Ground improvement quality control system

Abstract

To provide a quality control system for ground improvement that can guarantee good improvement quality with little excess or deficiency. [Solution] In the quality control system for ground improvement according to the present invention, the construction record values ​​of the amount of solidification material injected and the cumulative chain travel distance recorded in the entire construction section block WB are reflected (feedback) in the virtual division block VB where construction will start, making it possible to adjust the construction record values ​​of the amount of solidification material injected and the cumulative chain travel distance in the virtual division block VB where construction will start. This prevents excessive improvement in the virtual division block VB, enabling ground improvement with minimal loss.

Description

[Technical Field]

[0001] The present invention relates to a quality control system for ground improvement that uses a ground improvement device equipped with a mixing and stirring head having mixing and stirring blades that move in an up-and-down direction to excavate the original ground while mixing and stirring with a solidifying material, thereby increasing the strength of the original ground. [Background technology]

[0002] A known quality control system for conventional ground improvement work using a ground improvement device equipped with a mixing and stirring head is described in, for example, Patent Document 1 below.

[0003] This conventional quality control system for ground improvement uses GNSS (Global Navigation Satellite System) to detect the current position in a global coordinate system, and based on this position information, when the mixing and stirring head is excavated horizontally, a virtual division map is used to divide the planned construction area for ground improvement in a plan view, making it possible to visually check in real time the movement trajectory and movement speed of the mixing and stirring head, along with the rotation speed of the mixing and stirring blades and the amount of solidification material to be injected.This makes it possible to always excavate in accordance with the planned position regardless of the operator's experience or ability, and prevents uneconomical construction work. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7041435 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the conventional quality control system for ground improvement, the amount of solidification material injected and the cumulative travel distance of the chain were not quantified at each position of the mixing and stirring head. Therefore, whether the amount of solidification material injected and the cumulative travel distance of the chain met the predetermined amount was determined by whether the predetermined amount was met for the entire construction area. As a result, even if there was partial insufficient improvement in one part of the construction area or excessive improvement in another part, the improvement quality was judged to be good as long as the predetermined amount was met for the entire construction area. Therefore, there is still room for improvement in terms of ensuring good improvement quality with minimal excess or deficiency.

[0006] Therefore, the present invention was devised in consideration of the technical problems of the conventional ground improvement methods, and aims to provide a quality control system for ground improvement that can ensure good improvement quality with little excess or deficiency. [Means for solving the problem]

[0007] In a first aspect, the present invention provides a quality control system for ground improvement, in which a ground improvement device is provided at the tip of a boom and arm of a construction machine functioning as a base machine with a mixing and stirring head having mixing and stirring blades that move in a vertical direction via a chain based on the driving force of a hydraulic actuator, and which performs ground improvement by excavating the original ground while mixing and stirring a solidifying material to increase the strength of the original ground, the quality control system uses a global navigation satellite system to calculate the position coordinates of the mixing and stirring head in a global coordinate system, and based on the position coordinates, uses an overall construction section map of a planned construction area where the ground improvement will be performed and a virtual division map into divisions of the planned construction area to perform construction management of the ground improvement, the ground improvement device comprises a plurality of receiving antennas that receive satellite signals transmitted from positioning satellites, a measuring means that measures the horizontal distance from the base machine to the mixing and stirring head, a computing device that calculates the planar position and penetration depth of the mixing and stirring head based on the position coordinates of the base machine calculated based on the satellite signals and the measurement results of the measuring means, and displays the planar position of the mixing and stirring head in the virtual division map by an image that allows visual recognition in real time. The apparatus is provided with a display means for displaying on a division map, and a recording means for recording the injection amount of the solidification material at the planar position of the mixing and stirring head and the cumulative movement distance of the chain as construction record values ​​for each of the subdivided virtual division blocks in the virtual division map and the entire construction section block subdivided to the same size or smaller than the virtual division blocks in the entire construction section map, and the calculation device records, at the start of construction, the construction record value of the entire construction section block that overlaps with the center coordinates of the virtual division block where construction will be started, as the construction record value before the center coordinates are located. The actual measured values ​​of the injection amount of the solidification material and the cumulative movement distance of the chain in the virtual division block and the entire construction section block are added to the construction record value as cumulative recorded values, and the construction record values ​​of the injection amount of the solidification material and the cumulative movement distance of the chain in the virtual division block are compared with threshold values ​​distributed in the virtual division block by dividing the designed injection amount of the solidification material and the cumulative movement distance of the chain by the number of the virtual division blocks, thereby determining whether the construction quality is acceptable or not;The result of this determination is displayed by color on the display means.

