the pile in the objective coordinate system measured by the position measurement step and second position information relating to the position of the chuck in a subjective coordinate system with reference to the traveling direction of the saddle of the press-in machine, the command being generated by the first position information of the pile in the objective coordinate system measured by the position measurement step and the second position information relating to the position of the chuck in the subjective coordinate system. Generating a command relating to an operation of the press-in machine for moving the pile to a target position; a positioning step in which the pile is moved to the target position; and a press-fitting step in which the pile is pressed into a foundation.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a press-in construction method, a press-in construction system, and a program. This application claims priority based on Japanese Patent Application No. 2023-062081 filed in Japan on April 6, 2023, and the content thereof is incorporated herein. BACKGROUND

[0002] In the past, automation in press-in construction of piles has been developed. For example, in Patent Literature 1, a control method for automatically moving (self-propelled) a press-in machine when a next second pile is pressed in after completion of press-in of a first pile is disclosed. More specifically, the press-in machine of Patent Literature 1 is provided with a saddle, a plurality of clamping members provided at a lower portion of the saddle and holding a pile, a sliding frame capable of moving forward and backward with respect to the saddle, a mast capable of rotating with respect to the sliding frame, and a chuck mounted to the mast and gripping the pile. The pile is pressed into the ground by moving the chuck that grips the pile up and down. In the control method of Patent Literature 1, the amount of movement of the clamping members and the mast is automatically calculated, and control is performed based on the amount of movement, thereby achieving self-propelled. PRIOR ART DOCUMENTS PATENT LITERATURE

[0003] Patent Literature 1: Japanese Patent Application Publication No. 2020-84670 SUMMARY PROBLEMS TO BE SOLVED BY THE INVENTION

[0004] In press-in construction of piles, it is necessary to move the pile to a target position. In the past technology, automation with respect to moving the pile to the target position could not be achieved.

[0005] The present disclosure is achieved in consideration of such circumstances, and aims to provide a press-in construction method, a press-in construction system, and a program that can achieve automation of moving a pile to a target position. MEANS FOR SOLVING PROBLEMS

[0006] To solve the above problems, the press-in construction method according to the scheme 1 of the present disclosure uses a press-in machine including a chuck that holds a pile, a saddle that is provided with a plurality of clamps that hold an existing pile and receive a reaction force from the existing pile, and a mast that is movable forward and backward with respect to the saddle and is capable of performing a turning action that supports the chuck. The press-in construction method includes a holding process in which the pile is held by the chuck, a position measurement process in which a position of the pile held by the chuck in an objective coordinate system is measured by a measurement management device that is provided separately from the press-in machine, a communication process in which the measurement management device communicates with the press-in machine, an instruction generation process in which an instruction related to an action of the press-in machine for moving the pile to a target position is generated using first position information of the pile in the objective coordinate system measured in the position measurement process and second position information related to a position of the chuck in a subjective coordinate system that is based on a traveling direction of the saddle, a positioning process in which the press-in machine moves the pile held by the chuck to the target position based on the instruction, and a press-in process in which the pile is pressed into a foundation at a position of the pile after the positioning process. In the communication process, communication of at least the first position information is performed. An origin of the subjective coordinate system is a turning center axis of the mast when the mast is located at a rearmost position with respect to the saddle.

[0007] According to the press-in construction method according to the scheme 1, in the communication process according to the scheme 2 of the present disclosure, the measurement management device transmits the first position information measured in the position measurement process to the press-in machine. In the instruction generation process, the control unit of the press-in machine generates the instruction using the first position information and the second position information.

[0008] According to the press-in construction method according to the scheme 1 or 2, the scheme 3 of the present disclosure includes an inclination measurement process in which an inclination of the pile held by the chuck with respect to a management angle is measured by the measurement management device, and an inclination correction process in which the inclination of the pile is corrected using inclination information of the pile measured in the inclination measurement process.

[0009] According to the press-in construction method according to any one of the schemes 1 to 3, the scheme 4 of the present disclosure includes a top end height measurement process in which a top end height of the pile held by the chuck is measured by the measurement management device. In the press-in process, the pile is pressed into the foundation to a prescribed depth using top end height information measured in the top end height measurement process.

[0010] According to the press-in construction method involved in Scheme 3, with respect to Scheme 5 of the present disclosure, in the position measurement process, the measurement management device measures the positions of two points of the lower portion of the pile, and in the inclination measurement process, the measurement management device measures the positions of two points of the lower portion of the pile and two points of the upper portion of the pile.

[0011] According to the press-in construction method of Scheme 4, with respect to Scheme 6 of the present disclosure, in the position measurement process, the measurement management device measures the positions of two points of the lower portion of the pile, and in the top end height measurement process, the measurement management device measures the position of the target installed above the pile.

[0012] According to the press-in construction method involved in any one of Schemes 1 to 6, Scheme 7 of the present disclosure further has an overtravel amount obtaining process in which the overtravel amount of the mast in the turning operation and the overtravel amount of the mast in the linear motion operation are obtained, and in the positioning process, the turning operation and the linear motion operation of the mast are performed using the result obtained by subtracting the overtravel amount of the turning operation from the turning amount of the mast calculated based on the first position information and the second position information and the result obtained by subtracting the overtravel amount of the linear motion operation from the linear motion movement amount of the mast calculated based on the first position information and the second position information.

[0013] According to the press-in construction method involved in any one of Schemes 1 to 7, with respect to Scheme 8 of the present disclosure, the plurality of gripping members include a first gripping member located at the frontmost position, a second gripping member adjacent to the first gripping member, and a third gripping member adjacent to the second gripping member, and after the pile is pressed into the ground by a prescribed amount in the press-in process, the first gripping member is moved toward a first existing pile adjacent to the pile based on the position information of the first existing pile stored when the presser presses the first existing pile, the second gripping member is moved toward a second existing pile adjacent to the first existing pile based on the position information of the first gripping member stored when the first gripping member holds the second existing pile, and the third gripping member is moved toward a third existing pile adjacent to the second existing pile based on the position information of the second gripping member stored when the second gripping member holds the third existing pile.

[0014] The press-in construction system according to the above aspect of the present disclosure includes: a press-in machine including: a chuck that holds a pile; a saddle that is provided with a plurality of clamps that hold an existing pile and receive a reaction force from the existing pile; a mast that is movable forward and backward with respect to the saddle and is capable of performing a slewing operation that supports the chuck; a sensor that detects a position of the chuck; and a control unit that controls operations of the chuck, the mast, and the saddle; and a measurement management device that is separate from the press-in machine and communicates with the press-in machine. The measurement management device obtains first position information of the pile in an objective coordinate system by measuring a position of the pile held by the chuck. The sensor obtains second position information of the pile in a subjective coordinate system that is based on a traveling direction of the saddle and has an origin at a slewing center axis of the mast when the mast is located at a rearmost position with respect to the saddle. The control unit or the measurement management device generates an instruction related to an operation of the press-in machine for moving the pile to a target position using the first position information and the second position information. The press-in machine performs an operation based on the instruction to move the pile held by the chuck to the target position and press the pile into a foundation. The press-in machine communicates at least the first position information with the measurement management device.

