Pile driver control system

Abstract

To provide a pile driver control system capable of obtaining an amount of movement that takes into consideration a driving operation of an operator and easily guiding an end to a pile core position.SOLUTION: When a distance between a planned pile burial location and an actual pile core location determined from pile driver's position information falls below a preset threshold, a controller switches from a display on a 2D map to a terminal guidance display that enlarges a surrounding area including the planned pile burial location and the actual pile core location, and gives a control command to a hydraulic unit to adjust the flow rate of hydraulic oil in flow control valves corresponding to traveling and revolving based on predetermined flow characteristics (flow characteristics represented by solid graph line L2), thereby controlling the traveling speed of a lower traveling body to a second traveling speed that is slower than the first traveling speed corresponding to the operation amount of a traveling operation lever, and controls the revolving speed of an upper revolving body to a second revolving speed that is slower than the first revolving speed corresponding to the operation amount of a revolving operation lever.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a control system for a pile driver, and more particularly to a control system for a pile driver having a function of supporting part of a construction operation. [Background technology]

[0002] Conventionally, at construction sites where steel pipe piles are buried or ground improvement work is performed, the position of the pile core (the central axis of the pile) which is the construction position is determined in advance by surveying, and during construction, a construction machine such as a pile driver is moved to the pile core position by an operator. This pile core alignment is generally performed by traveling a lower traveling body consisting of left and right crawlers, or by rotating an upper rotating body relative to the lower traveling body, to adjust the position and direction of the pile driver (for example, see Patent Document 1).

[0003] In recent years, the use of IT in construction work has progressed, and dedicated systems have been developed and put into operation for pile core alignment. Operators of construction machinery can smoothly operate the machinery by following visually displayed guidance screens while imagining the relationship between the current position and the target position (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2011-6880 A [Patent Document 2] Patent Publication No. 2021-165502 Summary of the Invention [Problem to be solved by the invention]

[0005] The construction position guidance system described in Patent Document 2 allows users to visually grasp the relationship between the planned pile embedding position and the actual pile core position determined from the pile driver's vehicle body position information by displaying icons and guidelines. However, the driving operation for aligning the pile core position involves a combined operation of traveling and turning, and during end guidance, which requires a small amount of movement, the actual operation amount tends to be excessive compared to the amount of lever operation required for movement due to tension or nervousness, making end guidance difficult.

[0006] Therefore, an object of the present invention is to provide a pile driver control system that can obtain an amount of movement that takes into account the operator's driving operations and easily perform terminal guidance to the pile core position. [Means for solving the problem]

[0007] In order to achieve the above object, the pile driver control system of the present invention includes a receiving unit that acquires position information of a pile driver having an upper rotating body on a lower traveling body, a memory unit that stores construction plan information that sets the planned buried positions of piles at a construction site, an operation unit that sets the moving direction and moving speed of the pile driver based on the tilting operation of an operation lever, a display unit that displays the operating status of the pile driver, and a controller that controls the operation of the pile driver, wherein the controller controls the display unit to display a pile core guidance screen using the position information acquired by the receiving unit and the construction plan information stored in the memory unit. The planned pile burial position and the current position of the pile driver are displayed on a two-dimensional map, and when the distance between the planned pile burial position and the actual pile core position determined from the position information of the pile driver falls below a preset threshold, the display on the two-dimensional map is switched to a terminal guidance display that enlarges the surrounding area including the planned pile burial position and the actual pile core position, and the travel speed of the lower traveling body is controlled to a second traveling speed that is slower than a first travel speed that corresponds to the operation amount of a travel operation lever, and the rotation speed of the upper rotating body is controlled to a second rotation speed that is slower than the first rotation speed that corresponds to the operation amount of a rotation operation lever.

