Pile driver display system

Abstract

To provide a display system that makes it easy to understand a screen for guiding a pile core position.SOLUTION: A pile driver display system includes a controller that uses vehicle position information and construction plan information of a pile driver 11 to display a display image 37 showing an area surrounding the pile driver on a screen. The controller adds to the display image an icon P indicating the pile construction position, an icon C indicating an actual pile core position determined from the vehicle position information, and a rotation trajectory S of the actual pile core position that moves in accordance with a rotation operation of the pile driver. The controller calculates pile core deviation Δ that occurs when a pile driver leader 15 is raised vertically based on an angle of change in vehicle inclination, corrects the construction position P, the position of a pile driver model M, and the radius and position of the rotation trajectory S based on the pile core deviation, adds both the rotation trajectory (S) having the corrected radius and the rotation trajectory S having the radius before correction to the display image, and positions the icon C indicating the actual pile core position on the rotation trajectory (S) having the corrected radius.SELECTED DRAWING: Figure 15

Description

[Technical Field]

[0001] The present invention relates to a display system for a pile driver, and more particularly to a display system for a pile driver having a function for assisting driving operations toward a pile construction position. [Background technology]

[0002] Various display systems have been proposed as technologies for guiding the pile core position of a pile driver. By following the displayed guidance screen, the operator of the pile driver can visualize the relationship between the current position and the target position and perform the necessary driving operations (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-165502 [Patent Document 2] Japanese Patent Application Publication No. 2023-68866 Summary of the Invention [Problem to be solved by the invention]

[0004] However, it is difficult to instantly grasp the guidance screen while operating the aircraft, and the reality is that many technical challenges remain regarding the display.

[0005] Therefore, the present invention aims to provide a display system that makes it easier to understand the pile core position guidance screen. [Means for solving the problem]

[0006] In order to achieve the above object, the display system for a pile driver of the present invention comprises a receiving unit that acquires vehicle position information of the pile driver, a vehicle body inclinometer that detects a change in the angle of vehicle body inclination in the front-rear and left-right directions relative to the horizontal state of the vehicle body of the pile driver, a memory unit that stores construction plan information that sets the construction positions of piles at a construction site, and a controller that uses the vehicle body position information acquired by the receiving unit and the construction plan information stored in the memory unit to display a display image that represents the area around the pile driver on a screen, and the controller displays a pile driver model, an icon that indicates the construction position of the pile, and an icon that indicates the actual pile core position determined from the vehicle body position information of the pile driver. and a rotation trajectory of the actual pile core position that moves in accordance with the rotation operation of the pile driver, to the display image. In this pile driver display system, the controller calculates the amount of pile core misalignment that occurs when the leader of the pile driver is raised vertically based on the angle of change in the vehicle body inclination, corrects the pile construction position, the position of the pile driver model, and the radius and position of the rotation trajectory based on the amount of pile core misalignment, adds both the rotation trajectory having the corrected radius and the rotation trajectory having the radius before correction to the display image, and positions an icon indicating the actual pile core position on the rotation trajectory having the corrected radius.

[0007] The pile driver further includes a leader inclinometer that detects the angle of change in leader inclination in the forward, backward, left, and right directions relative to the vertical state of the leader, and the controller also uses the angle of change in leader inclination to calculate the amount of pile core deviation.

[0008] Furthermore, the icon indicating the actual pile core position gradually changes its display color from the color before the change to a specific color as the actual pile core position moves to the pile construction position, and the specific colors include a color that changes when the pile construction position moves from outside to inside the peripheral area of ​​the pile driver, a color that changes when the pile construction position within the peripheral area of ​​the pile driver is positioned on the rotation orbit, and a color that changes when the pile construction position within the peripheral area of ​​the pile driver overlaps with the actual pile core position.

[0009] Furthermore, the icon indicating the actual pile core position is characterized by being displayed in a color different from the display color when the stability of the pile driver has decreased and the driver is in a state of reduced stability in which operation is restricted.

[0010] Furthermore, there is a concern that the icon indicating the actual pile core position may display a location different from the actual construction location if the GNSS reception conditions deteriorate and the reliability of the actual pile core position decreases, so the icon is displayed in a color different from the display color when the reception conditions deteriorate and such construction work is restricted.

[0011] In addition, the icon indicating the actual pile core position is characterized in that when the vehicle is in an obstacle approach state in which driving operations in the direction of contact with the obstacle are restricted, a symbol indicating the restricted operation content is added and displayed.

