Dummy pile core device for stationary type ground improving machine and pile core position guidance system of stationary type ground improving machine

Abstract

To provide a pile core position guidance system of a stationary type ground improving machine that lifts a stationary type ground improving machine having no self-traveling means by a lifting device, and moves the pile core position up to a construction target position, which can accurately guide the pile core position to the construction target position, and manages a pile core position guidance situation and a construction situation for a plurality of stationary type ground improving machines by using one GNSS receiver.SOLUTION: A lower flange part 34c is provided on a base 34 for lower mounting mounted on a virtual shaft core of a swivel head, and a magnet 35 for fixation is provided on its rear face. A projecting opening 34a is provided, and a laser pointer 38 for emitting a linear and chromatic laser beam LL is mounted so as to be positioned on a shaft core 32c of a receiver support rod 32 supporting a GNSS receiver 31. The light of the laser beam LL and the shaft core 32c are made to be concentric with each other. An inertia measurement sensor 31b is provided on the shaft core 32c of the receiver support rod 32.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a dummy pile core device for a stationary ground improvement machine and a pile core position guidance system for a stationary ground improvement machine, and more specifically to a pile core position guidance system for a stationary ground improvement machine that lifts a ground improvement machine that does not have a self-propelled means by a lifting device and moves its pile core position to a target construction position, which can accurately guide the pile core position to a target construction position and can manage the pile core position guidance status and construction status for multiple stationary ground improvement machines using a single GNSS receiver. [Background technology]

[0002] In recent years, there has been an increase in ground improvement works that use the high-pressure jet mixing method (jet grouting method) to create a large number of ground improvement piles (columnar improvement bodies) in the ground for the purposes of "strengthening the bearing capacity," "reducing subsidence," "preventing liquefaction," and "reinforcing the earthquake resistance of existing structures" in soft ground. Ground improvement piles are created by rotating and lowering a casing rod with a double-tube structure, excavating the ground to a specified depth with a digging blade (wing bit) attached to the tip, and then raising and rotating the casing rod a specified distance at a time, while simultaneously injecting an ultra-high-pressure hardening agent with compressed air into the ground, cutting the ground and discharging the slime to the surface, thereby creating a cylindrical shape.

[0003] The construction machine used to carry out the high-pressure injection mixing method is a ground improvement machine equipped with a rotary drive device (swivel head) that grips a hollow casing rod and rotates it at a specified torque, and a feeding device (feed cylinder) that supports the rotary drive device and feeds it vertically downward at a specified feed pressure. A drilling blade (wing bit) that excavates the ground to a specified depth is attached to the tip of the casing rod, and a double-tube injection nozzle that sprays ultra-high pressure hardener accompanied by compressed air in a direction perpendicular to the pile core is attached to the side of the casing rod. The inner tube of the casing rod is filled with ultra-high pressure hardener (for example, 19.6 MPa (200 kgf / cm)) that is pumped by a grout pump from a mixing plant. 2 In the gap between the inner and outer tubes of the casing rod, compressed air (for example, 0.69 MPa (7 kgf / cm)) flows from the compressor through an air flow control valve and adjusted to a specified pressure. 2 )) is designed to flow.

[0004] Among the ground improvement machines that carry out the high-pressure jet mixing method, stationary ground improvement machines that do not have a self-propelled means are widely used. Stationary ground improvement machines have the advantages of being cheaper, smaller in size, and lighter in weight than self-propelled ground improvement machines because they do not have a self-propelled means. Because they are small in size and light in weight, they are lifted by a lifting device such as a crane truck and moved to the target construction position. After being moved to the vicinity of the target construction position, they are guided in a lifted state so that the virtual center axis of the swivel head is at the target construction position (ground improvement position) and lowered to the ground.

[0005] In addition, the target construction position (ground improvement position) is set on the bottom of the slime bit (improvement base), which is one step lower than the ground surface. Due to the step between the ground surface and the improvement base, the construction machine cannot land on the improvement base. As a result, the pile core guidance work of the stationary ground improvement machine is a time-consuming and labor-intensive task.

[0006] In the domestic construction industry, it is expected that about 1.1 million people, equivalent to one-third of skilled workers, will leave the industry due to aging and other factors over the next 10 years, and labor shortages have become a serious problem, making productivity improvement an unavoidable issue. In light of this, the Ministry of Land, Infrastructure, Transport and Tourism has positioned 2016 as the "first year of the productivity revolution" and is implementing the "Productivity Revolution Project" as an advanced initiative, promoting technology that utilizes ICT (i-Construction (registered trademark)) in all construction production processes, from investigation and surveying to design, construction and maintenance, with the aim of improving productivity at construction sites by 20% by 2025. In "full-scale utilization of ICT," one of the three pillars of i-Construction (registered trademark), cost estimation and technical standards have begun to be developed for ground improvement work, paving work, slope work, etc., starting with ICT earthwork in 2016, such as "expansion of ICT construction work types" and "improvement of efficiency in construction management, completed volume, and completed form management using ICT."

[0007] In the "full-scale utilization of ICT," an invention is known that relates to a pile core position guidance system for a ground improvement machine (200), in which a GNSS receiver with built-in antenna that receives positioning signals from a satellite positioning system such as GNSS is attached to the main body (20) of the ground improvement machine (200), and the current pile core position (P3') of a steel pipe pile (1) calculated based on the positioning signal received by the GNSS receiver is guided to a construction target position (PT) (see, for example, Patent Document 2).

[0008] In the pile core position guidance system, the deviation Δ(ΔX, ΔY) from the "initial (at the time of calibration) pile core position (P3) on the machine coordinate system OXY constructed in the ground improvement machine (200)" is calculated in real time based on each measurement value (θ1, θ2, θ3, θ4) by the biaxial tilt sensor separately provided in the main body (20) and the reader device (30). Then, the deviation Δ(ΔX, ΔY) on the machine coordinate system OXY is converted to a deviation Δ'(Δx', Δy') from the "initial on the plane rectangular coordinate system O'X'Y' corresponding to the GNSS coordinate system", and the current pile core position (P3') of the steel pipe pile (1) on the plane rectangular coordinate system O'X'Y' is calculated based on the deviation Δ'(Δx', Δy'). The induced amount from the current pile core position (P3') on the plane rectangular coordinate system O'X'Y' to the construction target position (PT) is the induced amount ΔM (ΔX M , ΔY M ) and the induction quantity ΔM(ΔX M , ΔY M ) is corrected in real time, thereby minimizing the deviation between the actual construction position and the construction target position (PT). [Prior art documents] [Patent documents]

[0009] [Patent Document 1] JP 2015-221964 A [Patent Document 2] JP 2021-110220 A Summary of the Invention [Problem to be solved by the invention]

[0010] Generally, at construction sites where stationary ground improvement machines are in operation, the time-consuming task of hoisting the machine and guiding it to the target construction position takes place, so construction sites tend to have a greater number of ground improvement machines in operation than construction sites where self-propelled ground improvement machines are in operation.

[0011] Therefore, when using a satellite positioning system such as GNSS to guide the pile core position of a stationary ground improvement machine, a GNSS receiver is required for each unit in operation.

[0012] Typically, the position guidance work of a stationary ground improvement machine using a GNSS receiver involves, for example, attaching the GNSS receiver to the virtual central axis of the swivel head of the stationary ground improvement machine, regarding the "current position of the GNSS receiver" as the "current pile core position of the casing rod (steel pipe pile)," displaying the "current position of the GNSS receiver" and the "target construction position" on the display of a tablet (portable computer), and the worker (guider) guides the "current position of the GNSS receiver" to the "target construction position" while checking the display.

[0013] In other words, when using a GNSS receiver to guide the position of a stationary ground improvement machine, in addition to GNSS receivers for each unit in operation, a separate license agreement is also required for the software (application) called the "pile core position guidance system," which allows the worker to guide the ground improvement machine to the target construction position while looking at a tablet, for each unit in operation.

[0014] As mentioned above, at construction sites where stationary ground improvement machines are in operation, the number of machines in operation is large, so the cost of the GNSS receiver equipment and the software license contract fee for each machine in operation is required. The cost can reach at least several million yen, and in some cases, tens of millions of yen.

[0015] In addition, the improvement reference surface (for example, the bottom surface of the slime bit) on which the construction target position is set is at a lower position than the ground surface on which the ground improvement machine is installed (landed). In other words, the ground improvement machine is installed on the ground surface in a state where it is floating above the construction target position (the construction target position is in the shadow of the bottom surface of the ground improvement machine). This creates a problem in that it is extremely difficult to visually confirm the error (deviation) between the pile core position of the casing rod (steel pipe pile) and the construction target position.