[0015] The program according to the above aspect of the present disclosure causes a computer included in a press-in construction system to perform the following processing. The press-in construction system includes: a press-in machine including: a chuck that holds a pile; a saddle that is provided with a plurality of clamps that hold an existing pile and receive a reaction force from the existing pile; and a mast that is movable forward and backward with respect to the saddle and is capable of performing a slewing operation that supports the chuck; and a measurement management device. The program causes the computer to perform the following processing. The measurement management device measures a position of the pile held by the chuck in an objective coordinate system. The measurement management device and the press-in machine communicate at least first position information of the pile in the objective coordinate system. An instruction related to an operation of the press-in machine for moving the pile to a target position is generated using the first position information and second position information related to a position of the chuck in a subjective coordinate system that is based on a traveling direction of the saddle and has an origin at a slewing center axis of the mast when the mast is located at a rearmost position with respect to the saddle. The press-in machine is caused to perform an operation based on the instruction to move the pile held by the chuck to the target position. The pile is pressed into a foundation at a position of the pile after the movement. Effects of Invention

[0016] The press-in construction method, the press-in construction system, and the program according to the above aspect of the present disclosure can achieve automation of moving a pile to a target position. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic view of a press-in construction system to which the present embodiment pertains. Figure 2 is a view that explains the structure of a press-in machine pertaining to the present embodiment. Figure 3 is a view that shows a state in which a pile is installed with a driving device. Figure 4 is a view that explains a press-in construction method pertaining to the present embodiment. Figure 5 is a view that explains a subsequent process. Figure 4 Figure 6 is a view that shows a press-in machine as viewed from above, (a) shows a subjective coordinate system, and (b) shows an objective coordinate system. Figure 7 is a view that explains the operation of a press-in machine for converting position information of an objective coordinate system into a subjective coordinate system. Figure 8 is a flowchart that explains a positioning process in the press-in construction method of the present embodiment. Figure 9 is a flowchart that explains a press-in process in the press-in construction method of the present embodiment. Figure 10 is a view that explains an overtravel amount. Figure 11 is a flowchart that explains an overtravel amount obtaining process in the press-in construction method of the present embodiment. DETAILED DESCRIPTION

[0018] Hereinafter, the press-in construction method, the press-in construction system, and the program of the present embodiment will be explained based on the drawings. As shown in Figure 1 , the press-in construction system S of the present embodiment is provided with a press-in machine 1 (a press-in puller) and a measurement management device 2. The press-in machine 1 is capable of pressing a pile into a foundation or pulling a pile out of a foundation. However, the press-in machine 1 can also not have the function of pulling a pile out of a foundation.

[0019] In the present embodiment, the press-in machine 1 that performs press-in construction on a pile that can be held from the inside is explained as an example. As a pile that can be held from the inside, for example, a steel pipe pile, a steel pipe sheet pile, a concrete pile, or the like can be listed. In Figure 1 and the like, a steel pipe pile is shown as an example of a pile. However, the type of pile that is the object of press-in construction is not limited to a steel pipe pile and is not particularly limited. A pile that can be held from the outside can also be the object of press-in construction.

[0020] ​The measurement management device 2 includes a measurement unit 3 and a management unit 4. The measurement unit 3 is, for example, a total station. The measurement unit 3 is capable of determining the position of the pile. The management unit 4 is, for example, a laptop computer. The management unit 4 communicates with the measurement unit 3. In addition, the measurement management device 2 communicates with the pile driver 1. Either the measurement unit 3 or the management unit 4 can communicate with the pile driver 1, or both can communicate with the pile driver 1. In this specification, the specific method of "communication" is not particularly limited, but wireless communication (e.g., Bluetooth (registered trademark)) is preferred. The "communication" in this embodiment can also be performed via wired communication.

[0021] like Figure 2 As shown, the press-fit machine 1 includes a mast 20, a sliding frame 12, a saddle 10, multiple clamping components 11, a chuck 25, a cylinder 30, a mast front and rear sensor 50, a mast rotation sensor 51, a chuck up and down sensor 52, a chuck rotation sensor 53, a first clamping component front and rear sensor 54A, a second clamping component front and rear sensor 54B, a third clamping component front and rear sensor 54C, a first clamping component left and right sensor 55A, a second clamping component left and right sensor 55B, a third clamping component left and right sensor 55C, and a control unit 60.

[0022] (Direction definition) In this manual, "front" of the press-in machine indicates the direction of the push-in operation. Figure 1 , Figure 2 , Figure 4 In the diagram, the right side is the front of the press machine 1, and the left side is the rear of the press machine 1. In the press machine 1 of this embodiment, the side where the mast 20 is installed is called the upper side, and the side where the saddle 10 is installed is called the lower side. The direction orthogonal to both the front-back direction and the up-down direction is called the left-right direction. Furthermore, the "forward" direction of the press machine 1 may also include the left-right direction (and...). Figure 1 The components are those orthogonal to the paper surface. Furthermore, in this specification, "the direction of travel of the saddle 10" refers to the direction of the planned normal during the pressing operation. In this embodiment, the vertical direction can be parallel to the vertical direction (the direction of gravity) or inclined relative to the vertical direction.

[0023] Multiple clamping members 11 are provided at the lower part of the saddle 10. The number of clamping members 11 provided in the pressing machine 1 can be any number of two or more. The multiple clamping members 11 are arranged at intervals in the front-rear direction. The clamping members 11 hold the upper end of the pile that has been pressed into the foundation G, thereby fixing the saddle 10 to the pile (foundation G). Hereinafter, the existing pile (the pile that has been pressed into the foundation G) is sometimes referred to as the "existing pile". In this embodiment, the clamping member 11 is inserted into the inside of the existing pile and enlarged in diameter, and pressed against the inner surface of the existing pile, thereby holding the existing pile from the inside. However, the structure of the clamping member 11 for holding the existing pile is not particularly limited.

[0024] In the present specification, a plurality of gripping members 11 are sometimes referred to as a first gripping member 11A, a second gripping member 11B, and a third gripping member 11C from front to rear (from right to left in the drawing) in the moving direction of the press-in machine 1. The first gripping member 11A is the gripping member 11 located at the foremost position among the plurality of gripping members 11. The second gripping member 11B is adjacent to the rear of the first gripping member 11A. The third gripping member 11C is adjacent to the rear of the second gripping member 11B. Figure 1 A state in which the saddle 10 is fixed by holding the upper end portions of three existing piles with the gripping members 11A to 11C and a new pile is pressed in front of the three existing piles is shown. Figure 2

[0025] The plurality of gripping members 11 are movable in any direction along a horizontal plane with respect to the saddle 10. For example, the gripping members 11 are movable in the front-rear direction and the left-right direction with respect to the saddle 10. The gripping members 11 are also movable in a direction in which the front-rear direction and the left-right direction are combined. In the press-in machine 1 of the present embodiment, the plurality of gripping members 11 are independently movable (movable) with respect to each other. However, some of the plurality of gripping members 11 can be fixed with respect to the saddle 10.