[0012] The orbit having the corrected radius is added by a dotted line, and the orbit having the uncorrected radius is added by a solid line. [Effects of the Invention]

[0013] According to the pile driver display system of the present invention, the radius of the turning trajectory is corrected based on the amount of pile core deviation, and the turning trajectory having the corrected radius is added to the display image, thereby eliminating errors in position information caused by sloping ground and realizing a display system that makes it easier to understand the pile core position guidance screen. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a side view of a pile driver to which a display system showing one embodiment of the present invention is applied; [Figure 2] FIG. 10 is a configuration diagram of the display system. [Figure 3] This is a diagram showing an example of a two-dimensional pile core guidance screen in which the construction position and pile core position are displayed in a map area. [Figure 4] FIG. 10 is a diagram showing the enlargement / reduction and rotation display of the map area. [Figure 5] FIG. 10 is a diagram showing the pile core guidance screen in which the construction position is outside the map area and on the turning trajectory. [Figure 6] FIG. 10 is an explanatory diagram showing the display of the construction position. [Figure 7] FIG. 10 is a diagram showing the change in the display of the pile core position. [Figure 8] FIG. 10 is a diagram showing the change in display when stability is reduced and the auger operation of the pile driver is restricted. [Figure 9] This figure also shows how the display changes when the rotation of the pile driver is restricted by an obstacle. Obstacles here include workers, buildings, materials, plants, etc. [Figure 10] This figure also shows how the display changes when an obstacle is present and the forward and rotational operations of the pile driver are restricted. [Figure 11] This figure also shows how the display changes when an obstacle is present and the backing and turning operations of the pile driver are restricted. [Figure 12] This figure shows a display of the state in which the construction position and the pile core position coincide when an obstacle is present. [Figure 13] This figure also shows the change in display when the GNSS reception condition deteriorates and the rotation operation of the pile driver is restricted. [Figure 14] This figure also shows the change in display when the GNSS reception condition deteriorates and the auger operation of the pile driver is restricted. [Figure 15] FIG. 10 is a diagram showing the change in display when the construction site is on a slope. [Figure 16] FIG. 10 is a diagram showing a screen transition method when the construction position is outside the screen on a three-dimensional pile core guidance screen, as a modified example of the display system. [Figure 17] FIG. 10 is a diagram showing the change in the display of the pile core position. DETAILED DESCRIPTION OF THE INVENTION

[0015] 1 to 17 show an example of an application of the present invention to a small pile driver. As shown in Fig. 1, the pile driver 11 is a dual-purpose machine that can switch between steel pipe pile driving and ground improvement work, and is equipped with a base machine 14 consisting of a lower track body 12 equipped with crawlers and an upper rotating body 13 rotatably mounted on the lower track body 12, a leader 15 erected at the front of the upper rotating body 13, and a derricking cylinder 16 that supports the leader 15 from the rear. A leader support 17 that supports the leader 15 so that it can be derricked is provided at the front of the upper rotating body 13, and a driver's cab 18 is provided on the right side of the upper rotating body 13, and an equipment room 19 that houses a hydraulic unit powered by an engine is provided on the left side.

[0016] The leader 15 is made up of multiple leader members connected together, each with a rectangular cylindrical cross section, and is rotatably attached to a support shaft in the vehicle width direction provided on the leader support 17. A top sheave 20 around which a lifting rope is wound is provided at the upper end of the leader 15, and an openable and closable anti-vibration member 22 for preventing the steel pipe pile 21 from swinging is provided at the front lower part. A rack gear 23 is provided at the center of the front face of the leader 15 as a component of the rack and pinion lifting device, and a pair of left and right guide pipes 24, 24 are provided continuously over the entire length of the leader 15 at the front ends of both sides.

[0017] The auger 25, which is an example of a rotary drive device, has a pair of left and right guide gibs 25a, 25a that protrude rearward and slide against the guide pipes 24, 24, and moves up and down along the front of the leader 15 by rotating a pair of left and right pinions (not shown) that mesh with the rack gear 23 using an auger lifting hydraulic motor 25b.

[0018] When burying a steel pipe, the prepared steel pipe pile 21 is lifted up by a rope hanging down from the top sheave 20, and then its upper end is connected to the drive rod (rotary drive shaft) 26 via an adapter 27, and its lower end is held by the anti-vibration member 22. The attached steel pipe pile 21 is rotated by the auger drive hydraulic motor 25c, and is pressed into the ground by lowering the auger 25.

[0019] Within the cab 18, a number of control levers, control pedals, push button switches, displays and other devices for performing operations such as traveling, turning, raising and lowering the auger 25 and rotating are concentrated near the driver's seat for ease of use. Furthermore, a controller is provided that is electrically connected to these devices and is composed mainly of a CPU that performs various calculations such as data processing and judgment.

[0020] The controller constitutes a display system that supports pile core positioning at the construction site based on vehicle position information of the pile driver 11. As shown in Fig. 2, this display system includes the controller 28 that controls the operation of the pile driver 11 and also functions as an actual pile core position calculation unit, a construction management device 29 that is a memory unit that stores various data, and a display unit (display) 30 that displays the operating status of the pile driver 11 on a display screen, such as guidance support for pile core positioning and construction results, which the operator of the pile driver 11 can check.