[0008] The vehicle is also characterized by including an annunciation unit that annunciates a state in which the vehicle is controlled to the second traveling speed and the second turning speed. Effect of the Invention

[0009] According to the pile driver control system of the present invention, when controlling the display of the pile core guidance screen, when the distance between the planned pile burial position and the actual pile core position falls below a threshold, the display is switched from a two-dimensional map to a terminal guidance display, the running speed of the lower running body is controlled to a second running speed that is slower than the first running speed corresponding to the operation amount of the running operation lever, and the swing speed of the upper rotating body is controlled to a second swing speed that is slower than the first swing speed corresponding to the operation amount of the swing operation lever. Therefore, the slight movement amount of the pile driver required during terminal guidance can be easily obtained, which greatly contributes to improving driving operability when aligning the pile core. [Brief description of the drawings]

[0010] [Figure 1] 1 is a side view of a pile driver to which a control system showing one embodiment of the present invention is applied. [Diagram 2] FIG. [Diagram 3] 11 is a graph showing the relationship between the lever operation amount and the hydraulic oil supply ratio. [Figure 4] FIG. 13 is a diagram showing an example of a pile core guidance screen in which the planned buried positions of the piles and the current position of the pile driver are displayed on a two-dimensional map. [Diagram 5] FIG. 11 is an explanatory diagram showing the state in which the actual pile core position is being brought closer to the planned pile embedding position in the terminal guidance display. [Figure 6] This is an explanatory diagram showing the state when the distance between the planned buried position of the pile and the actual pile core position in the terminal guidance display falls within the control standard. [Figure 7] 13 is a graph showing the relationship between the lever operation amount and the hydraulic oil supply ratio during terminal guiding. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 1 to 7 show an example of the present invention applied to a small pile driver. As shown in FIG. 1, the pile driver 11 is a dual-purpose machine that can be used for both steel pipe pile construction and ground improvement construction, and is equipped with a base machine 14 consisting of a lower traveling body 12 equipped with crawlers and an upper rotating body 13 rotatably mounted on the lower traveling body 12, a leader 15 erected at the front of the upper rotating body 13, and a hoisting cylinder 16 supporting the leader 15 from the rear. A leader support 17 that supports the leader 15 so that it can be hoisted is provided at the front of the upper rotating body 13, and a driver's cab 18 is provided at the right side of the upper rotating body 13, and an equipment room 19 that houses a hydraulic unit powered by an engine is provided at the left side.

[0012] The leader 15 is made up of multiple leader members connected together, each with a cross section formed into a square tube, and is rotatably attached to a support shaft in the vehicle width direction provided on the leader support 17. A top sheave 20 around which a lifting rope is wound is provided at the upper end of the leader 15, and an openable and closable anti-vibration member 22 for preventing the steel pipe pile 21 from swinging is provided at the front of the lower part. A rack gear 23 is provided at the center of the front surface of the leader 15 as a component of the rack and pinion type lifting device, and a pair of left and right guide pipes 24, 24 are provided continuously over the entire length of the leader 15 at the front ends of both sides.

[0013] The auger 25, which is an example of a rotary drive device, has a pair of left and right guide gibs 25a, 25a that protrude rearward and are in sliding contact with the guide pipes 24, 24, and moves up and down along the front surface of the leader 15 by rotating a pair of left and right pinions (not shown) that mesh with the rack gear 23 using an auger lifting hydraulic motor 25b.

[0014] When performing steel pipe burying work, the prepared steel pipe pile 21 is hoisted up by a rope hanging down from the top sheave 20, and then its upper end is connected to a drive rod (rotary drive shaft) 26 via an adapter 27, and its lower end is embraced by an anti-vibration member 22. The attached steel pipe pile 21 is rotated by an auger drive hydraulic motor 25c, and is pressed into the ground by lowering the auger 25.

[0015] Within the cab 18, devices such as multiple operating levers, operating pedals, push button switches, displays, etc. for performing operations such as traveling, turning, and raising / lowering and rotating the auger 25 are concentrated near the driver's seat for ease of use. In addition, a controller (control unit) is provided that is electrically connected to these devices and is composed mainly of a CPU that performs various types of calculation processing such as data processing and judgment.