[0008] In this way, in this invention, at the start of construction, the construction record values ​​of the entire construction block whose center coordinates overlap with the virtual section block where construction will begin are reflected in the virtual section block where the center coordinates are located. Therefore, for example, if the mixing head extends into an adjacent virtual section, causing partial construction to be completed during construction of the adjacent virtual section, it is possible to adjust the cumulative record values ​​based on the construction records of the already completed work. This prevents excessive improvement in terms of the amount of solidification material injected and the cumulative distance traveled by the chain, allowing for ground improvement with minimal loss.

[0009] Furthermore, by visualizing the quality of the improvement through pass / fail judgment using coloring, it becomes possible to adjust the quality of the improvement during construction, thereby ensuring good ground improvement with minimal excess or deficiency.

[0010] In addition, as another aspect of the quality control system for ground improvement, it is desirable that the arithmetic device calculates or records the time when the mixing state becomes good when the mixing impeller mixes and stirs the original ground as a judgment time, and when the planar position of the mixing head projected on the virtual division diagram is located on the virtual division block for longer than the judgment time, averages the construction record values ​​recorded in the virtual division block within the range of the planar position.

[0011] If the amount of solidification material injected and the cumulative travel distance of the chain were accumulated by simple addition, for example, there would be an excess when the mixing head penetrates and a shortage when the mixing head is pulled out, and the cumulative recorded values ​​recorded in the virtual dividing block would be insufficient and may differ from the actual mixing state. Therefore, in this invention, if the mixing head is positioned on the virtual dividing block for more than a specified time (judgment time), the cumulative recorded values ​​are averaged, allowing for appropriate improved quality control.

[0012] Furthermore, if the averaging process is performed immediately after the mixing and stirring head moves through the virtual dividing blocks, the result may be judged as homogeneous improvement even if the improvement is insufficient. Therefore, according to the present invention, the time until the mixing state becomes good is set as the judgment time until the averaging process is performed, thereby ensuring good improvement quality.

[0013] Furthermore, as yet another aspect of the quality control system for ground improvement, it is desirable that the judgment time is the time at which the mixed state is judged to be good, calculated based on the cumulative travel distance of the chain in design.

[0014] In this way, in the present invention, by setting the judgment time as the time at which the mixing state is judged to be good, calculated based on the designed cumulative movement distance of the chain, it is possible to ensure appropriate improvement quality taking into account the mixing capacity of the mixing head and the soil quality of the original ground.

[0015] Although the judgment time can be calculated each time depending on the mixing capacity of the mixing head, setting it to a fixed, predetermined value allows it to be set on the safe side in terms of improved product quality and also simplifies the control process, thereby reducing the processing power required for calculations and the costs associated with building the system.

[0016] In addition, as another aspect of the quality control system for ground improvement, the computing device can also make a pass / fail judgment by making a combined judgment on the construction record value of the amount of solidification material injected and the construction record value of the cumulative movement distance of the chain.

[0017] In this way, the present invention makes a pass / fail judgment by comprehensively evaluating the cumulative recorded values ​​of the amount of solidification material injected and the cumulative recorded values ​​of the cumulative travel distance of the chain. This makes it possible to proceed with improvement work without checking the pass / fail judgment for each parameter, thereby reducing the effort (burden) on the operator. [Effects of the Invention]