[0021] Signals are input to the controller 28 from various sensors that detect the operating state of the pile driver 11. Examples of sensors include a body inclinometer 31 provided on the upper rotating body 13 and a leader inclinometer 32 provided on the leader 15. The body inclinometer 31 detects the change angle of body inclination in the front-rear and left-right directions with respect to the body horizontal state of the pile driver 11 (the inclination angle of the body with the horizontal state as the reference (0°); the same applies below). The leader inclinometer 32 detects the change angle of the leader inclination in the front-rear and left-right directions with respect to the leader vertical state of the pile driver 11. The detected values ​​of the inclinometers 31 and 32 are acquired as posture information of the pile driver 11 (leader inclination information and body inclination information) and are used to execute a control program (for example, to calculate the pile core deviation amount Δ (see Figure 15) described later).

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

[0023] The created construction plan data is uploaded to a data server on the network with additional information, such as location information of the address of the construction site, model information of the pile driver 11 to be used, vehicle exterior information including mechanical information, and information on the rotation center-to-pile center distance PL (Fig. 1), which is the horizontal distance between the rotation center (rotation axis) PV of the upper rotating body 13 and the rotation center of the auger 25 (corresponding to the actual pile center position C0 described later).In addition, construction management programs for construction methods to be implemented based on the construction plan data, such as ground improvement methods, precast pile methods, or cast-in-place pile methods, and setting parameter data for the construction management programs are also created and uploaded to the data server in the same manner.

[0024] Vehicle position information is acquired using well-known GNSS (Global Navigation Satellite System) technology. For example, a first positioning device 33 having an antenna 35 and a second positioning device 34 having an antenna 36 are provided as receivers on the upper rotating body 13 of the pile driver 11. While receiving radio waves from GNSS satellites, the first and second positioning devices acquire position information of the antennas, which changes as the pile driver 11 travels and rotates. Alternatively, the GNSS may calculate the position and orientation using a single positioning device. The controller 28 calculates the position and orientation of the upper rotating body 13 based on the relative positions of the two antennas 35, 36, which are spaced apart in the fore-and-aft direction. Furthermore, the controller 28 also takes into account the attitude information acquired by the vehicle body inclinometer 31 and the leader inclinometer 32, respectively, to determine the position of the central axis of the steel pipe pile 21 (construction member) in the ground, i.e., the actual pile core position C0 (Figure 1). Note that the antenna installation positions are not limited to those shown in Figure 1.

[0025] The pile core positioning support function (pile core position guidance) provided by the display system will be described below. First, when the pile driver 11 is brought into the construction site and the engine is started, the system is activated and the first positioning device 33 and the second positioning device 34 acquire the current vehicle position information of the pile driver 11. In addition, construction plan data is automatically downloaded corresponding to the construction site where the pile driver 11 is located, and various information such as position information for each pile number and vehicle outer shape information is acquired. Furthermore, the actual pile core position C0 is identified by calculations performed by the controller 28.

[0026] As a result, a movement route toward the pile construction position P0 (Fig. 1) is set based on the pile position data of the first pile number and the vehicle position data, and the display unit (display) 30 displays, for example, a pile core guidance screen as shown in Fig. 3, a two-dimensional image in which the construction position P, which is an icon image of the pile construction position P0, and the pile core position C, which is an icon image of the actual pile core position C0, are shown in a map area 37. In the display area of ​​the pile core guidance screen other than the map area 37, for example, the current time, the name of the construction site, the coordinates of the current position (actual pile core position C0), the coordinates of the construction position (pile construction position P0), the linear distance to the construction position, the display zoom ratio, and buttons 38 for setting the same are displayed using characters, numbers, figures, etc.

[0027] The construction position P and pile core position C are both displayed in the map area 37 as circular icons, and may be the same size (see Patent Document 1) or have a radial difference such as P>C or C>P (see Patent Document 2) for better visibility. Each icon P, C is given a color that changes gradually according to changes in the position of the pile driver 11 (details will be described later), and among these, the pile core position C is accompanied by a pile driver model M that shows the pile driver 11 in a plan view. In addition, a circular image of a rotation path S with a radius equal to the distance PL between the rotation center and the pile core is displayed around the pile driver model M. This rotation path S represents the path of the actual pile core position C0 that moves in accordance with the rotation operation of the pile driver 11.