[0016] The controller constitutes a control system that supports pile core alignment at the construction site based on the vehicle position information of the pile driver 11. As shown in Fig. 2, this control system includes the controller 28 that controls the operation of the pile driver 11 and functions as an actual pile core position calculation unit, a construction management device 29 that is a storage unit that stores various data, a display unit (display) 30 that displays the operating state of the pile driver 11 on a display screen, for example, a guidance support in pile core alignment and a construction result that the operator can check, an operation unit 32 that sets the travel and rotation of the pile driver 11, the movement direction and movement speed of the auger, etc. based on the tilt operation of the operation lever 31, a hydraulic unit 33 that operates various hydraulic actuators such as hydraulic motors and hydraulic cylinders according to the settings of the movement direction and movement speed, and an alarm unit (for example, an audio speaker installed in the driver's cab 18) 34 that alarms the control state of the hydraulic unit 33.

[0017] Signals are input to the controller 28 from various sensors that detect the operating state of the pile driver 11. Examples of the sensors include a main body inclinometer 35 provided on the upper rotating body 13 and a leader inclinometer 36 provided on the leader 15. The detection values ​​of the main body inclinometer 35 and the leader inclinometer 36 are acquired as attitude information of the pile driver 11 and are used to execute the control program.

[0018] A plurality of driving operation levers 31 are provided for each operation target such as traveling and turning, and a switch (hydraulic switch or potentiometer) incorporated in the operation unit 32 operates to input the operation direction and operation amount as an operation signal to the controller 28. Also, a flow control valve (electromagnetic proportional control valve) is provided in the hydraulic unit 33 corresponding to each hydraulic actuator, and the controller 28 controls the operation of each hydraulic actuator by controlling the valve opening of the flow control valve corresponding to each hydraulic actuator based on the operation signal from the operation unit 32 corresponding to each driving operation lever 31.

[0019] Here, the flow control valve is controlled as shown in the graph in Fig. 3 (flow characteristic represented by graph line L1). That is, when the value on the vertical axis representing the operation amount of the driving operation lever 31 is + (plus) 100 with respect to 0 (zero) at the lever neutral position, for example, the supply flow rate of hydraulic oil to the traveling hydraulic motors (two, left and right) is controlled to be 100% and the maximum speed (the traveling speed of the pile driver 11 is the fastest), and when it is +55, the supply amount of hydraulic oil is controlled to be 50% of the maximum supply flow rate. As a result, when the pile driver 11 is moved forward, the amount of hydraulic oil supplied to the traveling hydraulic motors increases as the travel operation lever 31a is tilted forward so that the value in the + direction on the vertical axis becomes larger as the operation lever tilt direction corresponding to this, and the forward speed becomes faster.

[0020] On the other hand, when moving the pile driver 11 backward (not shown), the more the travel control lever 31a is tilted backward so that the value in the negative (-) direction on the vertical axis becomes larger, the more hydraulic oil is supplied to the travel hydraulic motor, and the faster the reverse speed becomes. In this case, when the value on the vertical axis is within ±10, hydraulic oil is not supplied to the travel hydraulic motor. This prevents the pile driver 11 from moving even if the operator accidentally lightly touches the travel control lever 31a.

[0021] Such control of the flow control valve is performed in the same way when rotating the upper rotating body 13, for example, and the ratio at which the hydraulic oil supply amount is set is controlled according to the operation direction (left turn / right turn) and operation amount of the rotation operation lever 31b. Note that the flow characteristic shown by the graph line L1 places importance on the operating efficiency of the hydraulic actuator, and is referenced to obtain the first traveling speed and first swing speed described later.

[0022] The construction management device 29 is configured to be able to download and store a control program and construction plan data, which is construction plan information, via a communication connection. The construction plan data is input in advance to a computer in the office based on a construction plan created by investigating the position and soil quality of the construction site, and includes pile numbers as well as various construction target values ​​linked to the pile numbers, such as depth, feed speed, rotation speed, and cement milk flow rate. The input work of the construction plan data is performed by inputting pile position data in comparison with the construction drawings, and specifically, the planned buried position of the pile is specified in two-dimensional coordinates as a relative position (distance) from the origin of the coordinate system.

[0023] The created construction plan data is uploaded to a data server on the network with the addition of location information of the address of the construction site, model information of the pile driver 11 to be used, vehicle exterior information including mechanism information, for example, information on the horizontal distance between the rotation center (rotation axis) PV of the upper rotating body 13 and the rotation center of the auger 25 (corresponding to the actual pile core position C0 described later), etc. In addition, a construction management program for the construction method to be implemented based on the construction plan data, for example, the ground improvement method, the precast pile method, or the cast-in-place pile method, and data on the setting parameters of the construction management program are also created and uploaded to the data server in the same manner.

