Pile driver control system

Abstract

To provide a pile driver control system that optimizes an auger movement amount required for rod re-gripping work, enabling safe and efficient construction.SOLUTION: In a control system for a pile driver (11) that makes boreholes with a drilling tool (19) connected to a lower end of a rod (17) in accordance with an auger driving operation by an operator, a control part activates an alarm part when a current depth reaches a depth of a rod re-gripping point, and upon receiving instructions to start rod re-gripping work, calculates an upward movement amount consisting of a difference between a target depth and the current depth, opens a chuck mechanism (gripping means) of an auger 15 to release the grip of the rod in a state where a chuck mechanism (fixing means) of a lower guide 18 is closed to fix the rod, drives the auger upward by the upward movement amount, and opens the chuck mechanism of the lower guide to release fixation of the rod in a state where the chuck mechanism of the auger is closed to grid the rod.SELECTED DRAWING: Figure 9

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 equipped with an auger for driving piles. [Background technology]

[0002] Generally, in a pile driver equipped with an auger that moves up and down along a leader, the length of one stroke of the auger moving up and down (the construction length per movement) is limited by the length of the leader due to its structure. Therefore, when the auger gripping the rod reaches the bottom end of the leader, in order to dig deeper, the auger releases its grip on the rod, is raised, and grips the rod again, a so-called rod re-gripping operation is performed (see, for example, Patent Document 1). Also, in consideration of the convenience of the rod re-gripping operation, an auger equipped with a chuck mechanism that can grip the rod at any position has been developed and is now in use (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-121467 [Patent Document 2] Japanese Patent Publication No. 2022-92343 Summary of the Invention [Problem to be solved by the invention]

[0004] As described in Patent Document 2, the emergence of an auger that can grip a rod at any position has provided flexibility in the gripping position. However, while this has the advantage of being able to set the gripping position at will, it also has the disadvantage of making the auger prone to unnecessary movement. Therefore, there has been a demand for technology that can determine the optimal auger movement amount without unnecessary movement and safely reflect this in the auger's operation during rod re-gripping work.

[0005] Therefore, an object of the present invention is to provide a pile driver control system that optimizes the amount of auger movement required for rod replacement work, allowing construction to be carried out safely and efficiently. [Means for solving the problem]

[0006] In order to achieve the above object, the pile driver control system of the present invention includes an auger equipped with an openable gripping means for gripping a rod, a leader for guiding the lifting and lowering of the auger, an openable fixing means for fixing the rod in a fixed position, a memory unit for storing construction plan data that sets a target depth for a planned construction position and a depth of a rod re-gripping point, a depth sensor for acquiring a current construction depth, a control unit for determining a movement direction and a movement amount of the auger required for the rod re-gripping work using the target depth, the depth of the rod re-gripping point, and the current depth, a notification unit for prompting an operator to start the rod re-gripping work, and an operation input unit for the operator to input an instruction to start the rod re-gripping work. and a control unit, wherein the control unit activates the alarm unit when the current depth reaches the depth of the rod replacement point, and upon receiving an instruction to start the rod replacement operation, calculates an upward movement amount which is the difference between the target depth and the current depth, closes the fixing means to fix the rod, opens the gripping means to release the grip of the rod, drives the auger upward by the upward movement amount, closes the gripping means to grip the rod, and opens the fixing means to release the fixation of the rod. [Effects of the Invention]