[0016] Therefore, the present invention has been made in consideration of the problems of the above-mentioned conventional technology, and its purpose is to provide a dummy pile core device for a stationary ground improvement machine and a pile core position guidance system for a stationary ground improvement machine, which lifts a ground improvement machine that does not have a self-propelled means by a lifting device and moves its pile core position to a construction target position, and which can accurately guide the pile core position to a construction target position and can manage the pile core position guidance status and construction status for multiple stationary ground improvement machines using a single GNSS receiver. [Means for solving the problem]

[0017] In order to achieve the above object, the present invention provides a dummy pile core device for a stationary type ground improvement machine, which is attached to a stationary type ground improvement machine (1) that does not have a self-propelled means and which simulates the pile core position of a casing rod (2) for constructing a columnar improvement body (9). The dummy pile core device (30, 30') comprises a position guidance target unit (31, 31') that receives or reflects electromagnetic waves related to the coordinate measurement of the pile core position, a light irradiation device (38) that irradiates a linear colored light beam (LL), and The ground improvement machine (1) is provided with a power supply unit (40) for supplying power to the light irradiation device (38), and an attachment base (33, 34) that is detachably attached to a swivel head (1a) of the stationary ground improvement machine (1) while supporting the position induction target unit (31, 31') and the light irradiation device (38), and the position induction target unit (31, 31') is arranged on the same axis (32c) as the colored light beam (LL) emitted from the light irradiation device (38).

[0018] In the above configuration, the mounting bases (33, 34) supporting the position guidance target portion (31, 31') and the light irradiation device (38) are configured to be detachable, so that the dummy pile core device (30, 30') can be repeatedly reused (reused).

[0019] In addition, since the position guiding target parts (31, 31') are arranged on the same axis as the colored light beam (LL), the imaginary line connecting the position guiding target parts (31, 31') and the colored light beam (LL) can be regarded as the "pile core position of the casing rod (2)." Therefore, the worker can safely visually confirm the current pile core position (PC) of the casing rod (2) from a position away from the ground improvement machine (1) by the irradiation point (PL) of the colored light beam (LL) emitted from the light irradiation device (38) on the ground surface or the improved base surface.

[0020] A second feature of the dummy pile core device for a stationary ground improvement machine of the present invention is that the position guidance target unit (31, 31') includes a GNSS receiver device (31) with a built-in antenna that receives electromagnetic waves containing position information related to coordinate measurement transmitted from a satellite of the Global Navigation Satellite System (GNSS).

[0021] In the above configuration, the accurate coordinate position of the position guidance target portion (31) can be automatically acquired in real time by the GNSS receiver device (31) with built-in antenna, so that the accurate coordinate position of the current pile core position (PC) of the casing rod (2) can be automatically acquired in real time.

[0022] A third feature of the dummy pile core device for a stationary ground improvement machine according to the present invention is that the antenna-embedded GNSS receiving device (31) is equipped with a wireless communication device (31a) capable of communicating with the computer (20).

[0023] In the above configuration, the coordinates in the GNSS coordinate system of the current pile core position (PC) of the casing rod (2) measured by the GNSS receiver (31) with built-in antenna are transmitted to the computer (20), where they are converted into the on-site coordinate system and can be displayed on the display (20a) of the computer (20) together with the construction target position (PT).

[0024] A fourth feature of the dummy pile core device for a stationary ground improvement machine of the present invention is that the position induction target portion (31, 31') includes a prism device (31') that reflects measurement light emitted from the distance measuring / angle measuring device (11).

[0025] In the above configuration, even in an environment where it is difficult to receive electromagnetic waves transmitted from a satellite of the Global Navigation Satellite System (GNSS), it is possible to accurately measure the coordinate position of the current pile core position (PC) of the casing rod (2) by using the prism device (31') and the distance and angle measurement device (11).

[0026] A fifth feature of the dummy pile core device for a stationary ground improvement machine according to the present invention is that the distance measuring and angle measuring device (11) is equipped with a wireless communication device (31a) capable of communicating with a computer (20), and has an automatic tracking function for automatically tracking the prism device (31').

[0027] In the above configuration, even in an environment where it is difficult to receive electromagnetic waves transmitted from a satellite of the Global Navigation Satellite System (GNSS), it is possible to automatically measure the coordinate position of the current pile core position (PC) of the casing rod (2). The automatically measured coordinates of the current pile core position (PC) of the casing rod (2) are automatically transmitted to the computer (20) in real time, and can be automatically displayed in real time on the display (20a) of the computer (20) together with the construction target position (PT).

[0028] A sixth feature of the dummy pile core device for a stationary ground improvement machine according to the present invention is that it is equipped with an inertial measurement sensor (31b) capable of measuring at least the inclination angle (θ1) of the axis core (32c) with respect to the vertical direction (Z).

[0029] In the above configuration, even if the ground improvement machine (1) is inclined, it is possible to accurately guide the current pile core position (PC) of the casing rod (2) to the construction target position (PT) by taking into account the amount of inclination (θ1).

[0030] The pile core position guidance system for a stationary ground improvement machine according to the present invention for achieving the above object is a pile core position guidance system (100, 200) for a stationary ground improvement machine that is attached to a stationary ground improvement machine (1) that does not have a self-propelled means and guides a dummy pile core device (30, 30') that simulates the pile core position of a casing rod (2) for constructing a columnar improvement body (9) to a construction target position (PT) of the columnar improvement body (9). The pile core position guidance system (100, 200) for a stationary ground improvement machine includes a server device (10) that manages position information or construction data for a plurality of stationary ground improvement machines (1), a pile core guidance control device (20) that displays position information (ΔX, ΔY) for the current pile core position (PC) and the construction target position (PT) in real time, a construction machine control device (80) that manages the construction of the columnar improvement body (9) by the stationary ground improvement machine (1), and and a network (50) enabling two-way communication between the dummy pile core device (10), the pile core guidance control device (20), and the construction machine control device (80). The dummy pile core device (30, 30') comprises a position guidance target unit (31, 31') that receives or reflects electromagnetic waves related to the coordinate measurement of the pile core, a light irradiation device (38) that irradiates a linear colored light beam (LL), a power supply unit (40) that supplies power to the light irradiation device (38), and an attachment base (33, 34) that is detachably attached to the swivel head (1a) of the stationary ground improvement machine (1) while supporting the position guidance target unit (31, 31') and the light irradiation device (38), and the position guidance target unit (31, 31') is arranged on the same axis (32c) as the colored light beam (LL) emitted from the light irradiation device (38).

[0031] In the above configuration, the dummy pile core device (30, 30') can be repeatedly reused (reused in different ways). Also, the pile core guidance control device (20) in which the software (application) related to position guidance is installed can be repeatedly reused (reused in different ways).

[0032] In addition, for the stationary ground improvement machine (1) in the middle of pile core position guidance, position information (ΔX, ΔY) is transmitted to the server device (10) via the pile core guidance control device (20). On the other hand, for the stationary ground improvement machine (1) in the middle of construction, construction data is transmitted to the server device (10) via the construction machine control device (80). Note that for the stationary ground improvement machine (1) during construction suspension (on standby), neither the position information (ΔX, ΔY) nor the construction data is transmitted to the server device (10). This makes it possible to use one dummy pile core device (30, 30') to manage multiple stationary ground improvement machines (1), including "a stationary ground improvement machine (1) during pile core position guidance," "a stationary ground improvement machine (1) during construction," and "a stationary ground improvement machine (1) during construction suspension (on standby)."

[0033] In addition, the pile core of the casing rod (2) is simulated by a linear colored light beam (LL). Therefore, the current pile core position (PC) of the casing rod (2) can be easily visually confirmed even from a position away from the stationary ground improvement machine (1).

[0034] A second feature of the pile core position guidance system for a stationary ground improvement machine of the present invention is that the dummy pile core device (30) is equipped with a GNSS receiver (31) with a built-in antenna that receives electromagnetic waves containing position information related to coordinate measurement transmitted from a satellite of the Global Navigation Satellite System (GNSS).

[0035] In the above configuration, the GNSS receiver (31) with built-in antenna can be repeatedly reused. Also, the pile core guidance control device (20) can display the position information (ΔX, ΔY) of the current pile core position (PC) and the construction target position (PT) in real time based on the coordinate position calculated by the GNSS receiver (31).

[0036] A third feature of the pile core position guidance system for a stationary ground improvement machine of the present invention is that the antenna-built-in GNSS receiving device (31) has a wireless communication device (31a) capable of communicating with the pile core guidance control device (20).