[0028] The map area 37 is a display image (visual image) showing the area surrounding the pile driver 11, and is formed of a circle of radius R concentric with the pile core position C. This fixes the pile core position C in the center of the map area 37. The set value of radius R can be changed, for example, depending on the size of the construction site or the zoom operation of the map area 37. Just inside the outer border of the circle (the boundary between the inside and outside), a direction indicator (north, south, east, or west) corresponding to the orientation of the pile driver 11 is added. In Figures 3 and 4, as an example, the direction indicator is displayed inside the outer border, but it may also be displayed outside. This causes the direction indicator to move circumferentially as the orientation of the pile driver 11 changes, making it possible to visually understand the direction in which the pile core position C moves as the pile driver 11 is operated.

[0029] The map area 37 is represented by a grid (a grid containing distance information) divided into multiple cells. In addition to manual operation of a button 38 for zooming in and out, it can also be set to automatically zoom in and out according to the distance between the construction position P and the pile core position C. The size and orientation of the grid change based on the set zoom ratio and the vehicle's orientation. Operation can be done not only by button operation, but also by swiping the display with a finger. For example, as shown in Figures 4(a), (b), and (c), increasing the set magnification of the map area 37 as the pile core position C approaches the construction position P increases the grid spacing and the size of the icons P and C, making the display within the map area 37 clearer (Figure 4(c)). Furthermore, as can be seen in Figures 4(d) and (e), the orientation of the grid changes based on the vehicle's orientation. This makes the vehicle appear to move relative to the ground.

[0030] For example, when the construction position P is located on the turning trajectory S within the map area 37, the operation of the pile driver 11 can be switched from traveling to turning, allowing the operator of the pile driver 11 to perform stable position guidance while looking at the screen. If the screen display is set to a high magnification, the construction position P will move out of the map area 37 and become invisible, regardless of the operation of the pile driver 11, and will be replaced by an arrow 39 indicating the direction of the construction position P, as shown in Figure 5.

[0031] The arrow 39 is represented by, for example, a dotted line, and extends from the pile core position C to the outer border of the map area 37. Depending on the settings, a dotted circle can be added to the tip of the arrow, as shown in Figure 7(a). In either case, the direction of the arrow 39 makes it possible to grasp at a glance the direction of the distant construction position P. Moreover, the screen configuration, such as the size and arrangement of the map area 37, remains unchanged, meaning there is no screen switching, resulting in good visibility.

[0032] When operating the pile driver 11, if a right turn operation is performed in accordance with the direction of the arrow 39 (to the right) from the display in Figure 5, the construction position P, which had once been outside the map area 37, will once again appear on the turning trajectory S in place of the arrow 39 and will continue to move along the turning trajectory S toward the pile core position C. This allows the operator to easily determine whether or not the pile core guidance is within the tolerance range, that is, whether or not the management criteria are satisfied, based on the degree of overlap between the icons P and C at the final stage of the pile core guidance.

[0033] A construction site typically has multiple pile construction positions P0, each adjacent to another. Therefore, the display color of the construction position P displayed in the map area 37 changes based on the progress of construction (changes in the construction position over time). For example, as shown in FIG. 6, in the map area 37, the construction target P1, which will be constructed from now on, is displayed in green, the completed construction P2, which has already been constructed, is displayed in dark gray, and the planned construction P3 (after construction target P1), which will be constructed from now on, is displayed in light gray. This makes it possible to distinguish at a glance the construction target position P1 from the other positions P2 and P3. Outside the map area 37, the above-mentioned dotted arrows and circles are displayed, and their colors correspond, for example, to the color changes within the map area 37 (see the table in FIG. 6). The completed construction P2 and planned construction P3 can be hidden from the screen as needed.

[0034] The display color (icon display color) of the pile core position C will be explained below with reference to Figs. 7 to 15. As shown in Figs. 7(a), (b), (c), and (d) in stages, the pile core position C changes its display color in stages from the color before switching to a specific color according to the distance between the actual pile core position C0 and the pile construction position P0 (see also the table in Fig. 7). In this embodiment, a total of five colors are used as the gradually changing colors: blue, light blue, yellow, and pink, plus red as a color to alert the operator. However, the present invention is not limited to these, and other colors may be applied, and the color change may be a gradation according to the distance between the pile core position and the construction position.

[0035] Blue is the color when the pile construction position P0 is outside the surrounding area of ​​the pile driver 11, that is, the color displayed in the first stage when the construction position P is outside the map area 37 as shown in FIG. 7(a). Light blue is the color that changes when the pile construction position P0 moves from outside to inside the surrounding area of ​​the pile driver 11, that is, the color displayed in the second stage when the construction position P is within the map area 37 as shown in FIG. 7(b). Yellow is the color that changes when the pile construction position P0 within the surrounding area of ​​the pile driver 11 is located within the rotation trajectory of the actual pile core position C0 ± the allowable error, that is, the color displayed in the third stage when the construction position P is located on the rotation trajectory S as shown in FIG. 7(c). Pink is the color that changes when the relative position between the pile construction position P0 and the actual pile core position C0 is within the allowable range (within the management standard), that is, the color displayed in the fourth stage when the construction position P and the pile core position C overlap as shown in FIG. 7(d). Therefore, the display color of the pile core position C changes in stages from blue (first stage) to light blue (second stage), from light blue to yellow (third stage), and from yellow to pink (fourth stage) as the actual pile core position C0 moves to the pile construction position P0.