[0007] According to the pile driver control system of the present invention, when the current depth reaches the rod re-grinding depth, the alarm unit is activated and a command to start the rod re-grinding operation is awaited, allowing the operator to safely transition to the rod re-grinding operation at their own discretion without interrupting the operator's driving. Moreover, because the entire series of operations from the start to completion of the rod re-grinding operation are performed automatically, the system significantly reduces the operator's operational burden, even though it is a simple system built using conventional construction plans. In particular, because the upward movement distance is calculated as the difference between the target depth and the current depth, the remaining steps up to the target depth can be achieved with the minimum necessary auger movement distance, taking into account the progress of construction after the alarm unit is activated. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a pile driver with soil improvement specifications to which the control system of the present invention is applied. [Figure 2] FIG. 10 is a diagram showing the setting display screen for construction plan data. [Figure 3] FIG. 10 is a diagram showing the configuration of construction plan data. [Figure 4] 10 is a flowchart showing a procedure for finding the next rod re-grasping point after reaching the rod re-grasping point. [Figure 5] 10 is a flowchart showing a procedure for determining the auger movement amount and movement direction when the next rod re-gripping point has been found. [Figure 6] 10 is a flowchart showing a procedure for determining the auger movement amount and movement direction when the next rod re-gripping point has not been found. [Figure 7] FIG. 10 is an explanatory diagram showing the pile driver with a rod attached to the auger at the start of construction (depth 0 m). [Figure 8] FIG. 10 is an explanatory diagram showing the rod replacement depth reached (depth 6 m) during the excavation process. [Figure 9] FIG. 10 is an explanatory view showing a state in which the auger stops rising during the rod replacement operation. [Figure 10]FIG. 10 is an explanatory diagram showing the state after the excavation process is completed (depth 10 m). [Figure 11] FIG. 10 is an explanatory view showing the rod replacement depth reached (depth 6 m) in the pulling-up process. [Figure 12] FIG. 10 is an explanatory view showing a state in which the auger stops descending during the rod replacement operation. [Figure 13] FIG. [Figure 14] FIG. 10 is a diagram showing a modified example of the configuration of the construction plan data. [Figure 15] FIG. 10 is a diagram showing another modified example of the configuration of the construction plan data. DETAILED DESCRIPTION OF THE INVENTION

[0009] 1 to 15 show a control system for a pile driver according to the present invention. The pile driver 11, to which the control system of this embodiment is applied, is a dual-purpose machine capable of switching between steel pipe pile driving and ground improvement work. As shown in FIG. 1 , a leader 13 is erected at the front of a base machine 12 equipped with a track-type running unit, and the leader 13 is supported by a backstay 14. An auger (rod rotation drive device) 15 is connected to a pair of left and right guide pipes 13a extending longitudinally of the leader 13 via guide gibs 16 and is movable up and down by a chain 13b stretched longitudinally of the leader 13. A lower guide 18 is provided below the leader 13 to guide a rod 17 rotated by the auger 15. This lower guide 18 is equipped with a chuck mechanism (fixing means) that opens and closes hydraulically. The structure and operating principle of the chuck mechanism can be found in the rod support device described in Patent Document 1.

[0010] The rod 17 is a pipe-shaped construction member with an internal flow path for the soil improvement agent. A plurality of rods are connected together to form a longer rod than the leader 13, and a drilling tool 19 equipped with a drilling blade 19a and a mixing blade 19b is connected to the lower end. The outer periphery of the rod 17 has four flat sections formed by cutting out the outer periphery of the circular cross section at equal intervals along its entire length, and the four-sided width dimension of the four flat sections is slightly smaller than the outer diameter dimension of the circumferential portion of the circular cross section. As a result, the outer periphery of the rod 17 is largely occupied by arc-curved surfaces, forming a roughly curved surface with essentially no angular portions.

[0011] In addition, a swivel joint 21 is provided at the upper end of the rod 17 to introduce ground improvement agent from an injection hose (grout hose) 20, and one end of a rotation prevention rod 22 that prevents the swivel joint 21 from rotating together is fixed to the auger 15, and the other end is attached to a mounting member 23 provided at the upper end of the rod 17.

[0012] Auger 15 is provided with an auger drive hydraulic motor 15b for applying a rotational driving force to rod 17 in device body 15a equipped with a speed reduction mechanism. A chuck mechanism (gripping means) that opens and closes hydraulically is also incorporated into device body 15a. This chuck mechanism, not shown, has four wedge members that extend and retract in the rod radial direction (a direction perpendicular to rod 17), and can grip the flat surface (four faces) of rod 17 at any position by opening and closing. In this embodiment, the auger described in Patent Document 2 is used, and the structure of the chuck mechanism and the corresponding rod can be referenced.

[0013] To perform ground improvement work using the pile driver 11, the rod 17 is held rotatably and vertically movable by the lower guide 18 with the middle part of the rod 17 held by the auger 15, and an injection hose 20 is connected to a swivel joint 21 at the upper end of the rod 17. In this starting state, the auger 15 is lowered along the leader 13 while the rod 17 is rotated, and the soil improvement agent sent through the rod 17 is injected into the borehole from the tip of the excavation tool 19, so that the soil excavated by the excavation blade 19a of the excavation tool 19 is mixed with the soil improvement agent by the mixing blade 19b.