[0037] In the above configuration, coordinate data in the GNSS coordinate system automatically measured in real time by the GNSS receiver with built-in antenna (31) is transmitted to the pile core guidance control device (20), converted into coordinate data in the site coordinate system by the pile core guidance control device (20), and displayed in real time together with the construction target position (PT).

[0038] A fourth feature of the pile core position guidance system for a stationary ground improvement machine of the present invention is that the dummy pile core device (30') is equipped with a prism device (31') that reflects measurement light emitted from the distance and angle measurement device (11).

[0039] In the above configuration, even in an environment where radio waves from the Global Navigation Satellite System (GNSS) cannot be stably received, the position of the prism device (31') can be regarded as the pile core position of the casing rod (2), and the pile core position of the casing rod (2) can be accurately guided to the construction target position (PT) based on the coordinate position of the prism device (31') measured by the distance and angle measuring device (11).

[0040] A fifth feature of the pile core position guidance system for a stationary ground improvement machine of the present invention is that the distance and angle measurement device (11) is equipped with a wireless communication device (31a) capable of communicating with the pile core guidance control device (20), and has an automatic tracking function for automatically tracking the prism device (31').

[0041] In the above configuration, the coordinate position of the prism device (31') automatically measured in real time by the automatic tracking function of the distance and angle measuring device (11) is transmitted to the pile core guidance control device (20), where it is converted into a coordinate position in the on-site coordinate system and displayed as the current pile core position (PC) of the casing rod (2) together with the construction target position (PT).

[0042] A sixth feature of the pile core position guidance system for the stationary ground improvement machine of the present invention is that the dummy pile core device (30, 30') is equipped with an inertial measurement sensor (31b) capable of measuring at least the inclination angle (θ1) of the axis core (32c) in the vertical direction (Z).

[0043] In the above configuration, taking into consideration two errors (Δ+Δ') - the tilt error (Δ) caused by the axis (32c) of the dummy pile core device (30, 30') tilting in the vertical direction (Z) and the swing error (Δ') caused by the swing of the position guidance target section (31, 31') when the ground improvement machine (1) lands - the correction point (P1') of the pile core position (P1) of the casing rod (2) can be accurately determined so that the pile core position (P1) of the casing rod (2) overlaps with the construction target position (PT) when the ground improvement machine (1) lands. Effect of the Invention

[0044] The dummy pile core device (30, 30') for stationary ground improvement machine according to the present invention allows repeated reuse (recycling). In addition, since the virtual straight line connecting the position guidance target part (31, 31') and the colored light (LL) can be regarded as the "pile core position of the casing rod (2)", the current pile core position (PC) of the casing rod (2) can be safely confirmed visually by the irradiation point (PL) of the colored light (LL) on the ground surface or the improvement base surface.

[0045] According to the pile core position guidance system for a stationary ground improvement machine of the present invention, the pile core guidance control device (20) in which software (application) related to position guidance is installed can be repeatedly reused (reused) as well as the dummy pile core device (30, 30').

[0046] In addition, for the stationary ground improvement machine (1) in the middle of pile core position guidance, position information (ΔX, ΔY) is transmitted to the server device (10) via the pile core guidance control device (20), while for the stationary ground improvement machine (1) in the middle of construction, construction data is transmitted to the server device (10) via the construction machine control device (80). This makes it possible to use one dummy pile core device (30, 30') to manage multiple stationary ground improvement machines (1), including "a stationary ground improvement machine (1) in the middle of pile core position guidance," "a stationary ground improvement machine (1) in the middle of construction," and "a stationary ground improvement machine (1) whose construction is suspended (on standby)." [Brief description of the drawings]

[0047] [Figure 1] FIG. 2 is a block diagram showing the configuration of a pile core position guiding system for the stationary ground improvement machine according to the first embodiment of the present invention. [Diagram 2] FIG. 2 is an explanatory diagram showing an actual ground improvement construction site where the pile core position guidance system of the stationary type ground improvement machine of the present invention is applied. [Diagram 3] FIG. 2 is a cross-sectional explanatory view showing a main part of a dummy pile core device according to the first embodiment of the present invention. [Figure 4] FIG. 2 is an explanatory diagram showing a pile core guidance control device according to the present invention. [Diagram 5] FIG. 11 is a block diagram showing the configuration of a pile core position guiding system for a stationary ground improvement machine according to a second embodiment of the present invention. [Figure 6] FIG. 2 is an explanatory diagram showing the measurement principle of an automatic tracking total station. [Figure 7] FIG. 6 is a cross-sectional explanatory view showing a main part of a dummy pile core device according to a second embodiment of the present invention. [Figure 8]FIG. 2 is an explanatory diagram showing a stationary type ground improvement machine according to the present invention. [Figure 9] FIG. 13 is an explanatory diagram showing pile core position guidance when the inclination of a stationary ground improvement machine is not taken into account. [Figure 10] FIG. 13 is an explanatory diagram showing pile core position guidance when taking into account the inclination of a stationary ground improvement machine. [Figure 11] FIG. 1 is a conceptual diagram showing an inertial measurement sensor. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0048] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0049] FIG. 1 is a block diagram showing the configuration of a pile core position guiding system 100 for a stationary type ground improvement machine according to a first embodiment of the present invention.

[0050] The pile core position guidance system 100 for the pile core position of the stationary ground improvement machine is configured to be able to manage the pile core position guidance and construction process for multiple stationary ground improvement machines 1 with one GNSS receiver 31. The "construction" referred to here means ground improvement work in which a large number of cylindrical ground improvement piles 9 are constructed in the ground using a high-pressure jet mixing method (jet grouting method).

[0051] The stationary type ground improvement machine 1 is a ground improvement machine that does not have a self-propelled means, and excavates the ground to a predetermined depth while rotating and lowering a double-tube casing rod 2, and then rotates and raises the casing rod 2 by a predetermined section (e.g., 25 mm) to inject an ultra-high pressure hardener (e.g., 19.6 MPa) accompanied by compressed air to cut the ground and simultaneously discharge slime, thereby constructing a cylindrical ground improvement pile 9. Details of this stationary type ground improvement machine 1 will be described later with reference to FIG. 8. In the following, the stationary type ground improvement machine 1 may be simply referred to as a "construction machine 1" or a "ground improvement machine 1".

[0052] The stationary pile core position guidance system 100 is configured to include a cloud server 10 that manages "machine guidance data creation", "pile core position guidance", and "volume and shape of ground improvement piles" for multiple stationary ground improvement machines 1, a pile core guidance control device 20 that supports pile core position guidance for the stationary ground improvement machine 1, a dummy pile core device 30 that simulates the pile core position of the casing rod 2, a construction machine control device 80 that controls the construction process by the stationary ground improvement machine 1, a network 50 that enables two-way data exchange between the cloud server 10, the pile core guidance control device 20, the construction machine control device 80, and a client terminal device 60, and a client terminal device 60 for uploading information to the cloud server 10 or downloading information from the cloud server 10. Each component will be further described below.

[0053] The cloud server 10 has the same hardware configuration as a normal computer, but its main functions are specialized for "creating machine guidance data" for ground improvement work, "guiding pile core position and managing the construction process," and "creating the completed volume and finished form of the ground improvement piles 9." Note that the "machine guidance data" referred to here is data that describes the "coordinates of the construction target position (ground improvement position) PT" and the "construction pattern" for constructing the ground improvement piles 9. In the construction pattern, the following items are included: "Finished form specifications of the ground improvement pile 9 (improvement base depth 9a, improvement length 9b, pile diameter 9c, cement specific gravity, cement addition amount, water / cement mix ratio, etc.)", "Each process ("Drilling (guide hole formation)", "Stagnation", "High pressure injection / Cutting rotation increase")", and "Cumulative flow rate (L) of ultra-high pressure hardener (slurry, etc.) in each process, section flow rate (L / m) of ultra-high pressure hardener, standard discharge rate (L / min) of grout pump 5, standard discharge pressure of ultra-high pressure hardener (MPa), compressed air volume (Nm 3 / min), compressed air pressure (MPa), lifting speed of feed cylinder 1b (m / min), rotation speed of swivel head 1a (revs / min), etc.