[0024] The vehicle position information is obtained using a well-known GNSS (Global Navigation Satellite System) technology, for example, a first positioning device 37 having an antenna 39 and a second positioning device 38 having an antenna 40 are provided as receivers on the upper rotating body 13 of the pile driver 11, and while receiving radio waves from GNSS satellites, the position information of the antennas that changes with the running and rotation of the pile driver 11 is obtained. The controller 28 calculates the position and orientation of the upper rotating body 13 from the positional relationship of the two antennas 39, 40 that are separated in the front-rear direction, and further takes into account the attitude information obtained by the main body inclinometer 35 and the leader inclinometer 36, respectively, to identify the position of the central axis of the steel pipe pile 21 (various construction members) on the ground, i.e., the actual pile core position C0 (Fig. 1).

[0025] The pile core positioning support function (pile core guidance) provided by the control system will be described below. First, when the pile driver 11 is brought into the construction site, the system is started when the engine is started, and the current vehicle position information of the pile driver 11 is acquired by the first positioning device 37 and the second positioning device 38. In addition, construction plan data is automatically downloaded corresponding to the construction site where the pile driver 11 is located, and various information such as position information of each pile number and vehicle outer shape information is acquired. Furthermore, the actual pile core position C0 is specified by calculation of the controller 28.

[0026] As a result, a movement route toward the planned pile embedding position P0 (FIG. 1) is set based on the pile position data of the first pile number and the vehicle body position data, and the display unit (display) 30 displays, for example, a pile core guidance screen as shown in FIG. 4, a display image showing the iconized planned pile embedding position (target pile core position) P and the current position M of the pile driver 11 on a two-dimensional map (whole display area 41). In the display area other than this display image, for example, operation buttons 42 for registering a guidance completion state (details will be described later) and guidance support information such as the magnitude of deviation in the forward / backward direction (X direction) and left / right direction (Y direction) as a numerical value and the required driving operation (travel / turn) as the direction of arrows 43, 44 colored in red, for example.

[0027] When the pile driver 11 is driven to approach the planned pile embedding position P0, the pile core guidance screen switches from a two-dimensional map display as shown in FIG. 4 (in this embodiment, a map of the construction site where the planned pile embedding positions are superimposed. The display range may be the entire construction site or a part of the construction area.) to, for example, a terminal guidance display as shown in FIG. 5 (in this embodiment, a screen that displays only the planned pile embedding position P0 and the actual pile core position C0 of the pile that is currently to be constructed) when the distance between the planned pile embedding position P0 and the actual pile core position C0 falls below a preset threshold. The threshold is set to a different value for each specification of the pile driver 11, but is preferably, for example, about 1.1 to 2.0 times the rotation center-pile core distance L (FIG. 1).

[0028] The terminal guidance display is an enlarged display of the surrounding area including the planned pile burial position P0 and the actual pile core position C0, and the planned pile burial position P and the actual pile core position C displayed at this time are circular icons that evoke a common pile cross section, and the planned pile burial position P is given a solid display color (e.g., red) to make it easy to distinguish from each other. The size of each icon is set to the diameter of the pile or the diameter of the pile taking into account the allowable position deviation (difference according to the management standard) based on the planned pile burial position P.

[0029] The enlarged display area 45 of the display image which becomes the terminal guidance display is provided with a grid divided by a plurality of cells, and a turning trajectory S of the real pile core position C is added. The turning trajectory S is an arc corresponding to the turning center-pile core distance L, and is fixed to the center of the enlarged display area 45 together with the real pile core position C. As a result, in the turning operation according to the display image, the left-right moving direction of the real pile core position C and the left-right operation direction of the turning operation lever 31b (the operation lever tilting direction) are aligned with the operator's line of sight.