[0014] When the auger 15 reaches the lower end of the leader 13, it releases its grip on the middle section and raises it to grip the upper section, performing a re-gripping operation (described in detail below). At this time, the rod 17 is fixed in place by a chuck mechanism on the lower guide 18. This prevents the rod 17 from sinking under its own weight. Once the gripping position of the rod 17 is switched to the upper side by the movement of the auger 15, the rod 17 is again lowered while rotating, and the soil excavated by the excavation blade 19a is mixed with the soil improvement agent by the mixing blade 19b. After the excavation tool 19 is lowered to the target depth, the excavation tool 19 is raised in the reverse order, completing the ground improvement work.

[0015] Here, the rod replacement work is performed not only during the drilling process (the process of pushing the rod 17) in which the drilling tool 19 forms a drilling hole, but also during the pulling-up process in which the rod 17 is pulled up from the drilling hole.In both cases, the chuck mechanism (fixing means) of the lower guide 18 is used to fix the rod 17 in its position (fixed position).

[0016] To carry out such ground improvement work, the driver's seat 24 is equipped with a number of devices, including control levers and pedals for driving, turning, raising and lowering the auger 15, push button switches, and a touch panel display, all of which are arranged in a concentrated manner for ease of use.In addition, a construction management device is installed that is electrically connected to these devices, the pile driver 11's operation detection means, and hydraulic control equipment.

[0017] The construction management device functions as one component of the control system of the present invention, and is composed mainly of a CPU (control unit) that executes a construction management program for controlling various construction methods and performs calculations such as drive control of the auger 15, data processing and judgment.It is also equipped with a FLASH ROM that stores the construction management program, a RAM that temporarily stores various data being processed, a hard disk (storage unit) that stores construction plan data that sets the planned construction position at the construction site, the target depth for that position, the depth of the rod replacement point, etc., as well as various data on the actual construction work created by executing the construction management program, and a display that allows the operator to check the results of execution of the construction management program and input and change data by operating the touch panel screen.

[0018] The touch panel screen functions as a notification unit that displays a confirmation image as a pop-up when an event occurs during execution of the control program described below. The confirmation image is provided with a button to select either "Yes" or "No" and serves as an operation input unit. For example, when the current depth of construction (hereinafter referred to as "current depth") reaches the depth of the rod replacement point, a message (text information) saying "Do you want to start rod replacement work?" is displayed on the image.

[0019] The multiple sensors that make up the operation detection means for the auger 15 include a torque sensor, a depth sensor, and a rotation sensor. The torque sensor measures the torque of the rod 17 held by the auger 15, and pressure sensors are provided on the supply side of the hydraulic circuit of the auger drive hydraulic motor 15b and on the secondary side of the hydraulic circuit of the solenoid proportional valve, respectively, to detect the operating pressure and control pressure of the auger drive hydraulic motor 15b. The detected signals are transmitted to the control unit, which calculates the construction torque as the construction load based on the pressure and the capacity of the auger drive hydraulic motor 15b.

[0020] The depth sensor detects depth using a rotary encoder built into the chain-type lifting mechanism. The detected signal is transmitted to the control unit, which calculates the current depth based on the rotation angle and rotation radius. The detection signal from the rotary encoder is also used by the control unit to calculate the amount of lifting movement and lifting speed of the auger 15. The rotation sensor detects the gear teeth of the reduction mechanism with a proximity sensor and counts the pulse signals. The detected signal is transmitted to the control unit, which calculates the cumulative number of rotations and rotation speed based on the cumulative count.

[0021] The construction management device can also download construction management programs and construction plan data via a communication connection. The construction plan data is input into a computer in the office in advance based on a construction plan created based on the results of a boring survey (an example of a ground survey) at the construction site, and includes pile numbers as well as various construction target values ​​associated with the pile numbers, such as the construction sequence, depth, feed speed, rotation speed, and cement milk flow rate. The construction plan data is input by entering pile position data in comparison with the construction drawings. Specifically, the planned pile installation positions (planned construction positions) are specified in two-dimensional coordinates as relative positions (distances) from the origin on the coordinate system.