[0036] Furthermore, the display color of the pile core position C not only changes in response to the operation of the pile driver 11 as described above, but also changes in response to the enlargement and reduction of the map area 37. For example, in the second stage shown in FIG. 7(b), when the display magnification of the map area 37 is increased, the construction position P disappears outside the map area 37, and as a result, the display color of the pile core position C changes from light blue to blue. When the display magnification is returned to the original magnification from the enlarged state, the construction position P reappears within the map area 37, and as a result, the display color of the pile core position C changes from blue to light blue (FIG. 7(b)). This allows the operator to use the zoom buttons 38, etc. to reflect their own unique viewpoint on the screen.

[0037] On the other hand, in the third stage shown in Figure 7(c), even if the display magnification of the map area 37 is increased, the display color does not change from yellow. In other words, when the construction position P is located on the turning trajectory S, the display color (yellow) is maintained even if the construction position P disappears outside the map area 37 (see Figure 5). This suppresses unnecessary fluctuations in the display image after the operation system is limited to turning. In other words, the operator can concentrate on the turning operation to be performed in the final stage (third stage) of pile core position guidance while obtaining a clear display.

[0038] In this way, the color of the icon (pile core position C) of the actual pile core position C0 is gradually changed as the actual pile core position C0 moves to the pile construction position P0, so that simply by visually checking the icon of the actual pile core position C0, it is possible to understand the positional relationship between the actual pile core position C0 and the pile construction position P0 based on its color.

[0039] Here, when the operation of the pile driver 11 is restricted, the pile core position C is displayed in a different color from the above-mentioned display colors (blue, light blue, yellow, pink), or is displayed with a symbol indicating the restricted operation content. The state in which the operation of the pile driver 11 is restricted includes, for example, a combination of a reduced stability state in which the stability of the pile driver 11 is reduced and driving operation is restricted, an obstacle approach state in which driving operation in the direction of contact with the obstacle is restricted, and a deteriorated reception state in which the GNSS reception condition is deteriorated and the reliability of the actual pile core position C0 is reduced, thereby restricting construction work, and the definition of each state is referenced when the control program is executed (determined).

[0040] As shown in Figure 8, the stability degradation state is a dangerous condition that may cause the pile driver to tip over if construction work is performed under such conditions, for example, when the relative rotation angle between the lower track 12 and the upper track 13 detected by the rotation angle sensor is misaligned, or when the pile driver is unbalanced due to road conditions (slope, ground hardness), etc. The rotation operation changes the shape and orientation of the pile driver model M and the position of the construction position P. If the stability degradation state is further determined, the display color of the pile core position C is changed from its previous color (e.g., yellow) to red (Figure 8(b)). This clearly notifies the operator of the deterioration in stability, allowing the pile core position guidance process to safely proceed from the final stage (stage 3) shown in Figure 8(a) onward. Here, the operation to restore the pile driver 11 to a stable state involves, for example, adjusting the position by driving the lower track 12, and when the conditions are met, the display color changes from red to a predetermined color (e.g., pink) as shown in Figure 8(c).

[0041] As shown in Figures 9 to 12, the obstacle approaching state is a state in which the pile driver 11 may come into contact with an obstacle 40. The obstacle 40 is detected, for example, by radar or image processing technology. When it is determined that an obstacle has been detected, a symbol representing a restricted operation, i.e., an operation in a direction that may result in contact with the obstacle 40, is added to the pile core position C. Figure 9 shows a case in which the construction position P is on the turning trajectory S and the obstacle 40 is inside the turning trajectory S. In this case, the obstacle 40 is present in both the right and left turning directions of the pile driver 11, so left and right turning operations are restricted. Then, as the restricted operation, an arrow 41 and an x ​​(cross) mark 42 representing a right turning operation, and an arrow 43 and an x ​​mark 44 representing a left turning operation are added to the turning trajectory S on both the left and right sides of the pile core position C, respectively. For example, the display color of each symbol 41, 42, 43, and 44 is unified in red, including similar symbols 45, 46, 47, and 48, which will be described later. Note that the icon of the obstacle 40 is illustrated to make the explanation easier to understand, but is not displayed on the system.