[0018] According to the present invention, at the start of construction, the construction record values ​​of the entire construction block on which the center coordinates of the virtual section block on which construction will begin are overlapped are reflected in the virtual section block on which said center coordinates are located, so that the cumulative record values ​​are adjusted according to the construction records of the construction that has already been completed. In other words, it is possible to carry out construction while understanding the construction records of the amount of solidification material injected and the cumulative chain travel distance on the virtual section, and it is possible to accurately adjust the traverse speed of the trencher and the amount of solidification material injected. This prevents excessive improvement in the amount of solidification material injected and the cumulative chain travel distance, allowing for ground improvement with minimal loss. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a system configuration diagram of a ground improvement device according to the present invention. [Figure 2] FIG. 2 is a front view of the trencher shown in FIG. 1. [Figure 3] FIG. 10 is an image of a monitor screen installed on the ground improvement device. [Figure 4] FIG. 1 is a control block diagram of a quality control system for ground improvement according to the present invention. [Figure 5] 5 is a flowchart relating to quality control executed based on the control block diagram shown in FIG. 4. [Figure 6] FIG. 6 is a conceptual diagram of a first step in the control flowchart shown in FIG. 5. [Figure 7] FIG. 6 is a conceptual diagram of a sixth step in the control flowchart shown in FIG. 5. [Figure 8] FIG. 10 is a diagram showing a modified example of a quality control system for ground improvement according to the present invention, and is an image of a monitor screen installed in a ground improvement device. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, an embodiment of a quality control system for ground improvement according to the present invention will be described in detail with reference to the drawings.

[0021] (System configuration of the ground improvement device) Figure 1 shows a system configuration diagram of a ground improvement device in which a quality control system for ground improvement according to this embodiment is implemented. Figure 2 shows a front view of the trencher shown in Figure 1. In the following explanation, the upper side of Figure 1, i.e., the vertically upper side, will be referred to as "upper," and the lower side of Figure 1, i.e., the vertically lower side, will be referred to as "lower."

[0022] As shown in Fig. 1, the ground improvement device according to this embodiment is configured with a backhoe 1, which is a construction machine, as the base machine, and a boom 2 and an arm 3 are rotatably connected to the front of a base 1a, which is rotatably mounted on the top of a track 1b, and a trencher 4, which is a mixing and stirring head, is detachably mounted on the tip of the boom 2 and the arm 3. The backhoe 1 penetrates the trencher 4 into the ground to a design improvement depth H as shown in Fig. 1, and by operating the boom 2 and the arm 3 to move the trencher 4 back and forth horizontally, the soil is excavated and the solidification material is mixed and stirred.

[0023] As shown in Fig. 2, the trencher 4 is configured by a drive wheel 41 driven by a hydraulic motor 44 mounted on the upper part of a frame 40, a driven wheel 42 mounted on the lower end of the frame 40, and an endless drive chain 43 wound around the drive wheel 41. A plurality of mixing and stirring blades 45 are attached at approximately equal intervals (equal pitch) to the outer periphery of the drive chain 43, and a plurality of cutter blades 46 are arranged in parallel along the width direction of each mixing and stirring blade 45. A plurality of solidification material discharge units 47 that discharge solidification material downward are provided at the lower part of the frame 40. The solidification material in slurry or powder form is pressure-fed through piping 48 by a pump (not shown), such as a grout pump, and is discharged from the solidification material discharge units 47. With this configuration, as the drive wheel 41 rotates, which is driven by the hydraulic motor 44, which corresponds to the hydraulic actuator of the present invention, each mixing and stirring blade 45 moves in a circular movement in the vertical direction together with the drive chain 43, and the solidification material is discharged from the solidification material discharge section 47, thereby excavating the ground and stirring and mixing the excavated raw soil and the solidification material.

[0024] The backhoe 1 is provided with a cabin (operator's seat) 1c, located at the front of the base 1a, for the operator to operate the backhoe. The backhoe is equipped with multiple (two in this embodiment) GNSS receiving antennas AN1 for receiving satellite signals (GNSS signals) transmitted from positioning satellites DS (e.g., GPS satellites) and a wireless receiving antenna AN2 for receiving satellite signals (GNSS signals) observed at a fixed base station FB or a public base station CB within the ground improvement construction site. Both the GNSS receiving antenna AN1 and the wireless receiving antenna AN2 are electrically connected to a computing unit PU (described below) located at the rear of the cabin 1c. The GNSS receiving antenna AN1 and the wireless receiving antenna AN2 are included in the receiving antennas of the present invention.