[0022] The construction plan data has a tabular structure made up of rows and columns. As shown on the setting display screen in Figure 2, for pile number "0000," the target depth is set to "10m." The table on the left of the screen, as shown enlarged in Figure 3, shows, from left to right, the depth (m), lifting speed (m / min), number of section blade cuts (times / m), section flow rate (L / m), and content (check columns represented by "empty," "record," and "ro"), along with their values ​​and check status.

[0023] To facilitate understanding, the following description will be given with reference to row numbers L1 to L12 in the table of Fig. 3. The section from the construction start depth (L1) to the target depth (L5) (the section from a depth of 0 m to a depth of 10 m) is the drilling process for forming a borehole. On the other hand, after the target depth (L5) is reached, the section from that depth to the construction completion depth (L12) (the section from a depth of 10 m to a depth of 0 m) is the pulling-up process (including a re-kneading process) for pulling up the rod 17 from the borehole.

[0024] The construction plan data is set taking into consideration the relationship between the construction length (target depth) and the auger stroke. When performing long-distance construction, the depth of the rod re-grasping point is specifically set. In this embodiment, re-grasping points are set at a depth of 6 m (L3) during the excavation process and at a depth of 6 m (L8) during the lifting process. The setting status is indicated on the screen by highlighting "R" in the content (check box). That is, the depths of the two rod re-grasping points are typically set in pairs at the same depth (6 m) during the excavation process and the lifting process. The "Record" (L2, L4) in the content (check box) refers to a recording point where each item is recorded at a given depth (1.5 m, 9.85 m). Furthermore, "Empty" (L2) refers to an empty excavation point where no pile construction is performed up to that depth (1.5 m).

[0025] The created construction plan data is uploaded to a data server on the network with the location information of the address of the construction site and the model number of the pile driver 11 to be used for construction added. In addition, a construction management program for the ground improvement construction to be carried out based on the construction plan data and data on the setting parameters of the construction management program are also created and uploaded to the data server in the same manner.

[0026] The construction management device configured in this manner executes an additionally incorporated control program to function as a control system that supports the operation of the pile driver 11, in particular a control system that optimizes the amount of auger movement required for the re-gripping work of the rod 17. The specific operation of the control system will be explained below with reference to the flowcharts shown in Figures 4 to 6 and each step of the ground improvement construction shown in Figures 7 to 13.

[0027] First, when the construction management device is started at the construction site, the basic program is executed in the control unit, and the login screen is displayed on the display. Here, when you log in to the system and set conditions according to your purpose from the menu screen, the necessary construction management program and construction plan data are downloaded, and the construction plan pile placement screen (pile selection screen) is displayed on the display, although not shown in the figure.

[0028] Here, when constructing pile number "0000" under the various conditions shown on the setting display screens of Figures 2 and 3, the rod 17 is attached to the auger 15 in a predetermined procedure, and the pile driver 11 is aligned with the planned construction position (pile core) as shown in Figure 7. After that, the display is switched to a predetermined construction screen (not shown) in the construction start state (construction start depth 0 m), and the excavation process proceeds while creating actual construction data for the target depth of "10 m." In this case, the operator operates the auger drive to lower and rotate the auger 15 while pushing down the rod 17. The created actual construction data is displayed in real time as current construction data in numerical and graphical format on the construction screen. At the same time, various items, such as the construction torque indicating the construction load at each depth, are associated with the pile number "0000" and sequentially stored in the memory unit of the construction management device.

[0029] As shown in Fig. 8, when the current depth reaches the depth of the rod re-grasping point (depth 6 m), a confirmation image pops up on the touch panel screen of the display, allowing the operator to stop driving the auger 15 at the right time and instruct the pile driver 11 to start the rod re-grasping operation. That is, as shown in Fig. 3, the control unit finds that "B" is set for the content corresponding to the current depth of 6 m (L3), and displays a confirmation image on the touch panel screen (notification unit). Here, when the operator presses the "Yes" button in response to the message "Do you want to start the rod re-grasping operation?" on the confirmation image (operation input unit), the control unit accepts the button operation and starts the rod re-grasping operation.