[0042] FIG. 10 shows a case where the construction position P is inside the turning trajectory S and an obstacle 40 is in front of the pile driver 11. In this case, the obstacle 40 exists not only in the left and right turning directions but also in the forward direction, so left and right turning operations and forward operations are restricted. Arrows 41 and 43 and cross marks 42 and 44 representing left and right turning operations are added as restricted operations, and an arrow 45 and an cross mark 46 representing forward operations are added in front of the pile core position C. FIG. 11 shows a case where both the construction position P and the obstacle 40 are behind the pile driver 11. In this case, the obstacle 40 exists not only in the left and right turning directions but also in the backward direction, so left and right turning operations and backward operations are restricted. Arrows 41 and 43 and cross marks 42 and 44 representing left and right turning operations are added as restricted operations, and an arrow 47 and an cross mark 48 representing backward operations are added behind the pile core position C.

[0043] 9 to 11, various steps can be taken to avoid the approaching obstacle states, such as changing the approach angle or path of the pile driver 11 or removing the obstacle 40 itself, thereby progressing through the various stages (steps) of pile core position guidance. In this case, for example, as shown in FIG. 12, after the final stage (third stage), the icons P and C will match, i.e., be within the tolerance range (control standard). In this way, if there is an obstacle 40 in the direction of movement of the pile driver 11, it is possible to clearly indicate that movement in that direction is not possible with symbols such as arrows 41, 43, 45, 47 or cross marks 42, 44, 46, 48.

[0044] As shown in Figures 13 and 14, the deteriorating reception state is a state in which the GNSS reception is poor and the reliability of the position information is reduced. In this state, the display becomes inconsistent with the actual construction position. For example, the construction position P, which should be on the circular orbit S (Figure 13(a)), is displayed as a position (P) (in parentheses) away from the circular orbit S due to the deterioration of the GNSS reception state, as shown in Figure 13(b). The reliability of the position information can be determined, for example, based on the DOP (Dilution of Precision) value, which indicates the satellite positioning status. If the reception state is determined to be deteriorating, the construction position P before the reception state deteriorated is retained and displayed. Then, the display color of the pile core position C is changed from the previous color (e.g., yellow) to red, and at the same time, the construction position P and pile core position C before the reception state deteriorated are flashed (Figure 13(b)). This clearly indicates to the operator that the GNSS reception conditions have deteriorated (a state in which rotation operations are restricted), allowing the process of guiding the pile core position to proceed safely from the final stage (stage 3) shown in Figure 13(a) onwards. In addition, because a state in which the GNSS reception conditions deteriorate can occur even when the condition is within the allowable range (stage 4) as shown in Figure 14(b), it is possible to clearly indicate that the GNSS reception conditions have deteriorated (a state in which auger operations are restricted) even after the transition to this stage (Figure 14(a)), and prompt the operator to check the position information.

[0045] In this way, when the operation of the pile driver 11 is restricted, the display color of the icon (pile core position C) of the actual pile core position C0 is displayed in a caution / warning color (e.g., red) that is different from the colors that are applied in stages (e.g., blue, light blue, yellow, pink), or symbols 41 to 48 that indicate the restricted operation content (e.g., turning operation) are added, thereby contributing to the safe operation of the pile driver 11.

[0046] At a construction site, the pile construction position P0 may be set on a slope. In this case, even if the position is within the tolerance range (fourth stage), the actual pile core position C0 may be displaced when the leader 15 is raised vertically (standing up operation). Therefore, the display system takes into consideration the amount of displacement of the pile core (pile core displacement amount) caused by the slope when identifying the actual pile core position C0.

[0047] Figure 15 shows pile core position guidance on sloping ground, with the upper half showing the change in the display of the map area 37 as a guidance screen in stages (a), (b), (c), and (d), and the lower half showing the state (posture) of the pile driver 11 corresponding to each stage. Figure 15(a) shows the traveling state of the pile driver 11 on flat ground as it heads toward the pile construction position P0 (see Figure 1). At this time, the construction position P is within the map area 37 (second stage), so the pile core position C is displayed in light blue.

[0048] Here, when the pile driver 11 starts to go uphill, as shown in Figure 15(b), the leader 15 is held perpendicular to the vehicle body (base machine 14), but the two tilt together with respect to the horizontal plane, and the pile core direction also tilts clockwise with respect to the vertical direction. Therefore, if the pile driver 11 is affected by the tilt at the start of construction, it is necessary to raise the leader 15 vertically in the counterclockwise direction by an angle corresponding to the vehicle body tilt angle θ so that the pile core direction is vertical, as shown in Figure 15(d) (hereinafter referred to as leader tilt adjustment).