[0025] In addition, a calculation unit PU is provided at the rear of the cabin 1c of the backhoe 1 as a calculation means for calculating the planar position, penetration depth, excavation speed, etc. of the trencher 4 based on angle detection signals from angle sensors AS0, AS1, AS2, AS3 that detect the tilt angle of the backhoe 1 and satellite signals received by each GNSS receiving antenna AN1 and wireless receiving antenna AN2. In addition, a monitor screen MD, such as that shown in Figure 3, is provided in the cabin 1c as a display means for displaying the calculation results of the calculation unit PU.

[0026] Based on the above configuration, the ground improvement device according to this embodiment performs horizontal excavation by continuously moving the penetrated trencher 4 in a single stroke, without completely withdrawing it, and turning back at predetermined turning lines R1 and R2 to form a movement locus that is approximately N-shaped in plan view, as shown in Figure 1. In this horizontal excavation, the straight excavation and oblique excavation are performed so as to overlap, so that the entire section is excavated without any leakage, and the solidification material is stirred and mixed.

[0027] (Screen monitor configuration) Figure 3 shows an image of the monitor screen MD installed on the ground improvement device.

[0028] The monitor screen MD displays a plurality of display windows F1 to F14, which display the results of calculations performed by the calculation unit PU, laid out for each display item, as shown in Fig. 3. Note that the screen display shown in Fig. 3 is an example, and it is not necessary for all of the items shown in the figure to be displayed. In addition, any display item can be added and displayed as needed, and can be changed as desired depending on the management items for quality control, etc.

[0029] That is, the monitor screen MD exemplified in this embodiment has three relatively large display windows F1, F2, and F3, which show the main management items, displayed side by side in the center of the screen. Display window F1 displays an image of the planar position of the trencher 4 in the construction area and the progress of the number of blade cuts (the cumulative travel distance of the drive chain 43). Display window F2 displays an image of the planar position of the trencher 4 in the construction area and the progress of the amount of solidification material inflow. Display window F3 displays a cross section of the improved body, and displays an image of the penetration state of the trencher 4 and the quality state of the improved body. Note that for the color displays shown in each of the display windows F1 to F3, which will be described later, differences in color are indicated by different hatching patterns for ease of illustration.

[0030] The display windows F1 and F2 are unit sections obtained by arbitrarily dividing the construction area shown in the global coordinate system, and are arranged in any mesh (for example, 10 cm) or less than the effective mixing width E (see Figure 2) of the trencher 4 in the global coordinate system. 2 ) Mx is cut into the virtual division map VM, and the projection surface of the trencher 4 is superimposed on the virtual division map VM. In the virtual division map VM, each mesh Mx is displayed in three levels of color using the color coding shown in the upper left corner of each display window F1, F2, making it possible to manage the quality (progress) of the improved structure in real time.

[0031] In this embodiment, the coloring process is performed by dividing the improvement quality into three stages: 20%, 70%, and 100%, but the number of stages can be changed as desired depending on the quality control specifications for ground improvement work, etc. In this embodiment, the improvement quality is divided into stages with 100% as the upper limit, but it is also possible to set the upper limit to 100% or more, for example, 110% or 120%, since this has the advantage of making it possible to check the extent to which excessive construction has been carried out.

[0032] In addition, below the display windows F1 to F3, the monitor screen MD displays a display window F4 that numerically displays the design depth, which is the planned improvement depth; a display window F5 that numerically displays the implemented depth, which is the actual improvement depth; a display window F6 that numerically displays the difference between the design depth and the implemented depth; a display window F7 that numerically displays the maximum implemented depth, which is the maximum depth among the implemented depths; and a display window F8 that numerically displays the verticality (inclination angle) of the trencher 4.