[0054] The pile core guidance control device 20 has a hardware configuration similar to that of a portable computer with a display (e.g., tablet, smartphone, laptop), but its main function is specialized to efficiently guide the dummy pile core device 30 (stationary ground improvement machine 1) to the construction target position PT. For example, the GNSS coordinate system of a satellite positioning system such as GNSS is converted (localized) into the on-site coordinate system, and the "current pile core position PC of the guided casing rod 2" and the "construction target position PT, which is the target of position guidance" are simultaneously displayed on the display. In addition, the error (ΔX, ΔY) between the "current pile core position PC" and the "construction target position PT" is also displayed on the display. By looking at the display, it becomes easy to guide the stationary ground improvement machine 1 lifted by the crane 70 to the "construction target position PT".

[0055] It should be noted that the casing rod 2 is not attached to the ground improvement machine 1 during position guidance. Instead, a dummy pile core device 30 that simulates the casing rod 2 is attached. Therefore, the "pile core position PC of the casing rod 2" means the position on the horizontal plane (XY plane) of the axis 32c that reaches the laser light LL from the GNSS receiver 31 of the dummy pile core device 30 via the laser pointer 38. The "position on the horizontal plane of the GNSS receiver 31" is defined as the "current pile core position PC of the casing rod 2." Also, the "current pile core position PC of the casing rod 2" and the "current pile core position PC of the dummy pile core device 30" are synonymous with each other.

[0056] In addition, the pile core guidance control device 20 transmits the "current pile core position PC" of the stationary ground improvement machine 1 (dummy pile core device 30) in the middle of position guidance to the cloud server 10. This makes it possible for the cloud server 10 to manage the stationary ground improvement machine 1 in the middle of position guidance and the stationary ground improvement machine 1 in the middle of constructing the ground improvement piles 9.

[0057] The dummy pile core device 30 is attached to the swivel head 1a of the stationary ground improvement machine 1 that is guided to a position, and simulates the pile core of the casing rod 2 with a linear and colored laser light LL. The dummy pile core device 30 also receives radio waves from a satellite positioning system such as GNSS, extracts the position information contained in the radio waves, and calculates the coordinates of the dummy pile core device 30 in the GNSS coordinate system (GNSS coordinates) based on the position information. The calculated GNSS coordinates of the dummy pile core device 30 are transmitted to the pile core guidance control device 20, where they are converted into coordinates in the on-site coordinate system (on-site coordinates) and displayed on the display.

[0058] Therefore, the dummy pile core device 30 includes a GNSS receiver 31 for receiving GNSS radio waves, a wireless communication device 31a such as Bluetooth (registered trademark) or Wi-Fi (registered trademark) for communicating with the pile core guidance control device 20, and a laser pointer 38 for emitting colored laser light LL. Details of the dummy pile core device 30 will be described later with reference to FIG. 3.

[0059] The construction machine control device 80 downloads machine guidance data from the cloud server 10 and controls the swivel head 1a and feed cylinder 1b of the stationary ground improvement machine 1, as well as the grout pump 5 and compressor 6 installed separately from the ground improvement machine 1, so that they become equal to the target values ​​specified in the "construction pattern" described in the machine guidance data.

[0060] The construction machine control device 80 also controls the respective measurement values ​​of the respective sensors related to the "construction pattern" (digging depth (m), rotation speed (rpm) and rotation torque (kN m) of the swivel head 1a, lifting speed (m / min) and supply pressure (N) of the feed cylinder 1b, section flow rate (L), instantaneous flow rate (L / min), and integrated flow rate (L), compressed air volume (Nm 3 The information on the temperature (temperature, humidity, etc.) (temperature / min) and pressure (MPa, etc.) is stored in a storage unit (memory) in real time and uploaded to the cloud server 10.

[0061] Network 50 can be constructed, for example, by a wireless communication network provided by a mobile phone company, or a combination of such a wireless communication network and a wired communication network such as the Internet, or a combination of short-range wireless communication such as Bluetooth (registered trademark) or Wi-Fi (registered trademark) and a wired communication network such as the Internet, or a combination of a wireless communication network, a wired communication network, and short-range wireless communication.

[0062] The client terminal device 60 is a computer of a user (construction contractor, construction contractor, construction subcontractor, employee of a company that manages the pile core position guidance system) who can access the cloud server 10 to download various data or upload data that he or she owns. Data downloaded from the cloud server 10 is, for example, three-dimensional completed volume and completed form data for the ground improvement piles 9 that shows the progress of the ground improvement work. Data uploaded to the cloud server 10 is, for example, position data of the construction site (coordinates of the reference point, X-axis direction, Y-axis direction).

[0063] 2 is an explanatory diagram showing an actual ground improvement work site 300 to which the pile core position guidance system 100 of the stationary type ground improvement machine of the present invention is applied. This actual ground improvement work site 300 is a ground improvement work site where a large number of ground improvement piles 9 are constructed in the ground by the jet grouting method for the purpose of "strengthening the bearing capacity," "reducing subsidence," "preventing liquefaction," or "reinforcing the earthquake resistance of existing structures" in soft ground.

[0064] The "jet grouting method" is a ground improvement method in which the swivel head 1a of the ground improvement machine 1 is rotated and the casing rod 2 is rotated and lowered vertically downward by the feed cylinder 1b, while the excavation blade 3a attached to the tip of the casing rod 2 is used to excavate the ground to a specified depth. Next, while the casing rod 2 is rotated and raised vertically upward, an ultra-high pressure hardener accompanied by compressed air is rotated and sprayed from the spray nozzle 3b attached to the side of the casing rod 2 to cut the ground, and at the same time, the slime is discharged into the slime bit, thereby creating a cylindrical ground improvement pile 9.

[0065] The casing rod 2 has a double-tube structure inside, with ultra-high pressure hardener supplied from a grout pump 5 on the ground flowing through the inner tube, and compressed air supplied from a compressor (compressor 6) on the ground flowing through the gap between the inner and outer tubes.

[0066] The high-pressure injection device 3 is composed of an excavation blade 3a for excavating the ground and an injection nozzle 3b for injecting ultra-high pressure hardening agent with compressed air. The injection nozzle 3b has a coaxial double nozzle structure, with the ultra-high pressure hardening agent flowing through the inner nozzle and the compressed air flowing through the outer nozzle.

[0067] The stationary ground improvement machine 1 is equipped with a swivel head 1a that grips and rotates the casing rod 2, and a feed cylinder 1b that supports the swivel head 1a and raises and lowers it with a predetermined feeding force. A double-pipe swivel mechanism 7 is provided at the upper end of the casing rod 2, which connects the ultra-high pressure hardener hose 5a to the inner pipe of the casing rod 2 and connects the compressed air hose 6a to the gap between the inner pipe and the outer pipe of the casing rod 2 without transmitting the rotation of the rod to each hose 5a, 6a.

[0068] Since the stationary ground improvement machine 1 does not have a self-propelled means, it is lifted by a crane truck 70 and guided to a construction target position PT where the ground improvement pile 9 is to be constructed. The construction target position PT where the ground improvement pile 9 is to be constructed is acquired from machine guidance data downloaded from the cloud server 10. The current pile core position PC of the dummy pile core device 30 to be guided is calculated by a satellite positioning system such as GNSS, and the calculated coordinate position is transmitted to the pile core guidance control device 20 and is displayed on the display of the pile core guidance control device 20 together with the construction target position PT.

[0069] The construction depth (improvement base depth 9a, improvement length 9b) of the ground improvement pile 9 is precisely measured by a depth gauge (not shown) attached to the feed cylinder 1b. The measured depth of the ground improvement pile 9 is captured by the construction machine control device 80 (FIG. 1) and transmitted to the cloud server 10 via the network 50.

[0070] The cement-based hardener is generated by a hardener generator (not shown), which is a plant facility, and the generated hardener is pressurized to ultra-high pressure by a grout pump 5 and supplied to the inner tube of the casing rod 2 via an ultra-high pressure hardener hose 5a. The ultra-high pressure hardener supplied to the inner tube of the casing rod 2 is rotary-sprayed into the ground from a high pressure spray device 3, cutting the ground and discharging slime to the ground surface. The ultra-high pressure hardener supplied to the inner tube of the casing rod 2 is measured by a flow meter (not shown), and the measurement value is taken into the construction machine control device 80 and transmitted to the cloud server 10 via the network 50.

[0071] The ground improvement pile 9 is composed of an improved base depth 9a portion where no hardener was mixed, an improved length 9b portion where ultra-high pressure hardener is filled, and a pile diameter 9c portion that represents a cross section perpendicular to the vertical direction. Examples of construction data for the ground improvement pile 9 include the excavation depth (m), improved base depth 9a (m), improved length 9b (m), pile diameter 9c (mm), section flow rate of ultra-high pressure hardener per section depth (L), instantaneous flow rate of ultra-high pressure hardener (L / min), and accumulated flow rate of ultra-high pressure hardener (L).