[0026] The sliding frame 12 is provided on the upper portion of the saddle 10 so as to be relatively movable in the front-rear direction with respect to the saddle 10. Therefore, the saddle 10 is relatively movable in the front-rear direction with respect to the sliding frame 12 and the mast 20. In a state in which the gripping members 11 hold existing piles and the positions of the gripping members 11 are fixed with respect to the saddle 10, if the saddle 10 is moved, the mast 20 and the chuck 25 are relatively moved with respect to the existing piles. Hereinafter, the manner in which the mast 20 and the chuck 25 are moved as such is referred to as "linear motion".

[0027] The mast 20 is provided on the sliding frame 12. The mast 20 is rotatable with respect to the sliding frame 12 about a rotation shaft 22 provided at the center portion of the sliding frame 12. The rotation of the mast 20 is performed by a rotation drive source (not shown) such as a motor provided below the mast 20.

[0028] The chuck 25 is provided in front of the mast 20. The chuck 25 is movable up and down with respect to the mast 20 by the extension and contraction of the cylinder 30. The chuck 25 has a chuck frame 26 and a chuck gripping portion 27. The chuck frame 26 is movable up and down with respect to the mast 20, and the chuck gripping portion 27 is attached to the chuck frame 26. The chuck gripping portion 27 of the present embodiment is capable of gripping a pile from the outside.

[0029] ​The chuck gripping portion 27 is rotatably attached to the chuck frame 26. The chuck gripping portion 27 is rotatable about an axis extending in the up-down direction. Thus, the chuck 25 is rotatable relative to the mast 20. The chuck 25 can rotate the pile while being lowered by the action of the cylinder 30, thereby enabling the pile to be pressed into the ground while being rotated. However, the pile press 1 can also press the pile without rotating it.

[0030] The mast front-rear sensor 50 is disposed near the boundary of the saddle 10 and the sliding frame 12. The mast front-rear sensor 50 detects the relative positional relationship of the saddle 10 and the mast 20. The mast front-rear sensor 50 can detect the amount of movement, the direction of movement of the mast 20 in the front-rear direction, in accordance with the sliding on the sliding frame 12. The mast rotation sensor 51 is provided in the mast 20 and detects the rotation angle of the mast 20 about the rotation axis 22. The mast front-rear sensor 50, the mast rotation sensor 51, and the like can indirectly detect the position of the chuck 25, or the position of the pile P (see FIG. 1) held by the chuck 25. The positions detected by these sensors are values in the subjective coordinate system (described in detail later). Figure 1

[0031] The chuck up-down sensor 52 is disposed at the front of the mast 20. The chuck up-down sensor 52 detects the relative positional relationship (up-down positional relationship) of the mast 20 and the chuck 25. The chuck up-down sensor 52 can detect the amount of lifting (amount of movement), the direction of lifting of the chuck 25 in the up-down direction. The chuck rotation sensor 53 is disposed near the chuck frame 26 and detects the rotation angle of the chuck 25.

[0032] The first gripper front-rear sensor 54A is disposed near the boundary of the saddle 10 and the first gripper 11A. The first gripper front-rear sensor 54A detects the front-rear direction position of the first gripper 11A. The first gripper front-rear sensor 54A performs detection of the front-rear movement of the first gripper 11A and the retainable position associated therewith. The first gripper left-right sensor 55A is disposed near the boundary of the saddle 10 and the first gripper 11A and detects the left-right direction position of the first gripper 11A. The first gripper left-right sensor 55A performs detection of the left-right movement of the first gripper 11A and the retainable position associated therewith.

[0033] ​The second clamping member front-rear sensor 54B is disposed near the boundary between the saddle 10 and the second clamping member 11B. The second clamping member front-rear sensor 54B detects the front-rear position of the second clamping member 11B. The second clamping member front-rear sensor 54B performs front-rear movement of the second clamping member 11B and detects its associated holdable position. The second clamping member left-right sensor 55B is disposed near the boundary between the saddle 10 and the second clamping member 11B and detects the left-right position of the second clamping member 11B. The second clamping member left-right sensor 55B performs left-right movement of the second clamping member 11B and detects its associated holdable position.

[0034] The front-rear sensor 54C of the third clamping member is disposed near the boundary between the saddle 10 and the third clamping member 11C. The front-rear sensor 54C detects the front-rear position of the third clamping member 11C. The front-rear sensor 54C performs front-rear movement of the third clamping member 11C and detects the associated holdable position. The left-right sensor 55C of the third clamping member is disposed near the boundary between the saddle 10 and the third clamping member 11C and detects the left-right position of the third clamping member 11C. The left-right sensor 55C performs left-right movement of the third clamping member 11C and detects the associated holdable position.

[0035] The mast front / back sensor 50, mast rotation sensor 51, chuck up / down sensor 52, chuck rotation sensor 53, clamping member front / back sensors 54A-54C, and clamping member left / right sensors 55A-55C can all be known sensors. For example, stroke sensors, proximity switches, limit switches, pressure sensors, etc., can be appropriately selected.

[0036] The control unit 60 is housed within the mast 20. The control unit 60 is electrically connected to sensors 50-53, 54A-54C, and 55A-55C. The control unit 60 performs calculations based on communication results with the measurement management device 2 and the detection results from each sensor 50-53, 54A-54C, and 55A-55C. Based on these calculation results, the control unit 60 controls the operation of each part of the press-fit machine 1.

[0037] like Figure 1 As shown, the measuring unit 3 can measure the position, inclination, and top height (upper end height) of the pile P held by the chuck 25. Here, the position of the pile P measured by the measuring unit 3 is its position in an objective coordinate system. An objective coordinate system refers to the coordinate system observed objectively from the outside of the press 1. Specific examples of objective coordinate systems include common coordinates (plane rectangular coordinate system), ITRF (International Geodetic Reference System), Japanese Geodetic System 2011, or coordinate systems based on these. In contrast, the coordinate system observed subjectively from the press 1 is called the subjective coordinate system.

[0038] use Figure 3 The measurement based on measuring unit 3 will be explained. Specifically, when measuring unit 3 measures the position of pile P, it obtains the positions of two measuring points (lower measuring points ML) located at the lower part of pile P. The lower measuring points ML are, for example, the positions of the surface of the cylindrical pile P. Measuring unit 3 sends information related to the positions of the two lower measuring points ML to management unit 4. Based on this information, management unit 4 calculates the center position of pile P in the objective coordinate system.

[0039] When measuring the inclination of pile P, the measuring unit 3 obtains the positions of two measuring points (upper measuring points MU) located on the upper part of pile P, in addition to the two lower measuring points ML. That is, when measuring inclination, the measuring unit 3 obtains the positions of a total of 4 points (two lower measuring points ML and two upper measuring points MU). The upper measuring points MU are, for example, the positions of the cylindrical pile P surface. The measuring unit 3 sends information related to the positions of these 4 points to the management unit 4. The management unit 4 calculates the center position of the lower part of pile P based on the information related to the two lower measuring points ML, and calculates the center position of the upper part of pile P based on the information related to the two upper measuring points MU. In other words, the two lower measuring points ML are positions that allow calculation of the horizontal center position of the lower part of pile P, and the two upper measuring points MU are positions that allow calculation of the horizontal center position of the upper part of pile P. Then, the management unit 4 calculates the inclination of pile P based on the center positions of the upper and lower parts of pile P. Furthermore, along with the driving construction, pile P enters the foundation G. Therefore, the position of the lower measuring point ML shifts upwards over time. As an example of actual measurement, the lower measuring point ML can be set below the chuck 25 and above the ground or water surface, and the upper measuring point MU can be set above the chuck 25.