[0030] Specifically, as shown in Figure 4, when the current depth reaches the depth of the rod re-grinding point (S1), the operator confirms the operation, and while the depth data for the current depth is held, a loop process is entered in which the construction plan is checked line by line from the reached point, i.e., from line number L3 (S2). In the loop process, the next construction plan line is checked (S3), and it is determined whether that line is set as the rod re-grinding point (S4). Here, if a rod re-grinding point is found at a depth of 6 m in the pulling process, as shown in line number L8 in Figure 3, the loop process is terminated (S4, YES).

[0031] Next, it is determined whether a rod gripping point has been found (S5). Since a new rod re-gripping point has been found at a depth of 6 m (L8) during the pulling process (S5, YES), the process returns to point A in the flowchart and determines whether depth information matching the target depth has been found during the loop processing, as shown in FIG. 5 (S6). Since a target depth of 10 m (L5) has been found during the loop processing (L3 to L8) (S6, YES), the movement distance of the auger 15 (target depth - current depth) is calculated (S7). If the stopping position of the auger 15 is, for example, at a depth of 6.1 m, the movement distance is 10 m - 6.1 m = 3.9 m. Next, "upward" is determined as the movement direction (S8). This calculates the upward movement distance of 3.9 m, which is the difference between the target depth of 10 m and the current depth of 6.1 m.

[0032] After determining the amount of upward movement, the control unit performs hydraulic control of each component required for the rod re-clamping operation. Specifically, the chuck mechanism (fixing means) of the lower guide 18 is closed to fix the rod 17, and then the chuck mechanism (gripping means) of the auger 15 is opened to release the grip on the rod 17, and the auger 15 is driven to rise by the amount of upward movement (3.9 m), as shown in Figure 9. Then, with the chuck mechanism of the auger 15 closed to grip the rod 17, the chuck mechanism of the lower guide 18 is opened to release the fixation of the rod 17. While this series of operations is being performed (during automatic operation), the message "Rod re-clamping operation in progress" is displayed on the touch panel screen, and the message disappears from the screen as soon as the rod re-clamping operation is completed.

[0033] When the rod replacement work in the excavation process is completed, the operator releases the current depth data by operating the touch panel and continues the work while adding the new depth to the previously stored depth data. In other words, the remaining excavation process is carried out by operating the auger. When the current depth reaches the target depth (10 m), the excavation process is completed as shown in Figure 10, and the operator can then proceed with the pulling-up process by raising and rotating (reversely) the auger 15.

[0034] During the pulling process, as shown in Fig. 11, when the current depth reaches the depth of the rod re-grasping point (depth 6 m), a confirmation image pops up on the touch panel screen of the display, allowing the operator to stop driving the auger 15 at the right time and instruct the pile driver 11 to start the rod re-grasping operation. That is, as shown in Fig. 3, the control unit finds that "B" is set for the content corresponding to the current depth of 6 m (L8) and displays a confirmation image on the touch panel screen (notification unit). Here, when the operator presses the "Yes" button in response to the message "Do you want to start the rod re-grasping operation?" on the confirmation image (operation input unit), the control unit accepts the button operation and starts the rod re-grasping operation.

[0035] Specifically, as shown in Figure 4, when the current depth reaches the depth of the rod re-grinding point (S1), the operator confirms the operation, and while the depth data for the current depth is held, a loop process is entered in which the construction plan is checked line by line from the reached point, i.e., from line number L8 (S2). In the loop process, the next construction plan line is checked (S3), and it is determined whether that line is set as the rod re-grinding point (S4). If no rod re-grinding point is found during the loop process (S4, NO) and the final line L12 is reached, the loop process is terminated.