[0072] FIG. 3 is a cross-sectional explanatory view of a main part showing the dummy pile core device 30 according to the first embodiment of the present invention. This dummy pile core device 30 simulates the pile core of the casing rod 2 with a colored laser light LL. The axis 32c of the receiver support rod 32 and the laser light LL are positioned concentrically, and the GNSS receiver 31, the receiver support rod 32, and the laser pointer 38 are positioned on the axis 32c.

[0073] Conventionally, the virtual axis of the opening of the swivel head 1a through which the casing rod 2 is inserted (hereinafter referred to as the "virtual axis of the swivel head 1a") was regarded as the pile core of the casing rod 2, and the virtual axis of the swivel head 1a was guided to the construction target position PT. Because the virtual axis of the swivel head 1a was not visible and the construction target position PT was located on a reference plane (improved base plane (Figure 3)) that was lower than the ground surface, the pile core position guidance work of guiding the virtual axis of the swivel head 1a to the construction target position PT required considerable effort and time.

[0074] However, with this dummy pile core device 30, the virtual axis of the swivel head 1a (the pile core position of the casing rod 2) can be simulated by a colored laser light LL. Therefore, the worker can visually confirm the current pile core position PC of the casing rod 2 by the irradiation point of the laser light LL, and can visually confirm the current pile core position PC even from a position away from the stationary ground improvement machine 1.

[0075] In addition, since the dummy pile core device 30 is equipped with a GNSS receiver 31, it can automatically acquire the accurate coordinate position of the current pile core position PC of the casing rod 2 in the GNSS coordinate system in real time, and by transmitting the coordinate position information to the pile core guidance control device 20, the pile core guidance control device 20 can automatically acquire the accurate error (ΔX, ΔY) between the current pile core position PC and the construction target position PT in real time.

[0076] The dummy pile core device 30 is configured to include a GNSS receiver 31 that receives radio waves including a positioning signal related to position information from a GNSS satellite, a receiver support rod 32 that supports the GNSS receiver 31, an upper mounting base 33 that supports the receiver support rod 32, a lower mounting base 34 that is attached to the swivel head 1a of the stationary ground improvement machine 1 while supporting the upper mounting base 33, a fixing magnet 35 for fixing the lower mounting base 34 to the swivel head 1a, a handle 36 for an operator to hold, a bolt 37a and a nut 37b that connect the upper mounting base 33 and the lower mounting base 34, a laser pointer 38 that emits laser light LL that simulates the pile core of the casing rod 2, a power supply connector 39 for connecting an external power supply 40, and an external power supply 40 that supplies power to the laser pointer 38. The GNSS receiver 31 has an internal power supply (not shown). Each configuration will be described below.

[0077] The GNSS receiver 31 has a built-in antenna (not shown) that receives radio waves from GNSS satellites (hereinafter referred to as "GNSS radio waves"). The antenna is, for example, a microstrip planar antenna. The received GNSS radio waves are, for example, radio waves in which positioning data is encoded by a C / A code onto a carrier wave with a frequency of 1575.42 MHz.

[0078] The GNSS receiver 31 performs processing (hereinafter referred to as "GNSS signal processing") to separate the coded signal coded by the C / A code from the received GNSS radio wave, and further disable the C / A code to extract the positioning signal related to the satellite's position information and time information contained in the coded signal. The GNSS receiver 31 has, for example, 20 channels and is capable of simultaneously (in parallel) performing GNSS signal processing on GNSS radio waves transmitted from 20 GNSS satellites. Note that, in addition to "GPS", satellite positioning systems such as "GLONASS", "QZSS", "Galileo" or "BeiDou" can be used for the GNSS.

[0079] The GNSS receiver 31 has a calculation function for calculating its own coordinates (GNSS coordinates) in the GNSS coordinate system based on the positioning signal acquired by GNSS signal processing. The calculated GNSS coordinates of the GNSS receiver 31 are transmitted to the pile core position guidance control device 20 via the wireless communication device 31a, converted to coordinates (site coordinates) in the on-site coordinate system by the pile core position guidance control device 20, and displayed on the display 20a (FIG. 4) of the pile core position guidance device 20 as "current pile core position PC". The wireless communication device 31a can use a short-distance wireless communication function (wireless LAN communication function) such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), for example.

[0080] The GNSS receiver 31 also has an inertial measurement sensor (IMU) 31b. This inertial measurement sensor 31b can measure the inclination angles θ1, θ2 (FIG. 11) in the vertical and horizontal directions of the dummy pile core device 30 (stationary ground improvement machine 1). This makes it possible to minimize the error between the current pile core position PC of the casing rod 2 and the construction target position PT when the hoisted stationary ground improvement machine 1 is landed at the construction target position PT.

[0081] Details will be described later with reference to Figures 9 and 10, but the error between the current pile core position PC of the casing rod 2 and the construction target position PT is related to the inclination angle θ1 of the pile core (axis core 32c of the dummy pile core device 30) of the casing rod 2 with respect to the vertical direction, and is composed of a tilt error (Δ) caused by the axis core 32c of the dummy pile core device 30 being inclined by angle θ1 from the vertical direction, and a swing error (Δ') caused by the GNSS receiver 31 swinging by angle θ1 when the ground improvement machine 1 lands.

[0082] The receiver support rod 32 simulates the upper part of the casing rod 2 (Fig. 2). The receiver support rod 32 is composed of a long shaft rod with a male thread portion 32a formed at one end and a female thread portion 32b formed at the other end. The male thread portion 32a is screwed into the female thread portion 31c of the GNSS receiver 31. The female thread portion 32b is screwed into the male thread portion 33a of the upper mounting base 33.

[0083] The upper mounting base 33 is cylindrical with an open bottom, has a male threaded portion 33a at the top for mounting the receiver support rod 32, and a female threaded portion 33b at the side for mounting a power connector 39, and has an upper flange portion 33c at the bottom for joining to the lower mounting base 34. Two handles 36 are attached point-symmetrically to the surface of the upper flange portion 33c. In addition, through holes for passing bolts 37a are formed point-symmetrically on the surface of the upper flange portion 33c.

[0084] The lower mounting base 34 is a hollow cylinder with a convex opening 34a on the upper surface and an opening 34b on the lower surface, and has a lower flange portion 34c at its upper portion that joins with the upper mounting base 33. A laser pointer 38 is press-fitted into the convex opening 34a, and the laser light LL emitted by the laser pointer 38 is emitted to the outside from the opening 34b. The laser pointer 38 is installed on the lower mounting base 34 so that the axis 32c of the receiver support rod 32 and the beam center of the laser light LL coincide with each other. In addition, through holes for passing the bolts 37a are formed point-symmetrically on the surface of the lower flange portion 34c.

[0085] The fixing magnet 35 is made of a permanent magnet and is attached to the back surface of the lower flange portion 34c of the lower mounting base 34 in point symmetry.

[0086] The laser pointer 38 irradiates colored (e.g., red, green, or blue) laser light LL. Since the irradiation position of the laser light LL on the ground surface (current pile core position PC) is condensed in a colored manner, it becomes easy to visually check the error (deviation amount) between the current pile core position PC and the construction target position PT even from a position away from the construction machine 1.

[0087] The external power source 40 is attached to any one of the stationary ground improvement machines 1 by a fixing magnet (not shown).

[0088] By using the dummy pile core device 30, it becomes possible to manage the operation status (position guidance in progress, construction in progress, construction suspended) of multiple stationary type ground improvement machines 1 that do not have self-propelling means. In particular, since one GNSS receiver 31 (dummy pile core device 30) is sufficient, the operation cost is significantly reduced.

[0089] Because the GNSS receiver 31 has an internal power source (not shown), it can stably acquire highly accurate position information about the current pile core position PC of the casing rod 2, even when the stationary ground improvement machine 1 is lifted by the crane truck 70 and guided to the construction target position PT.

[0090] FIG. 4 is an explanatory diagram showing the pile core guidance control device 20 according to the present invention. The pile core guidance control device 20 receives the GNSS coordinates of the GNSS receiver 31 transmitted wirelessly from the GNSS receiver 31, calculates the coordinate position of the current pile core position PC of the casing rod 2 in the on-site coordinate system, and displays it on the display 20a.