[0040] like Figure 3 As shown, sometimes a driving device 5 is installed at the top of pile P. Additionally, sometimes a target MT, such as a measuring prism, is installed on the driving device 5. When the measuring unit 3 measures the height of the top of pile P, the position of the target MT is obtained. The measuring unit 3 sends information related to the position of the target MT to the management unit 4. The management unit 4 performs calculations based on this information to generate top height information. For example, the top height information is obtained by subtracting the distance from the top of pile P to the target MT from the measured height position of the target MT. Furthermore, the target MT can be directly installed on pile P. Alternatively, the target MT can be indirectly installed on pile P using a component that is not a driving device. That is, as long as the target MT is installed directly or indirectly above pile P, the height of the top of pile P can be measured.

[0041] Next, use Figure 4 , Figure 5A general description of the pressing construction method of this embodiment will be given. First, such as Figure 4 As shown in (a), a driving device 5 with a target MT is installed at the upper end of the pile P. Next, as Figure 4 As shown in (b), with multiple existing piles held in place by the clamping member 11, the chuck 25 grips the pile P (gripping process). As a specific example, the pile P can also be suspended using a crane or the like, causing the pile P to descend from above the chuck 25 toward the inside of the chuck 25. Furthermore, the process until the existing piles are held in place by the clamping member 11 is the same as in the prior art, and therefore its description is omitted. Figure 4 In (b), an additional existing pile is positioned in front of the three existing piles held by the three clamps 11 respectively.

[0042] Next, as Figure 4 As shown in (c), the position of the pile P held by the chuck 25 is moved to the target position O3 (see reference) by causing the mast 20 to move linearly or rotate. Figure 6 , Figure 7 (Positioning process). The target position O3 is the design coordinate in the engineering plan of the pile P to be pressed in. In this embodiment, the positioning process is automated, as detailed below. Next, as Figure 4 As shown in (d), the pile P, held by the chuck 25, is pressed into the foundation (pressing process). In this embodiment, the pile P is rotated while being pressed, but it can also be pressed without rotation. When the position of the chuck 25 reaches its lower limit, a so-called "gripping" is performed. That is, the grip of the chuck 25 on the pile P is released, and the pile P is pressed into the foundation as shown in (d). Figure 4 After moving the chuck 25 upward as shown in (e), hold the pile P again using the chuck 25 and continue pressing it in.

[0043] As the pile is continued to be driven in, the supporting force of the foundation on pile P increases. After obtaining a supporting force for pile P sufficient to support the self-weight of the driving machine 1, as... Figure 5 As shown in (a), the clamping member 11 is released from holding the existing pile, causing the press 1 to rise. Specifically, with the pile P held by the chuck 25, the chuck 25 is lowered relative to the mast 20. As a result, the mast 20 rises, and the clamping member 11 disengages from the existing pile upwards.

[0044] Next, as Figure 5 As shown in (b), after the saddle 10 is advanced, the press-fit machine 1 is lowered. At this time, each clamping member 11 remains in contact with the... Figure 4 Each of the existing piles in (e) is adjacent to the existing pile in front of it. In this embodiment, the existing piles in front of it are maintained. Figure 4 of (e)Figure 5 automation of the procedures shown in (a), (b) (i.e., self-advance of the press-in machine 1).

[0045] Here, the self-advance of the press-in machine 1 will be described. In the self-advance, the press-in machine 1 advances the piles P by the distance corresponding to the length of the piles P that have been pressed in. Figure 4 In (e), the pile P that has been pressed in next to the pile P being pressed in is referred to as the first existing pile P1. In addition, the piles P that have been pressed in by the first to third grippers 11A to 11C are referred to as the second existing pile P2, the third existing pile P3, and the fourth existing pile P4, respectively. The first existing pile P1 is the pile that has been pressed in by the press-in machine 1 before the procedure shown in (a). Thus, the press-in machine 1 stores information related to the position of the first existing pile P1. In addition, the press-in machine 1 also stores information related to the positions of the first to third grippers 11A to 11C in (e). Figure 4 The first existing pile P1 is the pile that has been pressed in by the press-in machine 1 before the procedure shown in (a). Thus, the press-in machine 1 stores information related to the position of the first existing pile P1. In addition, the press-in machine 1 also stores information related to the positions of the first to third grippers 11A to 11C in (e). Figure 4 The first existing pile P1 is the pile that has been pressed in by the press-in machine 1 before the procedure shown in (a). Thus, the press-in machine 1 stores information related to the position of the first existing pile P1. In addition, the press-in machine 1 also stores information related to the positions of the first to third grippers 11A to 11C in (e). These pieces of information are stored in a memory (storage area) provided in the control section 60, for example. Furthermore, these pieces of information are generated on the basis of the detection results of the respective sensors 50 to 53, 54A to 54C, and 55A to 55C provided in the press-in machine 1.

[0046] In the self-advance, the first gripper 11A moves from the second existing pile P2 to the first existing pile P1. At this time, the information stored in the press-in machine 1, which is related to the position of the first existing pile P1, is used. In addition, the second gripper 11B moves from the third existing pile P3 to the second existing pile P2. At this time, the information stored in the press-in machine 1, which is related to the position of the first gripper 11A holding the second existing pile P2, is used. Similarly, the third gripper 11C moves from the fourth existing pile P4 to the third existing pile P3. At this time, the information stored in the press-in machine 1, which is related to the position of the second gripper 11B holding the third existing pile P3, is used. Thus, the self-advance can be performed.

[0047] Next, as shown in (c), the pressing in of the pile P based on the chuck 25 is started again. During the pressing in of the pile P, a procedure for measuring the top end height of the pile P (top end height measurement procedure) is appropriately performed. In the top end height measurement procedure, as described above, the measuring section 3 obtains the position of the target MT, and on the basis of the result, the management section 4 calculates the top end height. The calculation result can also be transmitted to the press-in machine 1. Figure 5 As shown in (d), in the case where the top end height of the pile P reaches the target value, as shown in (e), the driving device 5 is removed. Thus, the pressing in of the pile P is completed. After that, the pile P that has been pressed in can also be used as an existing pile. By repeatedly performing the procedures shown in (a) to (e), the pressing in of a plurality of piles is sequentially performed.