[0033] Furthermore, on the monitor screen MD, to the right of the display window F3, there are displayed in a vertical row: a display window F9 that displays the block number where construction is to be performed, a display window F10 that numerically displays the travel speed (rotational speed) of the drive chain 43 (see Figure 2), a display window F11 that numerically displays the cumulative travel distance of the drive chain 43, a display window F12 that numerically displays the planned design flow rate of the solidification material, a display window F13 that numerically displays the cumulative flow rate of the solidification material mixed in as a result of improvement work, a display window F14 that numerically displays the instantaneous flow rate of the solidification material discharged from the trencher 4, and a display window F15 that numerically displays the hydraulic pressure generated by the hydraulic motor 44 (see Figure 2). Note that a construction end button FSW is located below the display window F14 and at the bottom right of the monitor screen MD.

[0034] (Configuration of the arithmetic unit) FIG. 4 shows a control block diagram of the arithmetic unit PU according to this embodiment.

[0035] That is, as shown in Fig. 4, the calculation unit PU has a division information recording unit B1 in which information about divisions is recorded, and an entire improvement range recording unit B2 in which information about the entire improvement range is recorded. The division information recording unit B1 stores construction record values ​​such as division coordinates, block size, depth, solidification material injection amount (slurry amount) of virtual division blocks VB subdivided on the virtual division map VM, and cumulative travel distance of the drive chain 43 (hereinafter referred to as "chain cumulative travel distance"). Similarly, the entire improvement range recording unit B2 stores construction record values ​​such as coordinates of the entire construction section that is the improvement range, and block size, depth, solidification material injection amount (slurry amount) of entire construction section blocks WB subdivided on the entire construction range map WM to the same size or smaller than the virtual division blocks VB.

[0036] The processing unit PU also includes a trencher position information calculation unit B3 that calculates the position information of the trencher 4, a solidification material instantaneous flow rate recorder B4, and an instantaneous chain speed recorder B5. The trencher position information calculation unit B3 calculates the planar position (coordinates) of the trencher 4 based on angle detection signals from inclinometers (angle sensors AS0, AS1, AS2, and AS3 in this embodiment) installed at the rear of the cabin 1c of the backhoe 1 and satellite signals received by the GNSS receiving antenna AN1 and wireless receiving antenna AN2. The solidification material instantaneous flow rate recorder B4 records the instantaneous flow rate of the solidification material measured by the solidification material flow meter SF installed on the trencher 4. The instantaneous chain speed recorder B5 records the instantaneous speed of the drive chain 43, calculated based on the number of rotations of the drive chain 43 measured by the chain revolution counter RT installed on the trencher 4.

[0037] The calculation device PU also has an actual measurement value calculation unit B6 that calculates the actual measurement values ​​(hereinafter referred to as ``cumulative recorded values'') of the solidification material injection amount (instantaneous flow rate) and the instantaneous speed (travel distance) of the drive chain 43 for each block unit in the virtual division block VB and the entire construction section block WB, and an actual measurement value addition unit B7 that adds the actual measurement values ​​(hereinafter referred to as ``construction recorded values'') of the solidification material injection amount and the chain cumulative travel distance for each block unit at the planar position of the trencher 4 to the actual measurement values ​​(hereinafter referred to as ``construction recorded values'') of the solidification material injection amount and the instantaneous speed (travel distance) of the drive chain 43. The actual measurement value calculation unit B6 calculates cumulative recorded values, which are actual measurements of the instantaneous flow rate of the solidifying material for each block corresponding to the position (coordinates) of the trencher 4 calculated by the trencher position information calculation unit B3, and the instantaneous speed (travel distance) of the drive chain 43, based on the instantaneous flow rate of the solidifying material input from the instantaneous solidifying material flow rate recording unit B4 and the instantaneous speed of the drive chain 43 input from the instantaneous chain speed recording unit B5. The actual measurement value addition unit B7 adds the cumulative recorded values ​​of the instantaneous flow rate of the solidifying material for each block and the instantaneous speed of the drive chain 43 input from the actual measurement value calculation unit B6 to the construction record values ​​for each block input from the division information recording unit B1 and the entire improvement range recording unit B2, respectively. Here, based on the judgment result of the overlapping point judgment unit B8, which judges the entire construction section block WB that overlaps with the center coordinate Q of the virtual division block VB (see Figure 6), the actual measurement value addition unit B7 reflects (feedback processing) the construction record value of the entire construction section block WB that overlaps with the center coordinate Q of the virtual division block VB to the virtual division block VB where the center coordinate Q is located.