[0091] Moreover, the pile core guidance control device 20 downloads the machine guidance data from the cloud server 10 in advance, acquires the site coordinates of the construction target position PT, and displays them on the display 20a. Therefore, the display 20a displays not only the site coordinate system, the current pile core position PC of the casing rod 2, and the construction target position PT, but also the X-direction error ΔX and the Y-direction error ΔY between the current pile core position PC and the construction target position PT. Therefore, the worker (guide) can guide the current pile core position PC to the construction target position PT while looking at the display 20a of the pile core guidance control device 20.

[0092] Moreover, the pile core guidance control device 20 is configured to be able to wirelessly communicate with the cloud server 10 via the network 50. Therefore, the pile core guidance control device 20 transmits in real time to the cloud server 10 position information on the current pile core position PC for the stationary ground improvement machine 1 in the middle of its position guidance and the error (ΔX, ΔY) between the current pile core position PC and the construction target position PT. The cloud server 10, which receives the position information, can identify the stationary ground improvement machine 1 in the middle of its position guidance.

[0093] Second embodiment FIG. 5 is an explanatory diagram showing a pile core position guiding system 200 for a stationary type ground improvement machine according to a second embodiment of the present invention. In the pile core position guidance system 100 for the stationary ground improvement machine according to the first embodiment described above, the position information of the dummy pile core device 30 (current pile core position PC) is obtained from a satellite positioning system such as GNSS. However, depending on the ground improvement work site, it may be surrounded by high-rise buildings or covered by a large roof such as a dome-type baseball stadium. In such cases, the GNSS receiver 31 of the dummy pile core device 30 cannot stably receive radio waves from the GNSS satellite, so the current pile core position PC of the casing rod 2 cannot be stably obtained.

[0094] Therefore, in the pile core position guidance system 200 of the stationary ground improvement machine, the current pile core position PC of the casing rod 2 is configured to be acquired from the automatic tracking total station 11. Therefore, in the dummy pile core device 30' according to the second embodiment of the present invention, an omnidirectional prism 31' is attached instead of the GNSS receiver 31 as the "current pile core position PC of the casing rod 2". Therefore, with respect to the configuration other than the automatic tracking total station 11 and the omnidirectional prism 31', the pile core position guidance system 200 of the stationary ground improvement machine is the same as the pile core position guidance system 100 of the stationary ground improvement machine.

[0095] The automatic tracking total station 11 is an optical measuring instrument that combines a distance measuring function using light waves and an angle measuring function using an encoder, and has a scanning function that can obtain the coordinates (measurement points) of a maximum of 30,000 points of a measured object per second. In addition to these functions, it has an automatic collimation function that automatically searches for and aims at a target (omnidirectional prism 31'), and an automatic tracking function that automatically tracks and aims at a target (omnidirectional prism 31') when the aimed target (omnidirectional prism 31') moves. Therefore, even if the dummy pile core device 30' integrated with the stationary ground improvement machine 1 moves, the automatic tracking total station 11 continues to measure the coordinates of the omnidirectional prism 31' while automatically tracking the omnidirectional prism 31'.

[0096] In addition, the automatic tracking total station 11 has a short-range wireless communication function such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), and the measured coordinate data (coordinate point cloud) of the dummy pile core device 30' is transmitted wirelessly to the pile core guidance control device 20, and, similar to the GNSS receiver 31, is converted into coordinates in the on-site coordinate system (on-site coordinates) by the pile core position guidance control device 20 and displayed on the display 20a (Figure 4) of the pile core position guidance device 20 as the "current pile core position PC."

[0097] FIG. 6 is an explanatory diagram showing the measurement principle of the automatic tracking type total station 11. As shown in FIG. 6(a), the point (center point IP) that emits measurement light and receives the reflected light is set as the origin of the coordinate system (hereinafter referred to as the "TS coordinate system") of the automatic tracking total station 11. When the automatic tracking total station 11 is adjusted horizontally, a virtual line that passes through the center point IP and is parallel to the vertical direction is set as the Z axis of the TS coordinate system.

[0098] As shown in Figure 6(b), a virtual line perpendicular to the Z axis and pointing north is set as the X-axis of the TS coordinate system. Similarly, a virtual line perpendicular to the Z axis and pointing east is set as the Y-axis of the TS coordinate system. Note that, as long as there are two known points (reference points) measured in the set TS coordinate system, it is possible to resume measurement in the same TS coordinate system as the previous time by using the resection method, even if the automatic tracking total station 11 is installed in an arbitrary location.

[0099] The items that are directly measured by the automatic tracking total station 11 are the straight-line distance S, the vertical angle φ, and the horizontal angle θ. Returning to Fig. 6(a) again, when the straight-line distance S and the vertical angle φ are obtained, the horizontal distance HD is calculated by an internal calculation processing device (not shown).

[0100] Returning to Fig. 6(b) again, when the horizontal distance HD and horizontal angle θ are obtained, the internal arithmetic processing device (not shown) calculates the two-dimensional coordinates (X, Y) in the TS coordinate system of the omnidirectional prism 31'. These two-dimensional coordinates (X, Y) in the TS coordinate system are transmitted to the pile core position guidance control device 20, and converted by the pile core position guidance control device 20 into coordinates in the on-site coordinate system (on-site coordinates), which are then displayed on the display 20a (Fig. 4) of the pile core position guidance device 20 as the "current pile core position PC".

[0101] FIG. 7 is an explanatory cross-sectional view of a main part showing a dummy pile core device 30' according to a second embodiment of the present invention. In the dummy pile core device 30', an omnidirectional prism 31' is attached instead of the GNSS receiver 31. An inertial measurement sensor 31b that measures the tilt angles θ1, θ2 in the vertical direction Z and the horizontal direction H is attached, for example, to the back surface of the upper mounting base 33 on the axis 32c. In addition, a wireless communication device 31a that transmits the measured tilt angles θ1, θ2 to the automatic tracking total station 11 is attached to the upper surface of the upper mounting base 33. The other configurations are the same as those of the dummy pile core device 30 according to the first embodiment.

[0102] The omnidirectional prism 31' is a so-called 360° prism, and is configured so as to be able to reflect measurement light (laser light) incident from any direction within 360° at a reflection angle of zero.

[0103] The wireless communication device 31 a and the inertial measurement sensor 31 b are adapted to receive power from an external power source 40 via a power connector 39 .

[0104] Fig. 8 is an explanatory diagram showing a stationary type ground improvement machine 1 according to the present invention. Fig. 1(a) is a front view of the stationary type ground improvement machine 1, and Fig. 1(b) is a right side view of the stationary type ground improvement machine 1. In Fig. 1(b), a dummy pile core device 30 is attached on the virtual axis of the swivel head 1a.

[0105] This stationary ground improvement machine 1 is configured to excavate to a specified depth while rotating and penetrating a casing rod 2 (Fig. 2) into the ground, and to perform high-quality ground improvement work such as high-pressure jet mixing method (jet grouting method). The casing rod 2 is equipped with multiple jet nozzles 3b (Fig. 2) for jetting ultra-high pressure hardening agent (grout) accompanied by compressed air.

[0106] The mechanical configuration of this stationary ground improvement machine 1 includes a rotary motor 1g that generates rotational power, a power transmission mechanism 1h that transmits the rotational power generated by the rotary motor 1g to the swivel head 1a, a feed cylinder (feeding means) 1b for raising and lowering the swivel head 1a, a swivel head (rotation drive device) 1a that applies rotational torque to the casing rod, a base 1c to which the "rotary motor 1g, power transmission mechanism 1h, feed cylinder 1b, and swivel head 1a" are attached, and an anchor support wire 1d that prevents the entire machine from rotating while the swivel head 1a is in operation. Each component will be described below.

[0107] The rotary motor 1g can be an AC motor driven by, for example, a three-phase 220V, 60Hz AC power source (not shown). In this embodiment, the rotary motor 1g can be operated selectively using either a direct-on operation method in which AC power is directly supplied to the rotary motor 1g, or an inverter operation method in which AC power is input to an inverter (not shown) and converted to a desired frequency, and then the AC power is supplied to the rotary motor 1g. In general, the direct-on operation method can be used in an excavation process in which excavation is performed to a predetermined depth, and the inverter operation method can be used in a ground improvement process in which the jet grouting method is performed. The rotational power generated by the rotary motor 1g is taken into a power transmission mechanism 1h, converted to a desired rotation speed, and then input to a swivel head (spindle) 1a.

[0108] The power transmission mechanism 1h is composed of a clutch unit (not shown) that disconnects / connects (hereinafter referred to as "disconnect") the transmission of rotational power from the rotary motor 1g, a transmission unit (not shown) that converts the rotational power transmitted from the rotary motor 1g into a desired rotation speed, a counter unit (not shown) that transmits the rotational power transmitted from the transmission unit (not shown) in parallel, and a spindle on / off unit (synchronizer unit) (not shown) that transmits the rotational power transmitted from the counter unit to the spindle drive shaft 1h8.