[0048] Figure 5 As shown in (d), in the case where the top end height of the pile P reaches the target value, as shown in (e), the driving device 5 is removed. Thus, the pressing in of the pile P is completed. After that, the pile P that has been pressed in can also be used as an existing pile. By repeatedly performing the procedures shown in (a) to (e), the pressing in of a plurality of piles is sequentially performed. Figure 5 Figure 4 Figure 5 As shown in (d), in the case where the top end height of the pile P reaches the target value, as shown in (e), the driving device 5 is removed. Thus, the pressing in of the pile P is completed. After that, the pile P that has been pressed in can also be used as an existing pile. By repeatedly performing the procedures shown in (a) to (e), the pressing in of a plurality of piles is sequentially performed. ​​​

[0049] Next, a method for automating the positioning process will be described. First, the difference between the subjective coordinate system and the objective coordinate system will be described. Figure 6 is a view of the press-in machine 1 and the pile P as viewed from above, (a) shows the subjective coordinate system, and (b) shows the objective coordinate system. As shown in (a), the subjective coordinate system is a coordinate system that takes the structure of the press-in machine 1 as a reference. In the present embodiment, the subjective coordinate system is represented by a-β axes. The a axis coincides with the lengthwise direction of the saddle 10 (the direction in which the saddle 10 moves relative to the mast 20). The β axis is orthogonal to the a axis when viewed from above. The intersection of the a axis and the β axis (the origin Oi of the subjective coordinate system) is the position of the center axis of rotation of the mast 20 (the center axis of the center pin) when the mast 20 is retracted most relative to the saddle 10. Figure 6

[0050] As shown in (b), the objective coordinate system is a coordinate system that is different from the subjective coordinate system. In the present embodiment, the objective coordinate system is represented by X-Y axes. In the example of (b), the X axis is an axis that connects the center position O2 of the pile that was pressed in immediately before (the first existing pile Pi) and the target position O3 on the engineering plan for the pile P that is to be pressed in next. The Y axis is orthogonal to the X axis when viewed from above. Here, in order to cause the press-in machine 1 to act, it is necessary to generate a command value in the subjective coordinate system. On the other hand, the target position O3 that is set by the measurement management device 2 is a value in the objective coordinate system. For this reason, in order to cause the pile P that is held by the chuck 25 to be moved to the target position O3 appropriately, the target position O3 is converted to a value in the subjective coordinate system. This conversion is performed by a geometric operation. In the present embodiment, the measurement management device 2 inputs the target position O3 and the like in the objective coordinate system to the control section 60, and the control section 60 performs an operation that converts the target position O3 to a value in the subjective coordinate system. Figure 6 Figure 6 Next, a specific method for positioning the pile P will be described. is a view of the press-in machine 1 as viewed from above, and is a schematic view showing the operation of the press-in machine 1 in the positioning process. In

[0051] , point A is the center position of the pile P that is held by the chuck 25 at the start of the positioning process. The press-in machine 1 moves the center of the pile P from point A to point B by advancing the mast 20. Thereafter, the press-in machine 1 moves the center of the pile P from point B to the target position O3 by moving the mast 20 (one or both of linear motion and rotation). Figure 7 Figure 7 is a flowchart for explaining the positioning process, and corresponds to

[0052] Figure 8 is a flowchart for explaining the positioning process, and corresponds to Figure 7 As shown in (b), the objective coordinate system is a coordinate system that is different from the subjective coordinate system. In the present embodiment, the objective coordinate system is represented by X-Y axes. In the example of (b), the X axis is an axis that connects the center position O2 of the pile that was pressed in immediately before (the first existing pile Pi) and the target position O3 on the engineering plan for the pile P that is to be pressed in next. The Y axis is orthogonal to the X axis when viewed from above. Here, in order to cause the press-in machine 1 to act, it is necessary to generate a command value in the subjective coordinate system. On the other hand, the target position O3 that is set by the measurement management device 2 is a value in the objective coordinate system. For this reason, in order to cause the pile P that is held by the chuck 25 to be moved to the target position O3 appropriately, the target position O3 is converted to a value in the subjective coordinate system. This conversion is performed by a geometric operation. In the present embodiment, the measurement management device 2 inputs the target position O3 and the like in the objective coordinate system to the control section 60, and the control section 60 performs an operation that converts the target position O3 to a value in the subjective coordinate system. Figure 8 ​​​As shown, in the positioning process, firstly, point A is measured in step S1. In step S1, the measurement management device 2 measures point A in the objective coordinate system, and the pressing machine 1 measures point A in the subjective coordinate system. Furthermore, the control unit 60 performs the measurement in the subjective coordinate system based on the detection results of the mast front and rear sensors 50, the mast rotation sensor 51, etc.

[0053] Next, in step S2, the mast 20 is moved forward. The distance moved forward is arbitrary, for example, 100 mm. Alternatively, in step S2, the mast 20 can be moved backward without moving forward. Through step S2, the position of the center of pile P moves from point A to point B.

[0054] Next, in step S3, the measurement management device 2 measures point B in the objective coordinate system, and the pressing machine 1 measures point B in the subjective coordinate system. Then, in step S4, a calculation is performed to transform the target position O3 into a value in the α-β coordinate system (subjective coordinate system). This calculation uses information related to the positions of points A and B in both the objective and subjective coordinate systems. Thus, by obtaining information about two points A and B that differ from the target position O3 in both the subjective and objective coordinate systems, the target position O3 can be geometrically converted from the objective coordinate system to the subjective coordinate system.

[0055] Next, in step S5, the pile P is moved toward the target position O3 in the subjective coordinate system. Specifically, a command is generated to actuate the mast 20 of the press machine 1, and the mast 20 is actuated according to the command. The actuation of the mast 20 includes linear motion and rotation, or both. In this embodiment, the control unit 60 generates the command to actuate the mast 20. However, the measurement management device 2 may also generate the command and input it to the control unit 60, thereby actuating the press machine 1.

[0056] Next, in step S6, the position of the pile P held by the chuck 25 is confirmed. Specifically, the measuring and management device 2 measures the position of the pile P and determines whether it matches the target position O3. If they match, the positioning process ends and proceeds to the next step. Figure 9 The pressing process is shown. In case of inconsistency, a positioning process can be performed again.

[0057] Next, use Figure 9 The pressing process is described. First, the top height is measured in step S11. Specifically, the measurement management device 2 measures the position of the target MT and calculates the top height of the pile P based on the result. Next, the pressing-in is started in step S12. Specifically, the chuck 25 is lowered by the extension and retraction operation of the cylinder 30. After the pressing-in is started, the inclination measurement process of the pile in step S13 is performed at a prescribed interval. The inclination of the pile is calculated based on the results of measuring the four points (two lower measurement points ML and two upper measurement points MU) by the measurement management device 2. In the case where the result of the inclination measurement process is that the pile P is inclined by more than a prescribed amount with respect to the management angle, an inclination correction process of correcting the inclination of the pile P is performed. Further, on the project plan, there is a case where the pile P is pressed in while intentionally inclined with respect to the vertical direction. That is, the management angle at the time of pressing in the pile P can be parallel to the vertical direction or inclined with respect to the vertical direction.