[0036] Next, it is determined whether a rod gripping point has been found (S5). Since no new rod gripping point has been found between the lifting process depth of 6 m (L8) and the construction completion depth of 0 m (L12) (S5, NO), it is determined whether depth information matching the target depth has been found during the loop processing, as shown in FIG. 6, via point B in the flowchart (S9). Since the target depth of 10 m has not been found during the loop processing (L8 to L12) (S9, NO), the movement distance of the auger 15 (current depth - start depth) is calculated (S10). The start depth can be interpreted as the start depth of the lifting process, for example, by using the achievement of the target depth as a flag, and is the depth of the deepest part of the borehole, 10 m. If the stopping position of the auger 15 is, for example, at a depth of 5.8 m, the movement distance is 5.8 m - 10 m = -4.2 m. Next, it is determined whether the value of the movement distance is positive (plus sign) (S11). Here, since the value of the movement amount is negative (minus sign) (S11, NO), the movement direction is determined to be "downward" (S12). As a result, the downward movement amount of 4.2 m, which is the difference between the current depth of 5.8 m and the starting depth of 10 m, is calculated.

[0037] After determining the amount of downward movement, the control unit performs hydraulic control of each part required for the rod replacement operation. Specifically, the chuck mechanism (fixing means) of the lower guide 18 is closed to fix the rod 17, and the chuck mechanism (holding means) of the auger 15 is opened to release the grip of the rod 17, and the auger 15 is driven downward by the amount of downward movement (4.2 m), as shown in Figure 12. Then, with the chuck mechanism of the auger 15 closed to grip the rod 17, the chuck mechanism of the lower guide 18 is opened to release the fixation of the rod 17. During automatic operation, the message "Rod replacement operation in progress" is displayed on the touch panel screen, just as in the excavation process.

[0038] Once the rod replacement work in the pulling-up process is completed, the operator drives the auger to proceed with the remaining pulling-up process, and as shown in Figure 13, the completion depth reaches 0m. Through this series of processes, the ground improvement work for pile number "0000" is completed. Then, at the subsequent planned construction locations, the rod replacement work is carried out in the same way, and construction progresses as planned to the target depth.

[0039] A typical embodiment of ground improvement construction has been described above. However, if multiple rod re-grinding points are required in the excavation process, for example, the first rod re-grinding depth of 6 m (L3) and the next rod re-grinding depth of 11.5 m (L8) are set on the way to the target depth of 15 m, as shown in the construction plan data of FIG. 14 (the lower part of the table is omitted). In this case, as shown in FIG. 5, when determining whether depth information matching the target depth was found during the execution of the loop processing (S6), since the target depth of 15 m was not found during the loop processing (L3 to L8) (S6, NO), the movement distance of the auger 15 (the depth at which the discovered rod re-grinding point is set - the current depth) is calculated (S13). Then, if the stopping position of the auger 15 is, for example, at a depth of 6.1 m, the movement distance is 11.5 m - 6.1 m = 5.4 m. Next, it is determined whether the value of the movement distance is positive (plus sign) (S14). Here, since the value of the movement amount is positive (plus sign) (S14, YES), the movement direction is determined to be "upward" (S15). As a result, the upward movement amount of 5.4 m is calculated, which is the difference between the depth of 11.5 m where the discovered rod re-grabbing point is set and the current depth of 6.1 m.

[0040] On the other hand, in the pulling-up process, when the movement amount of the auger 15 is calculated (S13), although not shown in the figures, the magnitude relationship between the depth at which the discovered rod changing point is set and the current depth is reversed from the relationship in the excavation process, so the value of the movement amount becomes negative (minus sign) (S14, NO), and the movement direction is determined to be "downward" (S16). As a result, the downward movement amount (e.g., 5.3 m) is calculated, which is the difference between the depth at which the discovered rod changing point is set (e.g., 6 m) and the current depth (e.g., 11.3 m).

[0041] Here, in the case where the construction conditions require only one rod re-grabbing point, as shown in the construction plan data of FIG. 15 (the lower part of the table is omitted), for example, a rod re-grabbing depth of 6 m (L3) is set before the target depth of 10 m is reached. In this case, as shown in FIG. 6, when determining whether depth information matching the target depth was found during the execution of the loop processing (S9), the target depth of 10 m was found during the loop processing starting from the depth of 6 m (L3) (S9, YES), so the movement amount of the auger 15 (target depth - current depth) is calculated (S17). Then, if the stopping position of the auger 15 is, for example, at a depth of 6.1 m, the movement amount is 10 m - 6.1 m = 3.9 m. Next, "upward" is determined as the movement direction (S18). As a result, the upward movement amount of 3.9 m, which is the difference between the target depth of 10 m and the current depth of 6.1 m, is calculated.