[0109] The clutch lever 1g6 is an operating lever for an operator to manually engage and disengage the clutch portion. The gear change lever 1g1 is an operating lever for an operator to manually change the rotation speed of the swivel head 1a between first gear, second gear, and reverse first gear.

[0110] The high / low speed change lever 1h5 is an operating lever for the operator to set the rotation speed range of the swivel head 1a to a rotation speed range (3rd speed, 4th speed, reverse 2nd speed) higher than 2nd speed or reverse 1st speed. The spindle on / off lever 1h7 is an operating lever for synchronizing (rotation synchronization) the gear G16 (not shown) that receives the rotational power of the rotating motor 1g with the spindle drive shaft 1h8.

[0111] In the feed cylinder 1b, a part of the cylinder 1b1 is fixed to the swivel head 1a, and the other part is in contact with and slides on the feed support frame 1c4. One end of the rod 1b2 is fixed to the feed support frame 1c4, and the other end slides inside the cylinder 1b1.

[0112] The swivel head 1a is configured to include a final transmission section 1a1 (not shown) that changes the rotational power transmitted from the spindle drive shaft 1h8 to a predetermined rotational speed, and a spindle 1a2 (not shown) that rotates the casing rod 2.

[0113] The pipe clamp unit 1a' has four cylinders 1aa' that grip the casing rod 2, which are arranged at equal circumferential intervals at central angles of 90° toward the center. Adjacent cylinders 1aa' are connected to each other by pins (not shown). Of the four cylinders 1aa', two diagonally opposite cylinders 1aa' are supported by clamp brackets 1ab'. The clamp brackets 1ab' are fixed to the upper base 1c1.

[0114] The base 1c is configured to include an upper base 1c1 to which the rotary motor 1g, the power transmission mechanism 1h, the pipe clamp unit 1a', and the feed support frame 1c4 are attached, an upper base 1c2 that faces the ground while being joined to the upper base 1c1, and a slide hanger 1c3 that restricts the relative movement between the upper base 1c2 and the upper base 1c1 in the vertical direction (up-down direction) and the horizontal direction (direction perpendicular to the longitudinal direction). The upper base 1c2 and the upper base 1c1 are connected by a slide cylinder (not shown). Therefore, the upper base 1c1 slides on the upper base 1c2 as the slide cylinder (not shown) expands and contracts. Conversely, the upper base 1c2 slides on the upper base 1c1 as the slide cylinder (not shown) expands and contracts with the out trigger 1c' touching the ground and the upper base 1c2 floating above the ground.

[0115] The anchor support 1d can use a chain block that fixes the stationary ground improvement machine 1 (base 1c) to a structure (not shown) with a predetermined tensile force.

[0116] Fig. 9 is an explanatory diagram showing pile core position guidance when not considering the inclination of the stationary ground improvement pile 1. For convenience of explanation, it is assumed that the pile core is inclined at an angle θ1 with respect to the vertical direction Z, that is, the stationary ground improvement machine 1 is inclined at an angle θ1 with respect to the horizontal direction H. The pile core is set to the shaft center 32c (Fig. 3) of the dummy pile core device 30 (Fig. 3).

[0117] As shown in Fig. 9(a), the pile core uppermost point P1 represents the intersection point between the top surface of the GNSS receiver 31 and the shaft core 32c (Fig. 3). The pile core lowermost point P3 represents the intersection point between the bottom surface of the stationary ground improvement machine 1 and the shaft core 32c (Fig. 3), i.e., the landing point of the pile core. The corner lowermost point P2 represents the lowest point of the stationary ground improvement machine 1. The distance L1 between the pile core uppermost point P1 and the pile core lowermost point P3, and the distance L2 between the pile core lowermost point P3 and the corner lowermost point P2 are acquired in advance from the design drawings and are known.

[0118] Therefore, when the stationary type ground improvement machine 1 is gradually lowered, the first part to land on the ground surface is the corner's lowest point P2. After the corner's lowest point P2 lands, the stationary type ground improvement machine 1 swings (rotates) clockwise around the corner's lowest point P2 due to its own weight, and finally the pile core's lowest point P3 (the lowest surface of the stationary type ground improvement machine 1) lands on the ground surface.

[0119] The worker (guider) regards the "projection point of the topmost pile core point P1 onto the ground surface" as the "current pile core position PC" and moves the stationary ground improvement machine 1 horizontally while looking at the display 20a of the pile core guidance control device 20 so that the "projection point of the topmost pile core point P1 onto the ground surface" overlaps with the construction target position PT.

[0120] As shown in Figure 9(b), when the "projection point of the pile core highest point P1 onto the ground surface" overlaps with the construction target position PT, the worker (guide) stops the horizontal movement and lowers the stationary ground improvement machine 1 vertically downward. Here, if the intersection point of the perpendicular line from the pile core highest point P1 and the bottom surface of the stationary ground improvement machine 1 is point P4, the distance Δ between point P4 and the pile core lowest point P3 is equal to the following formula 1. (Formula 1): Δ=L1×tanθ1

[0121] As shown in FIG. 9(c), when the corner's lowest point P2 lands on the ground surface, the stationary ground improvement machine 1 swings (rotates) clockwise around the corner's lowest point P2 and lands on the ground surface. In this case, the distance Δ between the pile core's lowest point P3 and point P4 remains unchanged. However, since point P4 is located on a circumference of a circle with a radius of L2-Δ centered on the corner's lowest point P2, point P4 lands at a position a distance Δ' away from the construction target position PT. The horizontal displacement Δ' of point P4 when the corner's lowest point P2 lands and swings (rotates) clockwise by an angle θ1 is equal to the following formula 2. (Formula 2):Δ'=(L2-Δ)×(1-COSθ1)

[0122] As a result, the pile core lowest point P3 will land at a position Δ+Δ' away from the construction target position PT in horizontal distance. This means that if the pile core is inclined at an angle θ1 with respect to the vertical direction Z or the stationary ground improvement machine 1 is inclined at an angle θ1 with respect to the horizontal direction H, when the stationary ground improvement machine 1 is guided to the construction target position PT using the pile core highest point P1 (GNSS receiver 31) as a guidance point and landed on the ground surface, the pile core position (pile core highest point P1) will land at a position Δ+Δ' away from the construction target position PT (on the right side of the figure in this embodiment). Incidentally, Δ+Δ' is equal to the following formula 3. (Formula 3): Δ+Δ'=L1×SINθ1+L2×(1-COSθ1) The above equation 3 means that the horizontal distance (= L1 × SINθ1) between the lowest point P3 of the pile core and point P4 (or the highest point P1 of the pile core) extends to the right on the diagram by L2 × (1-COSθ1) due to the swing (rotation) of angle θ1 around the lowest point P2 of the corner.

[0123] Therefore, when lowering the stationary ground improvement machine 1 in Figure 9(b), it is necessary to guide the pile core position (highest point P1 of the pile core) so that it is at a position Δ+Δ' away to the left of the construction target position PT on the figure.

[0124] In addition, in contrast to Figure 9(a), if the pile core is inclined clockwise by an angle θ1 with respect to the vertical direction Z, when the stationary ground improvement machine 1 is guided to the construction target position PT using the pile core uppermost point P1 (GNSS receiver 31) as a guidance point and landed on the ground surface, the pile core position (pile core uppermost point P1) will land at a position Δ+Δ' away to the left of the construction target position PT, in contrast to Figure 9(c).

[0125] Fig. 10 is an explanatory diagram showing pile core position guidance when considering the inclination of the stationary ground improvement machine 1. The inclination direction of the pile core is inclined counterclockwise by an angle θ1 with respect to the vertical direction Z, as in Fig. 9. As shown in FIG. 10(a), a correction point P1' displaced by Δ+Δ' to the right in the horizontal direction from the topmost point P1 of the pile core is set as the induction point (current pile core position PC).

[0126] As shown in FIG. 10(b), when the correction point P1' overlaps with the construction target position PT, the horizontal movement is stopped and the stationary ground improvement machine 1 is lowered vertically downward.

[0127] As shown in Fig. 10(c), when the corner lowest point P2 lands on the ground surface, the stationary ground improvement machine 1 swings (rotates) clockwise around the corner lowest point P2 by an angle θ1 and lands on the ground surface. In this case, the pile core position (pile core uppermost point P1) overlaps with the construction target position PT.