[0058] After step S13, the pressing-in is continued in step S14. Next, in step S15, it is determined whether or not the estimated value of the tip height reaches a set value. The estimated value of the tip height is obtained by subtracting the pressing-in amount (lowering amount) of the pile P from the measurement result in step S11, that is, the tip height information. In the case where the estimated value of the tip height does not reach the set value (S15: No), in step S16, it is determined whether or not the chuck 25 reaches the lower limit. In the case where the chuck 25 does not reach the lower limit (S16: No), the process returns to step S14. In the case where the chuck 25 reaches the lower limit (S16: Yes), the tip height is measured in step S17, and the gripping of the pile is performed in step S18. In step S15, in the case where the estimated value of the tip height reaches the set value (S15: Yes), the measurement of the tip height is performed in step S19, and the pressing-in is completed.

[0059] Next, a method for further improving the operation accuracy of the mast 20 will be described. As described above, the mast 20 is capable of rotating around the rotation shaft 22. In addition, the sliding frame 12 moves with respect to the saddle 10, whereby the mast 20 is capable of linear motion. In the case where the operation accuracy of the mast 20 is to be improved, the operation accuracy of the sliding frame 12 is improved. In the case where the operation accuracy of the sliding frame 12 is to be improved, the operation accuracy of the saddle 10 is improved. Figure 10 The relationship between the signal for operating the mast 20 and the actual operation of the mast 20 is shown in FIG. 10. In FIG. 10, (a) indicates the signal, and (b) indicates the operation. Figure 10 In FIG. 10, (a) indicates the signal, and (b) indicates the operation. Figure 10 The vertical axis of (b) of FIG. 10 is the movement amount, and the horizontal axis is the time. The "operation" referred to here can be either rotation or linear motion.

[0060] As described above, the operation accuracy of the mast 20 is improved by improving the operation accuracy of the sliding frame 12. In the case where the operation accuracy of the sliding frame 12 is to be improved, the operation accuracy of the saddle 10 is improved. Figure 10As shown, at time tl, the signal for causing the mast 20 to act is changed from OFF to ON, whereby the action of the mast 20 is started. At time t2, the signal for causing the mast 20 to act is switched from ON to OFF, but the moving amount continues to increase until time t3 due to the influence of inertia and the like possessed by the mast 20. That is, the moving amount from time t2 to t3 is an "overrun amount" that is not originally intended. The overrun amount is generated, for example, when an actuator (hydraulic, electric, or the like) is driven. By causing the mast 20 to act taking the overrun amount into consideration, the precision of the action can be improved. In the present embodiment, the overrun amount is controlled in units of millimeters in order to perform the pile P press-in work with high precision.

[0061] For this reason, in the present embodiment, the various overrun amounts are grasped by the flow shown in FIG. 6. Figure 11 Specifically, in step S21, the mast 20 is advanced. In step S22, it is determined whether the amount of advance instructed to the mast 20 has reached a target value. In the case where it has not reached, the process returns to step S21. In the case where it has reached, the difference between the actual amount of advance of the mast 20 measured by the mast front-rear sensor 50 and the amount of advance instructed to the mast 20 is calculated. This difference is taken as an "advance overrun amount", and the value stored in the memory possessed by the control section 60 is updated.

[0062] After that, the update of the overrun amount is also similarly performed for each action of the mast 20, the retreat, the left turn, and the right turn. That is, the mast 20 is retreated (step S24), and in the case where the amount of retreat instructed to the mast 20 has reached a target value (step S25: YES), the difference between the actual amount of retreat of the mast 20 measured by the mast front-rear sensor 50 and the amount of retreat instructed to the mast 20 is taken as a "retreat overrun amount", and the value stored in the memory possessed by the control section 60 is updated.

[0063] In addition, the mast 20 is turned left (step S27), and in the case where the amount of left turn instructed to the mast 20 has reached a target value (step S28: YES), the difference between the actual amount of left turn of the mast 20 measured by the mast turn sensor 51 and the amount of left turn instructed to the mast 20 is taken as a "left turn overrun amount", and the value stored in the memory possessed by the control section 60 is updated.

[0064] In addition, the mast 20 is turned right (step S30), and in the case where the amount of right turn instructed to the mast 20 has reached a target value (step S31: YES), the difference between the actual amount of right turn of the mast 20 measured by the mast turn sensor 51 and the amount of right turn instructed to the mast 20 is taken as a "right turn overrun amount", and the value stored in the memory possessed by the control section 60 is updated.

[0065] ​The various overtravel amounts obtained as above are subtracted from the amount of movement indicated in the next action of the mast 20. Thus, the mast 20 can be caused to act with high precision.

[0066] Further, the functions of the control section 60 and the measurement management apparatus 2 are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, part or all of the functions of the control section 60 and the like can be realized by hardware such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), or the like, or can be realized in cooperation with software. The program can be stored in advance in a storage device (storage device having a non-transitory storage medium) such as an HDD, a flash memory, or the like of the control section 60 and the like, or can be stored in a removable storage medium such as a DVD, a CD-ROM, or the like, and installed in the HDD, the flash memory of the control section 60 and the measurement management apparatus 2 by mounting the storage medium (non-transitory storage medium) in a drive device.

[0067] As described above, the press-in construction method of the present embodiment includes a holding process in which the pile P is held by the chuck 25 of the press-in machine 1, a position measurement process in which the position of the pile P held by the chuck 25 in the objective coordinate system is measured by the measurement management apparatus 2 disposed separately from the press-in machine 1, a communication process in which the measurement management apparatus 2 communicates with the press-in machine 1, an instruction generation process in which an instruction related to the action of the press-in machine 1 for moving the pile P to the target position O3 is generated using the first position information of the pile P in the objective coordinate system (position information of points A, B) measured by the position measurement process and the second position information related to the position of the chuck 25 in the subjective coordinate system (position information of points A, B) based on the advancing direction of the saddle 10 of the press-in machine 1, a positioning process in which the press-in machine 1 is caused to act based on the instruction to move the pile P held by the chuck 25 to the target position O3, and a press-in process in which the pile P is pressed into the ground G at the position of the pile P after the positioning process, and at least the communication of the first position information is performed in the communication process, and the origin of the subjective coordinate system is the center axis of rotation of the mast 20 when the mast 20 supporting the chuck 25 is located at the rearmost position with respect to the saddle 10.

[0068] Further, the press-in construction system S of the present embodiment includes a press-in machine 1 and a measurement management device 2 that is disposed separately from the press-in machine 1 and communicates with the press-in machine 1, the press-in machine 1 includes a chuck 25 that holds a pile P, a saddle 10 that is provided with a plurality of clamps 11 that hold a predetermined pile and receive a reaction force from the predetermined pile, a mast 20 that is movable forward and backward with respect to the saddle 10 and is capable of performing a turning action that supports the chuck 25, a sensor (mast forward-backward sensor 50, mast turning sensor 51, and the like) that detects a position of the chuck 25, and a control section 60 that controls actions of the chuck 25, the mast 20, and the saddle 10, the measurement management device 2 obtains first position information of the pile P in an objective coordinate system by measuring a position of the pile P held by the chuck 25, the sensor obtains second position information of the pile P in a subjective coordinate system that is based on a traveling direction of the saddle 10 by detecting the position of the chuck 25, the control section 60 or the measurement management device 2 generates an instruction related to an action of the press-in machine 1 for moving the pile P to a target position O3 using the first position information and the second position information, and the press-in machine 1 performs an action based on the instruction to move the pile P held by the chuck 25 to the target position O3 and press the pile P into a foundation G, the press-in machine 1 communicates at least the first position information with the measurement management device 2, and an origin of the subjective coordinate system is a turning center axis of the mast 20 when the mast 20 is located at a rearmost position with respect to the saddle 10.