[0042] If the target depth cannot be found during the loop process starting from a depth of 6 m (L3) (S9, NO), the movement distance (current depth - start depth) of the auger 15 is calculated (S10). The start depth is interpreted as the start depth of the excavation process, for example, by using the failure to reach the target depth as a flag, and is set to a depth of 0 m. If the stopping position of the auger 15 is, for example, at a depth of 6.1 m, the movement distance is calculated as 6.1 m - 0 m = 6.1 m. Next, it is determined whether the value of the movement distance is positive (positive sign) (S11). Here, since the value of the movement distance is positive (positive sign) (S11, YES), the movement direction is determined as "upward" (S19). This calculates the upward movement distance of 6.1 m, which is the difference between the current depth of 6.1 m and the start depth of 0 m. In other words, if the target depth cannot be found during the loop process, the movement distance of the auger 15 (downward movement) is directly reflected in the movement distance for the rod re-grabbing operation.

[0043] Thus, according to the pile driver control system of the present invention, when the current depth reaches the rod re-grinding depth, the alarm unit is activated and a command to start the rod re-grinding operation is awaited, allowing the operator to safely transition to the rod re-grinding operation at their own discretion without interrupting the operator's driving. Moreover, because the entire series of operations from the start to completion of the rod re-grinding operation are performed automatically, the system significantly reduces the operator's operational burden, even though it is a simple system built using conventional construction plans. In particular, because the upward movement distance is calculated as the difference between the target depth and the current depth, the remaining steps up to the target depth can be achieved with the minimum necessary auger movement distance, taking into account the progress of construction after the alarm unit is activated.

[0044] Furthermore, in the extraction process, the amount of downward movement is calculated as the difference between the current depth and the start depth (the depth at which the pulling-up process starts), so construction can be carried out safely and efficiently, just like in the excavation process. That is, this is particularly effective in typical ground improvement work in which the depths of multiple (e.g., two) rod replacement points are set in pairs at the same depth for the excavation process and the pulling-up process. In this case, combined with the auger configuration that allows rod replacement work at any position, this can greatly contribute to the efficiency of long-distance construction.

[0045] The present invention is not limited to the above-described embodiment, and the control program may be simply configured to be added to an existing construction management device and function, and may be modified as appropriate according to the specifications of the pile driver and construction conditions. A lamp (light) or a buzzer (audio) may be provided as the notification unit, and a dedicated switch may be provided as the operation input unit. Furthermore, the configuration of the data input screen and the reference tables may also be arbitrary. [Explanation of symbols]

[0046] 11... pile driver, 12... base machine, 13... leader, 13a... guide pipe, 13b... chain, 14... backstay, 15... auger, 15a... device body, 15b... hydraulic motor for driving auger, 16... guide gib, 17... rod, 18... lower guide, 19... excavation tool, 19a... excavation blade, 19b... mixing blade, 20... injection hose, 21... swivel joint, 22... anti-rotation rod, 23... mounting member, 24... driver's seat

Claims

[Claim 1] an auger having an openable and closable gripping means for gripping a rod; a leader that guides the auger as it ascends and descends; an openable and closable fixing means for fixing the rod in place; A storage unit that stores construction plan data that sets a target depth for a planned construction position and a depth of a rod re-grabbing point; a depth sensor for acquiring the current depth of construction; a control unit that determines the direction and amount of movement of the auger required for the rod re-chucking operation using the target depth, the depth of the rod re-chucking point, and the current depth; a notification unit that prompts an operator to start the rod replacement operation; an operation input unit through which the operator inputs an instruction to start the rod re-clamping operation; Equipped with A control system for a pile driver that forms a drilling hole with a drilling tool connected to a lower end of the rod in accordance with an auger drive operation by the operator, The control unit When the current depth reaches the depth of the rod re-grabbing point, the notification unit is activated. Upon receiving an instruction to start the rod re-grasping operation, an upward movement amount that is the difference between the target depth and the current depth is calculated, The fixing means is closed to fix the rod, and the gripping means is opened to release the gripping of the rod; The auger is driven to rise by the amount of the upward movement. A pile driver control system characterized in that the gripping means is closed to grip the rod, and the fixing means is opened to release the fixation of the rod.

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