[0128] Conversely to Figure 10(a), if the inclination direction of the pile core is inclined clockwise by an angle θ1 with respect to the vertical direction Z, the correction point P1' displaced by Δ+Δ' to the left of the pile core uppermost point P1 in the horizontal direction on the figure can be set as the guiding point (current pile core position PC). When the correction point P1' overlaps with the construction target position PT, the stationary ground improvement machine 1 is lowered vertically downward and swung (rotated) by an angle θ1 in the counterclockwise direction around the corner lowermost point P2 to land on the ground surface, so that the pile core position (pile core uppermost point P1) overlaps with the construction target position PT.

[0129] The above-mentioned pile core position correction can also be applied to a dummy pile core device 30' equipped with an omnidirectional prism 31' in the same manner.

[0130] Although several embodiments of the present invention have been described above with reference to the drawings, the embodiments of the present invention are not limited to the above. In other words, various modifications and changes can be made within the scope of the technical scope of the present invention. For example, the structure of the mounting base may be any structure that allows the dummy pile core device 30, 30' to be repeatedly and detachably mounted to the opening of the swivel head 1a, and other structures such as a left-right split structure, an integrated structure with a lid, etc. may be adopted in addition to the top-bottom split structure. [Explanation of symbols]

[0131] 1 Ground improvement machine (construction machine) 1a Swivel Head 1a' Pipe clamp part 1aa' Cylinder 1ab' Clamp bracket 1b Feed cylinder 1b1 Cylinder 1b2 Rod 1c Bass 1c1 Upper base 1c2 Lower base 1c3 Slide Hanger 1c4 Feed support frame 1c' Outrigger 1d Anchor guy wire 1g Rotary Motor 1g1 Gear change lever 1h Power transmission mechanism 1h5 High / low speed change lever 1h7 Spindle on / off lever 1h8 Spindle drive shaft 2 Casing Rod 3 High pressure injection device 3a Excavation blade 3b Injection nozzle 5. Grout Pump 5a Hardener hose 6 Compressor 6a Compressed Air Hose 7. Double tube swivel mechanism 9 Ground improvement pile (column improvement body) 9a Moat Depth 9b Improved length 9c pile diameter 10 Cloud server (server equipment) 11 Automatic tracking total station (distance and angle measuring device) 20 Pile core guidance control device (computer) 20a Display 30 Dummy pile core device 31 GNSS receiver (position guidance target section) 31' Omnidirectional prism (position guidance target part) 31a Wireless communication equipment 31b Inertial Measurement Sensor 31c Female thread 32 Receiver support rod 32a Male thread 32b Female thread 32c shaft center 33 Upper mounting base 33a Male thread 33b Female thread 33c Upper flange 34 Bottom mounting base 34a Convex opening 34b opening 34c Lower flange 35 Fixed magnet 36 Handle 37a Bolt 37b Nut 38 Laser pointers (light projection devices) 40 External power supply 41 Output terminal 42 Power switch 43 Power Cable 50 Network 60 Client terminal device 70 Crane Truck 80 Construction machine control device 100 Pile core position guidance system for stationary ground improvement machine (first embodiment of the present invention) 200 Pile core position guidance system for stationary ground improvement machine (second embodiment of the present invention) 300 Actual ground improvement construction site (actual ground improvement construction site) P1 Top point of pile core P2 lowest point of corner P3 Pile core lowest point PC Current pile core position PL laser irradiation spot PT construction target position

Claims

1. A dummy pile core device (30, 30') is attached to a stationary ground improvement machine (1) having no self-propelling means and simulates the pile core position of a casing rod (2) for constructing a columnar improvement body (9), A position guidance target unit (31, 31') that receives or reflects electromagnetic waves related to the coordinate measurement of the pile core position; A light irradiation device (38) that irradiates a linear colored light beam (LL); A power supply unit (40) that supplies power to the light irradiation device (38); and a mounting base (33, 34) that is detachably attached to a swivel head (1a) of the stationary ground improvement machine (1) while supporting the position guidance target portion (31, 31') and the light irradiation device (38), The position guidance target portion (31, 31') is arranged on the same axis (32c) as the colored light beam (LL) emitted from the light irradiation device (38). A dummy pile core device for a stationary ground improvement machine.

2. In the dummy pile core device for a stationary type ground improvement machine according to claim 1, The position guidance target unit (31, 31') includes an antenna-embedded GNSS receiver (31) for receiving electromagnetic waves including position information related to coordinate measurement transmitted from an artificial satellite of a global navigation satellite system (GNSS). A dummy pile core device for a stationary ground improvement machine.

3. In the dummy pile core device for a stationary type ground improvement machine according to claim 2, The antenna-embedded GNSS receiving device (31) is equipped with a wireless communication device (31a) capable of communicating with a computer (20). A dummy pile core device for a stationary ground improvement machine.

4. In the dummy pile core device for a stationary type ground improvement machine according to claim 1, The position guidance target unit (31, 31') includes a prism device (31') that reflects measurement light emitted from a distance measuring / angle measuring device (11). A dummy pile core device for a stationary ground improvement machine.

5. In the dummy pile core device for a stationary type ground improvement machine according to claim 4, The distance and angle measuring device (11) is equipped with a wireless communication device (31a) capable of communicating with a computer (20), and has an automatic tracking function for automatically tracking the prism device (31'). A dummy pile core device for a stationary ground improvement machine.

6. In the dummy pile core device for a stationary type ground improvement machine according to claim 1, The inertial measurement sensor (31b) is capable of measuring an inclination angle (θ1) of the axis (32c) with respect to at least the vertical direction (Z). A dummy pile core device for a stationary ground improvement machine.

7. A pile core position guidance system (100, 200) for a stationary type ground improvement machine that is attached to a stationary type ground improvement machine (1) that does not have a self-propelling means and guides a dummy pile core device (30, 30') that simulates the pile core position of a casing rod (2) for constructing a columnar improvement body (9) to a construction target position (PT) of the columnar improvement body (9), A server device (10) that manages location information or construction data for a plurality of the stationary ground improvement machines (1); A pile core guidance control device (20) that displays position information (ΔX, ΔY) regarding the current pile core position (PC) and the construction target position (PT) in real time; A construction machine control device (80) that manages the construction of the columnar improvement body (9) by the stationary ground improvement machine (1); A network (50) that enables two-way communication between the server device (10), the pile core guidance control device (20), and the construction machine control device (80), The dummy pile core device (30, 30') includes a position guiding target unit (31, 31') that receives or reflects electromagnetic waves related to the coordinate measurement of the pile core, a light irradiation device (38) that irradiates a linear colored light beam (LL), a power supply unit (40) that supplies power to the light irradiation device (38), and an attachment base (33, 34) that is detachably attached to a swivel head (1a) of the stationary ground improvement machine (1) while supporting the position guiding target unit (31, 31') and the light irradiation device (38), The position guidance target portion (31, 31') is arranged on the same axis (32c) as the colored light beam (LL) emitted from the light irradiation device (38). A pile core position guidance system for a stationary ground improvement machine.

8. In the pile core position guidance system for a stationary type ground improvement machine according to claim 7, The dummy pile core device (30) is equipped with an antenna-embedded GNSS receiver (31) that receives electromagnetic waves including position information related to coordinate measurement transmitted from an artificial satellite of the Global Navigation Satellite System (GNSS). A pile core position guidance system for a stationary ground improvement machine.

9. In the pile core position guidance system for a stationary type ground improvement machine according to claim 8, The antenna-embedded GNSS receiving device (31) has a wireless communication device (31a) capable of communicating with the pile core guidance control device (20). A pile core position guidance system for a stationary ground improvement machine.

10. In the pile core position guidance system for a stationary type ground improvement machine according to claim 7, The dummy pile core device (30') is equipped with a prism device (31') that reflects the measurement light emitted from the distance measuring and angle measuring device (11). A pile core position guidance system for a stationary ground improvement machine.

11. In the pile core position guidance system for a stationary type ground improvement machine according to claim 10, The distance measuring and angle measuring device (11) is equipped with a wireless communication device (31a) capable of communicating with the pile core guidance control device (20), and has an automatic tracking function for automatically tracking the prism device (31'). A pile core position guidance system for a stationary ground improvement machine.

12. In the pile core position guidance system for a stationary type ground improvement machine according to claim 7, The dummy pile core device (30, 30') is equipped with an inertial measurement sensor (31b) capable of measuring at least the inclination angle (θ1) of the shaft core (32c) with respect to the vertical direction (Z). A pile core position guidance system for a stationary ground improvement machine.

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