[0049] For example, suppose the pile driver 11 enters the slope shown in Figure 15(b), moves the vehicle body, and then performs construction work at the position shown in Figure 15(c). By adjusting the leader inclination as shown in Figure 15(b), the actual pile center position C0 is moved from its original position to a position shifted by the pile center offset Δ to the right of the figure. At this time, the controller 28 calculates the pile center offset Δ that occurs when the leader 15 of the pile driver 11 is raised vertically based on the change in vehicle inclination angle θ. Based on this pile center offset Δ, the controller 28 corrects the position of the construction position P, the position of the pile driver model M, and the radius and position of the rotation path S. Both the rotation path (S) (in parentheses) with the corrected radius and the rotation path S with the uncorrected radius are added to the map area (display image) 37. Note that the rotation path S can also be considered the uncorrected actual rotation path. In other words, the initial rotation path S is displayed in the map area 37 as a solid line, and the rotation path (S) with the corrected radius is displayed inside it as a dotted line. At this time, the corrected turning trajectory (S) is accompanied by the pile core position C, in other words, the controller 28 displays the turning trajectory S so that the pile core position C is on the turning trajectory (S) having the corrected radius (Fig. 15(b)). Here, the controller 28 can also use the change angle of the leader inclination to calculate the pile core deviation amount Δ. This allows the pile core deviation amount Δ to be calculated with higher accuracy.

[0050] As a result, when the pile driver 11 is inclined upward (upward tilt at the front), a double circle is drawn with the corrected turning trajectory (S) disposed inside the original turning trajectory S, while, although not shown, when the pile driver 11 is inclined downward (downward tilt at the front), a double circle is drawn with the corrected turning trajectory (S) disposed outside the original turning trajectory S. In other words, the controller 28 identifies the actual pile core position C0 based on the position information and vehicle body inclination (posture information) of the pile driver 11, and constantly calculates and displays the correction value (pile core deviation amount Δ) of the turning trajectory (S) to be applied until the pile driver 11 heads toward the pile construction position P0 (Figs. 15(b) and (c)).

[0051] In this way, the pile center deviation amount Δ is reflected on the guidance screen, so the operator only needs to operate the pile driver 11 while paying attention to the turning trajectory (S) shown by the dotted line. Then, as shown in Figure 15(c), when the pile center position C is within the allowable range (fourth stage), the display color of the pile center position C turns pink, and pile center position guidance is completed. After that, as shown in Figure 15(d), by adjusting the leader inclination, the turning trajectory S having the radius before correction and the turning trajectory (S) having the radius after correction match, and construction can begin. In other words, construction can be started immediately after adjusting the leader inclination. The leader angle adjustment may also be performed by automatic control.

[0052] In this way, according to the display system for the pile driver 11 of the present invention, the radius of the turning trajectory S is corrected based on the pile core deviation amount Δ, and the turning trajectory (S) having the corrected radius is added to the display image, thereby eliminating errors in position information caused by sloping ground, and realizing a display system that makes it easier to understand the pile core position guidance screen.

[0053] 16 and 17 show modified examples of the display system of the present invention. In the following description, the same components as those shown in the above embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

[0054] In this modified example, the display system has the same configuration as in the previous embodiment, and the display image on the pile core guidance screen can be switched to a three-dimensional image that is a three-dimensional representation, depending on the operator's selection. For example, as shown in Figure 16, a three-dimensional image is displayed in which the pile construction position P, which is an icon image of the pile construction position P0, and the pile core position C, which is an icon image of the actual pile core position C0, are displayed in a space (xyz space) that represents the construction site. Here, the xy plane displayed in the space is represented by a grid, and the direction of the construction site is defined by the x and y directions. The z direction defines the height direction. Note that the diameter of the pile core position / construction position icon is considered to be the same as the two-dimensional one before transformation, but an arbitrary difference is set in the height to take visibility into consideration.

[0055] The viewpoint movement in space can be performed by button operations or the like. Further, when a screen transition (screen scroll) for displaying the construction position P is required, as can be understood by comparing FIGS. 16(a) and (b), for example, it can be performed by a touch operation such as pressing or swiping an arrow 49 indicating the direction of the construction position P. Thereby, the construction position P outside the screen can be immediately grasped by a simple operation (FIG. 16(b)).

[0056] The arrow 49, for example, has a portion of length L represented by a solid line that defines the distance from the pile core position C, and extends as a dotted line portion between the tip and the construction position P. The length L is a preset value and serves as an index for representing the change in the display color of the pile core position C. The display shown in FIG. 17 corresponds to the displays shown in each stage of FIG. 7, and the display color of the pile core position C is changed step by step from blue (first stage) to light blue (second stage), from light blue to yellow (third stage), and from yellow to pink (fourth stage) while the actual pile core position C0 moves to the pile construction position P0. In this case, as shown in FIG. 17(a), the blue color in the first stage is displayed when the pile construction position P0 is at a position where the distance LP between the actual pile core position C0 and the pile construction position P0 satisfies L(m) < LP, LP < 2L(m) (or L(m) ≤ LP, LP ≤ 2L(m)). Also, as shown in FIG. 17(b), the light blue color in the second stage is displayed when the pile construction position P0 is at a position where the distance L P is L P < L(m) (or L P ≤ L(m)). Further, as shown in FIGS. 17(c) and (d), the yellow color in the third stage and the pink color in the fourth stage are displayed at the same timing as the image displays shown in FIGS. 7(c) and (d).