[0030] Here, the controller 28 executes a low-speed control mode for reducing the speed per operation amount (tilt amount) of the operation levers 31a, 31b for both traveling and turning at the timing of switching the display from the 2D map display (FIG. 4) to the terminal guidance display (FIG. 5). Specifically, a control command is given to the hydraulic unit 33, and the flow rate of hydraulic oil in the flow control valves corresponding to traveling and turning is adjusted (throttled down), thereby controlling the traveling speed of the lower traveling body 12 to a second traveling speed that is slower than the first traveling speed corresponding to the operation amount of the traveling operation lever 31a, and controlling the turning speed of the upper turning body 13 to a second turning speed that is slower than the first turning speed corresponding to the operation amount of the turning operation lever 31b.

[0031] In addition, when an operation signal for driving or turning is input while the low-speed control mode is being executed, the controller 28 activates the notification unit (audio speaker) to output an audio message indicating that the vehicle is in the low-speed control mode, in other words, that the vehicle is in the second driving speed and second turning speed, and notifies the operator, for example, "Drive at a reduced speed."

[0032] When the mode is changed to the low-speed control mode, the flow control valve is controlled as shown in the graph in Fig. 7 (flow characteristics indicated by solid graph line L2). Here, imaginary graph line L1 indicates flow characteristics that define the first travel speed and the first swing speed (Fig. 3). That is, as can be seen by comparing the low-speed control mode before (graph line L1) and after (graph line L2), after the changeover, for example, the flow control valve is controlled to reduce the amount of hydraulic oil supplied per operation amount of the operating lever 31 to half of that before the changeover.

[0033] Specifically, when the value on the vertical axis representing the amount of operation of the driving operation lever 31 is +100 relative to 0 (zero) at the lever neutral position, for example, the flow rate of hydraulic oil supplied to the traveling hydraulic motors (two, left and right) is controlled to be 50% of the maximum supply flow rate and the maximum speed, and when it is +55, the amount of hydraulic oil supplied is controlled to be 25% of the maximum supply flow rate. As a result, even if the amount of operation is the same, the traveling speed drops relatively after switching to the low-speed control mode, and even if the traveling operation lever 31a is pushed down too far, the amount of hydraulic oil supplied to the traveling hydraulic motors is limited to a predetermined amount, so the traveling speed will not exceed the limit against the operator's will.

[0034] In this way, when the low-speed control mode is introduced to the terminal guidance, the operator appropriately performs the travel operation of the lower traveling body 12 and the rotation operation of the upper rotating body 13 while checking the icon display, and as shown in FIG. 6, the center of the actual pile core position C approaches the center of the planned pile embedding position P. Here, when the amount of deviation falls within the management standard, the icon and arrows 43, 44 of the planned pile embedding position P are deemed to have satisfied the allowable value of the position deviation, and the display color of the operation button 42 "guidance completed" is displayed in reverse (white characters). When the operator confirms that the display color of the icon of the planned pile embedding position P has changed due to these visual effects, he / she determines that the management standard has been cleared, and operates the operation button 42, which has become operable (active state), to register the guidance completion state. As a result, the display is switched from the pile core guidance screen to the construction screen (not shown).

[0035] Construction for the first pile number is carried out automatically by executing the construction management program while acquiring construction data, and once construction is completed, the operator performs a specified switching operation, switches the display to the pile core guidance screen for the next pile number, and releases the low-speed control mode.

[0036] In this way, the controller 28 sets a movement route toward the planned embedding position of the next pile based on the pile position data of the next pile number and the vehicle position data. Then, after the above-mentioned terminal guidance, pile core alignment is performed for the next pile in the same procedure, and pile core alignment is performed in the same manner for the planned embedding positions of the subsequent piles. Then, pile core alignment and construction are repeated according to the planned embedding order of the piles. The pile core alignment information obtained at this time (information on pass / fail judgment, etc.) is recorded as part of the construction management information.

[0037] In this way, according to the control system of the pile driver 11 of the present invention, when controlling the display of the pile core guidance screen, when the distance between the planned pile burial position P0 and the actual pile core position C0 falls below a threshold, the display is switched from a two-dimensional map to a terminal guidance display, the running speed of the lower running body 12 is controlled to a second running speed that is slower than the first running speed corresponding to the operation amount of the running operation lever 31a, and the swing speed of the upper rotating body 13 is controlled to a second swing speed that is slower than the first swing speed corresponding to the operation amount of the swing operation lever 31b.Therefore, the slight movement amount of the pile driver 11 required during terminal guidance can be easily obtained, which greatly contributes to improving operability in aligning the pile core.