[0038] The arithmetic unit PU also includes an elapsed time determination unit B9 that determines the elapsed time Tx during which the trencher 4 passes (is located) in each block based on the planar position of the trencher 4; an averaging unit B10 that calculates average processed values ​​by averaging the construction record values ​​of the solidification material injection rate and the cumulative chain travel distance for each block at the planar position of the trencher 4; and a processed value recording unit B11 that records the construction record values ​​or average processed values ​​of the solidification material injection rate and the cumulative chain travel distance. The elapsed time determination unit B9 compares the elapsed time Tx during which the trencher 4 passes (is located) in each block of the virtual section block VB and the entire construction section block WB with a predetermined time Tp, which is a threshold set in the counter time setting unit B12, and determines whether the elapsed time Tx during which the trencher 4 passes (is located) in each block. The predetermined time Tp is the time required for each mixing impeller 45 (see FIG. 2) to achieve a good mixing condition when mixing and stirring the original ground. The averaging unit B10 averages the solidification material injection amount and the chain cumulative travel distance for each block by dividing the construction record values ​​of the solidification material injection amount and the chain cumulative travel distance for each block at the planar position of the trencher 4 by the number of blocks that overlap at the planar position of the trencher 4. The processed value recording unit B11 records the construction record values ​​of the solidification material injection amount and the chain cumulative travel distance as processed values ​​Sx when the predetermined time Tp has not elapsed and the averaging has not been performed, and records the average processed values ​​of the solidification material injection amount and the chain cumulative travel distance input from the averaging unit B10 as processed values ​​Sx when the predetermined time Tp has elapsed and the averaging has been performed.

[0039] The calculation unit PU also includes a coloring determination unit B13 that determines the quality of the refinement by coloring the result based on the threshold value of the virtual division block VB. The coloring determination unit B13 compares the processed values ​​Sx of the solidification material flow rate and cumulative chain travel distance for each block input from the processed value recording unit B11 with the threshold values ​​Sp of the solidification material flow rate and cumulative chain travel distance for each block recorded in the threshold value recording unit B14 to determine whether the processed value Sx of each block has reached the threshold value Sp of each block. Specifically, if Sx = 0.2Sp, it is determined to be 20%, if Sx = 0.7Sp, it is determined to be 70%, and if Sx = Sp, it is determined to be 100%. The coloring is determined based on the degree of achievement (20%, 70%, 100%) (see Figure 3). The determination results of the coloring determination unit B13 are continuously output to the monitor screen MD for visual confirmation by the operator operating the backhoe 1.

[0040] (Quality Control Control Flow) FIG. 5 shows a flowchart relating to quality control executed based on the control block diagram shown in FIG.

[0041] As shown in Fig. 5, in the first step S1, the arithmetic unit PU performs a feedback process of the construction record values ​​of the entire construction section block WB to the virtual section block VB in the virtual section block VM of the section (section) where construction will be carried out. As a result, the construction record values ​​of the solidification material injection amount and the cumulative chain movement distance of the entire construction section block WB that overlaps with the center coordinate Q of the virtual section block VB are reflected in the virtual section block VB of the section (section) where construction will start.

[0042] Next, in a second step S2, the cumulative recorded values ​​(instantaneous flow rate of solidification material and instantaneous speed (travel distance) of the drive chain 43) for each block in the virtual division block VB and the entire construction section block WB are calculated. Subsequently, in a third step S3, the cumulative recorded values ​​(instantaneous flow rate of solidification material and instantaneous speed (travel distance) of the drive chain 43) for each block calculated in the second step S2 are added to the construction recorded values ​​of the solidification material injection amount and cumulative chain travel distance for each block at the planar position of the trencher 4.