[0057] And also in this modified example configured as described above, the same effects as those in the case of using the above-described two-dimensional image display can be exhibited. Further, in the case of this modified example, a viewpoint overlooking the construction site can be obtained from the three-dimensional image display, and the spatial position can be clearly specified visually.

[0058] The present invention is not limited to the above-described embodiments, and the system's operating specifications are arbitrary. The screen configuration is merely an example, and the display area divisions, icon sizes, and shapes are arbitrary, and the image display color can also be set as appropriate. For example, the display of the rotation trajectory does not need to be represented by a double circle, as long as the diameter is corrected based on the amount of pile misalignment. Furthermore, while the embodiments have been described using a small pile driver as an example, the present invention is not limited to this, and can also be applied to large pile drivers such as three-point pile drivers and soil improvement machines that perform work similar to steel pipe burying. [Explanation of symbols]

[0059] 11...pile driver, 12...lower running body, 13...upper rotating body, 14...base machine, 15...leader, 16...derailing cylinder, 17...leader support, 18...operator's cab, 19...equipment room, 20...top sheave, 21...steel pipe pile, 22...anti-vibration member, 23...rack gear, 24...guide pipe, 25...auger, 25a...guide gib, 25b...hydraulic motor for lifting and lowering auger, 25c...hydraulic motor for driving auger, 26... Drive rod, 27... adapter, 28... controller, 29... construction management device, 30... display unit, 31... vehicle body inclinometer, 32... reader inclinometer, 33... first positioning device, 34... second positioning device, 35, 36... antenna, 37... map area, 38... button, 39... arrow, 40... obstacle, 41... arrow, 42... cross mark, 43... arrow, 44... cross mark, 45... arrow, 46... cross mark, 47... arrow, 48... cross mark, 49... arrow

Claims

1. a receiving unit for acquiring vehicle position information of the pile driver; a body inclinometer for detecting a change in the angle of inclination of the body of the pile driver in the front-rear and left-right directions relative to a horizontal state of the body of the pile driver; A storage unit that stores construction plan information that sets construction positions of piles at a construction site; A controller that uses the vehicle position information acquired by the receiving unit and the construction plan information stored in the memory unit to display a display image representing the area surrounding the pile driver on a screen, The controller Pile driver model, An icon indicating the construction position of the pile; An icon indicating the actual pile core position determined from the vehicle position information of the pile driver; and a rotation trajectory of the actual pile core position that moves in accordance with the rotation operation of the pile driver, to the display image. The controller Based on the change angle of the vehicle body inclination, calculate the pile center deviation amount that occurs with the operation of raising the leader of the pile driver vertically, Correcting the construction position of the pile, the position of the pile driver model, and the radius and position of the turning trajectory based on the pile core deviation amount; adding both the orbit having the corrected radius and the orbit having the uncorrected radius to the display image; A display system characterized in that an icon indicating the actual stake core position is positioned on a rotation orbit having the corrected radius.

2. Further provided is a leader inclinometer that detects a change angle of the leader inclination in the front-back and left-right directions relative to the leader vertical state of the pile driver, The display system according to claim 1, wherein the controller also uses the angle of change in the leader inclination to calculate the amount of pile misalignment.

3. The icon indicating the actual pile core position gradually changes its display color from the color before switching to a specific color while the actual pile core position is moving to the construction position of the pile, The display system described in claim 1, characterized in that the specific colors include a color that changes when the pile construction position moves from outside to inside the surrounding area of ​​the pile driver, a color that changes when the pile construction position within the surrounding area of ​​the pile driver is positioned on the rotation orbit, and a color that changes when the pile construction position within the surrounding area of ​​the pile driver overlaps with the actual pile core position.

4. The display system described in claim 3, characterized in that the icon indicating the actual pile core position is displayed in a color different from the display color when the stability of the pile driver has decreased and it is in a state of reduced stability in which operating operations are restricted.

5. The display system described in claim 3 is characterized in that the icon indicating the actual pile core position is displayed in a color different from the display color when the GNSS reception conditions deteriorate and the reliability of the actual pile core position decreases, which could cause the icon to display a location different from the actual construction location, and when such construction work is restricted due to poor reception conditions.

6. The display system described in claim 1, characterized in that the icon indicating the actual pile core position is displayed with a symbol indicating the restricted operation content added when the vehicle is in an obstacle approach state in which driving operations in the direction of contact with the obstacle are restricted.

7. 7. A display system according to claim 1, wherein the orbit having the corrected radius is added by a dotted line, and the orbit having the uncorrected radius is added by a solid line.

Images