[0038] In addition, since the notification unit 34 is provided to notify the operator of the state in which the second travel speed and the second turning speed are controlled, the operator can receive assistance from the notification unit 34 in addition to visual confirmation during terminal guidance, which contributes to safe and secure driving by the operator. In particular, since the notification unit 34 is operated based on an operation signal from the operation unit 32 corresponding to the driving operation lever 31, the timing of the notification operation can be optimized.

[0039] The present invention is not limited to the above-mentioned embodiment, and the control system may be used as an independent system in addition to being added to an existing system. The threshold value for determining the switching timing of the pile core guidance screen, the setting value for the low-speed control mode (such as the ratio of hydraulic oil supply to the operation amount), and the operation specifications of the notification unit (such as a speaker, buzzer, light-emitting device, etc.) are arbitrary. Furthermore, the second speed can be obtained by, for example, reducing the amount of hydraulic oil discharged from the hydraulic pump, other than throttling the flow control valve. In addition, in the embodiment, the pile core guidance screen is automatically switched, but, for example, a notification control may be performed to prompt the operator to confirm whether or not to switch from the display on the two-dimensional map to the end guidance display.

[0040] The screen configuration is merely an example, and the size and shape of the display area partitions and various icons are arbitrary, and when numerical data and the like are also displayed, the display area can be divided or combined into one area. Furthermore, the visibility of the partitions and icon displays is emphasized, and the size is appropriately adjusted according to the requirements of the management standards, and the line type and line thickness of the grid and the display color of various images can also be appropriately set. In addition, although the embodiment has been described using a small pile driver as an example, the present invention is not limited to this, and can also be applied to large pile drivers such as three-point pile drivers and ground improvement machines that perform work similar to steel pipe burying. [Explanation of symbols]

[0041] 11...pile driver, 12...lower running body, 13...upper rotating body, 14...base machine, 15...leader, 16...derailing cylinder, 17...leader support, 18...operator's cab, 19...equipment room, 20...top sheave, 21...steel pipe pile, 22...anti-vibration member, 23...rack gear, 24...guide pipe, 25...auger, 25a...guide gib, 25b...hydraulic motor for lifting and lowering auger, 25c...hydraulic motor for driving auger, 26...drive rod , 27... adapter, 28... controller, 29... construction management device, 30... display unit, 31... driving operation lever, 31a... travel operation lever, 31b... turning operation lever, 32... operation unit, 33... hydraulic unit, 34... alarm unit, 35... main body inclinometer, 36... reader inclinometer, 37... first positioning device, 38... second positioning device, 39, 40... antenna, 41... overall display area, 42... operation button, 43, 44... arrow, 45... enlarged display area

Claims

1. A control system for a pile driver comprising: a receiving unit for acquiring position information of a pile driver having an upper rotating body on a lower traveling body; a memory unit for storing construction plan information that sets the planned buried positions of piles at a construction site; an operation unit for setting the moving direction and moving speed of the pile driver based on the tilting operation of an operating lever; a display unit for displaying the operating state of the pile driver; and a controller for controlling the operation of the pile driver, The controller controls the display unit to display a pile core guidance screen using the position information acquired by the receiving unit and the construction plan information stored in the memory unit, and displays the planned burial position of the pile and the current position of the pile driver on a two-dimensional map, and when the distance between the planned burial position of the pile and the actual pile core position determined from the position information of the pile driver falls below a predetermined threshold, switches the display on the two-dimensional map to a terminal guidance display that enlarges the surrounding area including the planned burial position of the pile and the actual pile core position, controls the travel speed of the lower traveling body to a second travel speed that is slower than a first travel speed corresponding to the operation amount of a travel operation lever, and controls the rotation speed of the upper rotating body to a second rotation speed that is slower than the first rotation speed corresponding to the operation amount of a rotation operation lever.

2. 2. The control system according to claim 1, further comprising an annunciation unit that annunciates a state in which the vehicle is controlled to the second travel speed and the second turning speed.

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