[0043] Next, in a fourth step S4, the counter is incremented (1UP) for each block included in the planar position of the trencher 4 in the virtual section block VB and the entire construction section block WB. Then, in a fifth step S5, it is determined whether the elapsed time Tx during which the trencher 4 passes through (is located in) each block of the virtual section block VB and the entire construction section block WB, counted in the fourth step S4, has reached a predetermined time Tp, which is a threshold value, i.e., whether "Tx = Tp" holds.

[0044] Here, if the answer to the fifth step S5 is "No," i.e., if the trencher 4 has not yet passed the predetermined time Tp in each block, the process proceeds to the seventh step S7 described below. On the other hand, if the answer to the fifth step S5 is "Yes," i.e., if the trencher 4 has passed the predetermined time Tp in each block, the next sixth step S6 performs an averaging process on the construction record values ​​(solidification material flow rate and cumulative chain movement distance) for each block, and calculates the average processed values ​​for the solidification material flow rate and cumulative chain movement distance.

[0045] Next, in the seventh step S7, if the averaging process was performed in the sixth step S6, the average processed values ​​are recorded as the construction record values ​​of each block in the virtual division block VB and the entire construction section block WB. Also, if the judgment in the fifth step S5 is "No," the averaging process is not performed, and the actual measured values ​​of the solidification material flow rate and the cumulative chain movement distance are recorded as the construction record values ​​of each block in the virtual division block VB and the entire construction section block WB.

[0046] Thereafter, in the eighth step S8, based on the construction record values ​​of each block of the virtual division block VB, a coloring determination process is performed for the solidification material flow rate and the cumulative chain movement distance of each block, and this control flow ends.

[0047] (Feedback processing of construction record values) Figure 6 shows a conceptual diagram of the feedback process of the construction record value in the first step S1 of the control flowchart shown in Figure 5. In Figure 6, the virtual division block VB is shown by a solid line, and the entire construction section block WB is shown by a dashed line.

[0048] The feedback process of the construction record values ​​performed in the first step S1 of the control flow reflects, for example, as shown in Figure 6, the construction record values ​​of the solidification material injection amount and the cumulative chain travel distance of the entire construction section block WB (WB1 to WB6) that overlaps with the center coordinate Q (Q1 to Q6) of the virtual division block VB (VB1 to VB6) of the section (division) where construction begins.

[0049] Specifically, as shown in Figure 6, the first virtual section block VB and the second virtual section block VB2 reflect the construction record values ​​of the solidification material injection amount and the cumulative chain travel distance of the first entire construction section block WB1, where the center coordinate Q1 of the first virtual section block VB and the center coordinate Q2 of the second virtual section block VB2 overlap. The third virtual section block VB3 reflects the construction record values ​​of the solidification material injection amount and the cumulative chain travel distance of the third entire construction section block WB3, where the center coordinate Q3 of the third virtual section block VB3 overlaps. The fourth virtual section block VB4 reflects the construction record values ​​of the solidification material injection amount and the cumulative chain travel distance of the fourth entire construction section block WB4, where the center coordinate Q4 of the fourth virtual section block VB4 overlaps. The fifth virtual section block VB5 reflects the construction record values ​​of the solidification material injection amount and the cumulative chain travel distance of the fifth construction section overall block WB5, which overlaps with the center coordinate Q5 of the fifth virtual section block VB5. The sixth virtual section block VB6 reflects the construction record values ​​of the solidification material injection amount and the cumulative chain travel distance of the sixth construction section overall block WB6, which overlaps with the center coordinate Q6 of the sixth virtual section block VB6.

[0050] By performing the above-described feedback processing, even if construction work goes beyond the boundaries of each section (division) during construction, the construction records for the section (division) that was constructed due to the overhang will be reflected at the time of construction, making it possible to prevent excessive improvements to the section (division).

[0051] (averaging of cumulative recorded values) FIG. 7 shows an image on the monitor screen MD that illustrates the problem that occurs when the cumulative recorded values ​​of the amount of solidification material injected and the cumulative chain travel distance are simply added to the construction record values.