[0069] Further, the program of the present embodiment causes a computer included in a press-in construction system S that includes the press-in machine 1 and the measurement management device 2 to perform the following processing: measuring, by the measurement management device 2, a position of a pile P held by a chuck 25 in an objective coordinate system; communicating, by the measurement management device 2 and the press-in machine 1, at least first position information of the pile P in the objective coordinate system; generating an instruction related to an action of the press-in machine 1 for moving the pile P to a target position O3 using the first position information and second position information related to a position of the chuck 25 in a subjective coordinate system that is based on a traveling direction of a saddle 10 of the press-in machine 1 and has a turning center axis of a mast 20 of the press-in machine 1 as an origin when the mast 20 is located at a rearmost position with respect to the saddle 10; causing the press-in machine 1 to perform an action based on the instruction to move the pile P held by the chuck 25 to the target position O3; and pressing the pile P into a foundation G at a position of the pile P after the movement.

[0070] According to these press-in construction methods, press-in construction systems, and programs, it is possible to automate movement and pressing of a pile P to a target position.

[0071] Also, it can be that, in the communication step, the measurement management apparatus 2 transmits the first position information measured in the position measurement step to the press-in machine 1, and, in the instruction generation step, the control section 60 of the press-in machine 1 generates the instruction using the first position information and the second position information. In this way, the press-in machine 1 becomes the main body for generating the instruction, and thus the amount of information communicated between the press-in machine 1 and the measurement management apparatus 2 is reduced. Thus, it is possible to speed up the processing of generating the instruction.

[0072] Also, the press-in construction method of the present embodiment has a tilt measurement step in which the tilt of the pile P held by the chuck 25 with respect to the management angle is measured by the measurement management apparatus 2, and a tilt correction step in which the tilt of the pile P is corrected using the tilt information of the pile P measured in the tilt measurement step. Thus, it is possible to suppress the tilt of the pile P being pressed in.

[0073] Also, the press-in construction method of the present embodiment has a tip height measurement step in which the tip height of the pile P held by the chuck 25 is measured by the measurement management apparatus 2, and, in the press-in step, the pile P is pressed in to a prescribed depth of the foundation using the tip height information measured in the tip height measurement step.

[0074] Also, in the position measurement step, the measurement management apparatus 2 measures the positions of the two points ML of the lower portion of the pile P, in the tilt measurement step, the measurement management apparatus 2 measures the positions of the two points ML of the lower portion of the pile P and the two points MU of the upper portion of the pile P, and in the tip height measurement step, the measurement management apparatus 2 measures the position of the target MT installed above the pile P. In this way, by changing the number of measurement sites according to the purpose of measurement, it is possible to shorten the time required for measurement.

[0075] Also, the press-in construction method of the present embodiment further has an overtravel amount obtaining step in which the rotational overtravel amount (at least one of the right rotational overtravel amount and the left rotational overtravel amount) in the rotational operation of the mast 20 supporting the chuck 25 and the linear motion overtravel amount (at least one of the forward overtravel amount and the backward overtravel amount) in the linear motion operation of the mast 20 are obtained, and, in the positioning step, the rotational operation and the linear motion operation of the mast 20 are performed using the result obtained by subtracting the rotational overtravel amount from the rotational amount of the mast 20 calculated based on the first position information and the second position information, and the result obtained by subtracting the linear motion overtravel amount from the linear motion movement amount of the mast calculated based on the first position information and the second position information. In this way, by considering various overtravel amounts to operate the mast 20, it is possible to determine the position of the pile P with higher precision.

[0076] Further, the press-in machine 1 has a mast 20 that supports the chuck 25 so as to be able to perform a turning action, a saddle 10 that is able to move forward and backward with respect to the mast 20, and a plurality of gripping members 11 that are movably installed to the saddle 10 so as to hold the existing piles from the inside, the plurality of gripping members 11 including a first gripping member 11A located at the most front, a second gripping member 11B adjacent to the first gripping member 11A, and a third gripping member 11C adjacent to the second gripping member 11B, after the piles P are pressed into the ground G by a prescribed amount in the press-in process, the first gripping member 11A is moved toward the first existing pile P1 based on the position information of the first existing pile P1 stored when the press-in machine 1 presses in the first existing pile P1 adjacent to the pile P, the second gripping member 11B is moved toward the second existing pile P2 based on the position information of the first gripping member 11A stored when the first gripping member 11A holds the second existing pile P2 adjacent to the first existing pile P1, and the third gripping member 11C is moved toward the third existing pile P3 based on the position information of the second gripping member 11B stored when the second gripping member 11B holds the third existing pile P3 adjacent to the second existing pile P2. Through such control, the self-propelling of the press-in machine 1 is able to be achieved. Further, the "prescribed amount" referred to here means the amount of press-in for which the pile P obtains sufficient support reaction force from the ground G in order for the press-in machine 1 to self-propel, that is, in order for the press-in machine 1 to be able to support its own weight and the like.

[0077] Further, the technical scope of the present disclosure is not limited to the above-described embodiments, and various modifications can be applied within the scope of the gist of the present disclosure.

[0078] For example, the measurement management device 2 of the above-described embodiment has a separate measurement unit 3 and a management unit 4, and the measurement unit 3 and the management unit 4 communicate. However, the measurement unit 3 and the management unit 4 can be integrated to become one device.

[0079] Further, in the press-in construction system S of the above-described embodiment, the positioning of the piles P and the movement (self-propelling) of the press-in machine 1 are automated. However, the press-in machine 1 can not be self-propelled, and only the positioning of the piles P can be automated.

[0080] In the above-described embodiment, the measurement management device 2 transmits the first position information of the pile P in the objective coordinate system to the press-in machine 1, and the control unit 60 of the press-in machine 1 generates an instruction related to the action of the press-in machine 1 for moving the pile P to the target position O3 using the first position information received from the measurement management device 2 and the second position information of the pile P in the subjective coordinate system obtained by the sensors (mast forward and backward sensor 50, mast turning sensor 51, and the like). On the other hand, in the case where the measurement management device 2 generates an instruction related to the action of the press-in machine 1 for moving the pile P to the target position O3, the instruction can also be generated as follows, for example. First, the measurement management device 2 transmits first position information of the pile P in the objective coordinate system to the press-in machine 1. By the transmission of the first position information, the control section 60 of the press-in machine 1 recognizes the target position O3 as a movement target of the pile P, and thereafter, the control section 60 transmits second position information of the pile P in the subjective coordinate system obtained by the sensor to the measurement management device 2. The measurement management device 2 generates an instruction relating to the operation of the press-in machine 1 for moving the pile P to the target position O3 using the first position information and the second position information received from the press-in machine 1. The measurement management device 2 transmits the generated instruction to the control section 60 of the press-in machine 1, and the press-in machine 1 moves the pile P to the target position O3 based on the received instruction. In this case, the measurement management device 2 generates an instruction relating to the operation of the press-in machine 1 for moving the pile P to the target position O3, and therefore, for example, in a case where the amount of instruction calculation is large, it is possible to reduce the burden on the calculation of the control section 60 of the press-in machine 1. In addition, it is possible to perform the control of the operation of the press-in machine 1 by the control section 60 and the calculation of the instruction in the measurement management device 2 in parallel, and it is possible to efficiently perform the press-in work of the pile.

[0081] Further, in a range not departing from the gist of the present disclosure, it is possible to appropriately replace the constituent elements in the above-described embodiments with known constituent elements, and in addition, it is also possible to appropriately combine the above-described embodiments, modified examples. Explanation of Reference Numerals

[0082] 1, press-in machine; 2, measurement management device; 10, saddle; 11, clamp; 11A, first clamp; 11B, second clamp; 11C, third clamp; 20, mast; 25, chuck; 50 to 53, 54A to 54C, 55A to 55C, sensor; 60, control section; G, ground; O3, target position; P, pile; PI, first existing pile; P2, second existing pile; P3, third existing pile; S, press-in construction system.

Claims

1. A method for driving piles into place using a driving machine, the driving machine comprising: a chuck for holding piles; a saddle with a plurality of clamping members for holding the piles in place and receiving reaction forces from the piles; and a mast capable of moving back and forth relative to the saddle and capable of rotating to support the chuck, wherein... The pressing construction method has the following characteristics: The holding process involves holding the pile using the chuck. The position measurement process involves using a measurement management device, which is separately configured from the press-in machine, to measure the position of the pile held by the chuck in an objective coordinate system. A communication process in which the measurement and management device communicates with the press-in machine; In the instruction generation process, the first position information of the pile in the objective coordinate system measured by the position measurement process and the second position information related to the position of the chuck in the subjective coordinate system with the direction of travel of the saddle as the reference are used to generate instructions related to the action of the jacking machine for moving the pile to the target position. In the positioning process, the pressing machine operates based on the command to move the pile held by the chuck to the target position. as well as The pressing process involves pressing the pile into the foundation at the position of the pile after the positioning process. At least the first location information is communicated during the communication process. The origin of the subjective coordinate system is the rotational center axis of the mast when the mast is at its furthest point relative to the saddle.

2. The pressing construction method according to claim 1, wherein, In the communication process, the measurement management device sends the first position information measured by the position measurement process to the pressing machine. In the instruction generation process, the control unit of the press-in machine generates the instruction using the first position information and the second position information.

3. The pressing construction method according to claim 1, wherein, The pressing construction method has the following characteristics: The tilt measurement process involves measuring the tilt of the pile held by the chuck relative to the management angle using the measurement management device; and The tilt correction process involves using the tilt information of the pile measured through the tilt measurement process to correct the tilt of the pile.

4. The pressing construction method according to claim 1, wherein, The driving construction method includes a top height measurement step, in which the measurement and management device measures the top height of the pile held by the chuck. In the driving process, the pile is driven into the foundation to a specified depth using the top height information measured by the top height measurement process.

5. The pressing construction method according to claim 3, wherein, In the position measurement process, the measurement management device determines the positions of two points on the lower part of the pile. In the tilt measurement process, the measurement management device determines the positions of two points at the bottom and two points at the top of the pile.

6. The pressing construction method according to claim 4, wherein, In the position measurement process, the measurement management device determines the positions of two points on the lower part of the pile. In the top height measurement process, the measurement management device determines the position of the target installed above the pile.

7. The pressing construction method according to claim 1 or 2, wherein, The pressing construction method also includes a step for obtaining the overtravel amount, in which the rotational overtravel amount during the slewing motion and the linear motion overtravel amount during the linear motion motion of the mast are obtained. In the positioning process, the mast's rotation and linear motion are performed using the result obtained by subtracting the rotation overtravel from the mast's rotation amount calculated based on the first and second position information, and the result obtained by subtracting the linear motion overtravel from the mast's linear motion amount calculated based on the first and second position information.

8. The pressing construction method according to claim 1, wherein, The plurality of clamping members include: a first clamping member located at the foremost position; a second clamping member adjacent to the first clamping member; and a third clamping member adjacent to the second clamping member. After the pile is driven into the foundation by a specified amount in the driving process, based on the position information of the first existing pile stored when the driving machine drives in the first existing pile adjacent to the pile, the first clamping member is moved toward the first existing pile. Based on the position information of the first clamping member stored when the first clamping member holds the second existing pile adjacent to the first existing pile, the second clamping member is moved toward the second existing pile. Based on the position information of the second clamping member stored when the second clamping member holds the third existing pile adjacent to the second existing pile, the third clamping member is moved toward the third existing pile.

9. A pressing construction system, wherein, The pressing construction system has the following features: Press-in machine; and A measurement and management device is configured separately from the press-fitting machine and communicates with the press-fitting machine. The press-fitting machine includes: Chuck, holding the stake; The saddle is equipped with multiple clamping members that hold the existing pile and obtain reaction force from the existing pile; The mast is capable of moving back and forth relative to the saddle and of rotating to support the chuck. The sensor detects the position of the chuck; as well as The control unit controls the movement of the chuck, the mast, and the saddle. The measurement and management device obtains the first position information of the pile in the objective coordinate system by measuring the position of the pile held by the chuck. The sensor obtains the second position information of the pile in a subjective coordinate system based on the travel direction of the saddle by detecting the position of the chuck. The control unit or the measurement management device uses the first location information and the second location information to generate instructions related to the actions of the drive-in machine used to move the pile to the target position. The drive unit operates based on the command, moving the pile held by the chuck to the target position and driving the pile into the foundation. The press-in machine and the measurement and management device communicate at least the first location information. The origin of the subjective coordinate system is the rotational center axis of the mast when the mast is at its furthest point relative to the saddle.

10. A program in which, The construction pressure system includes a driver and a measurement and management device. The driver has: a chuck for holding the pile; a saddle with multiple clamping members that hold the pile and obtain reaction force from it; and a mast that can move back and forth relative to the saddle and can rotate to support the chuck. The program causes the computer included in the pressing construction system to perform the following processing: The measurement and management device measures the position of the pile held by the chuck in the objective coordinate system. The measurement and management device and the driving machine communicate at least the first position information of the pile in the objective coordinate system; Using the first position information and the second position information related to the position of the chuck in a subjective coordinate system with the direction of travel of the saddle as the reference and the rotation center axis of the mast when the mast is at its rearmost position relative to the saddle as the origin, instructions related to the action of the jacking machine for moving the pile to the target position are generated. Based on the command, the press is activated, causing the pile held by the chuck to move to the target position; as well as At the relocated position of the pile, the pile is pressed into the foundation.

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