[0052] As a result, the actual improved body will have the same strength at all positions, so there will be no problem with the improvement quality. However, if the construction record values ​​for the amount of solidification material injected and the cumulative chain travel distance are managed by simply adding up each cumulative record value, as shown in Figure 7, there is a risk that the improvement quality of the improved body will not be uniform depending on the elapsed time it takes for the trencher 4 to pass through each block.

[0053] For example, as shown in Figure 7(a), if each of the three management blocks (first management block PB, second management block SB, and third management block TB) is to be constructed in six minutes, it will take 12 minutes to construct the remaining second management block SB and third management block TB after the first management block PB. However, as shown in Figures 7(b), 7(c), and 7(d), if construction is carried out row by row starting from the first management block PB, the area where the trencher 4 overlaps with the first management block PB will gradually become darker, as shown in each figure, and more mixing and stirring will occur in the latter half of the first management block PB. On the other hand, if the trencher 4 is quickly withdrawn after advancing to the third management block TB, there will be a problem in that the amount of mixing and stirring will decrease as it approaches the end of the third management block TB, as shown in Figure 7(e).

[0054] In contrast, the trencher 4 mixes and stirs the solidification material by moving the mixing and stirring blades 45 in an up-and-down circular motion, so that in a plan view of the trencher 4, the improved soil in the front moves backward and the improved soil in the rear moves forward. Therefore, in this embodiment, by performing the averaging process on the construction record values ​​of the amount of solidification material injected and the cumulative chain travel distance, it becomes possible to perform quality control that is in line with actual conditions.

[0055] On the other hand, depending on the soil quality at the site, there may be soil quality that is difficult to mix and stir at the planar position of the projected trencher 4, and it is not always possible to perform the averaging process. Therefore, for example, by having the calculation unit PU record in advance the improvement depth at which the averaging process can be performed, it is possible to avoid performing the averaging process when the mixing and stirring is insufficient, and quality control can be performed that is more in line with actual conditions.

[0056] Furthermore, as mentioned above, when performing N-shaped construction, in which the trencher 4 is continuously moved horizontally in a single stroke, without being completely withdrawn, by turning back at predetermined turning lines R1 and R2 (see Figure 1) to form a movement trajectory that is approximately N-shaped in plan view, the horizontal excavation is performed so that the straight and oblique excavations overlap. Therefore, in the N-shaped construction performed by reciprocating, simply adding the accumulated recorded values ​​of the solidification material injection amount and the cumulative chain travel distance to each other may result in a large bias in the coloring judgment. Therefore, performing the averaging process allows for more effective quality control. It is desirable to set the elapsed time Tx for the overlapping portion of the N-shaped construction to half. This makes it possible to prevent excessive construction in the overlapping portion of the N-shaped construction.

[0057] (How to set the counter threshold) As described above, the predetermined time Tp, which is the threshold value of the counter, is set as a judgment time when the mixing state becomes good when the mixing impeller 45 mixes and stirs the raw ground. Specifically, it is set based on the following calculation, for example.

[0058] Generally, the number of blade cuts correlated with the cumulative travel distance of the chain is 50 (times / m 2 ) the mixing condition is good.

[0059] For example, if the number of blade cuts is 50 (times / m 2 ), the partition (division) dimensions are 5 (m) x 5 (m) x improvement depth 7 (m), the planar dimensions of the trencher 4 are thickness 1 (m) x width 1 (m), the chain length of the drive chain 43 is 14 (m), the number of mixing agitator blades 45 is 14 (pieces), and the design chain speed of the drive chain 43 is 1 (m / sec), The pitch of the mixing impeller 45 is Chain length 14 (m) ÷ number of mixing blades 14 (pieces) = 1.0 (m / piece) This becomes: Then, the number of impellers passing through in one second is: Design chain speed 1 (m / sec) ÷ mixing blade pitch 1.0 (m / blade) = 1 (blade / sec) This becomes: In other words, it takes 1 (second / piece) for the mixing agitating blade 45 to pass per 1.0 (m) of cumulative chain movement distance. In addition, the cumulative chain travel distance per section (division) is set at 50 (times / m 2 ) is calculated by dividing the section (division) dimensions 5 (m) x 5 (m) x improvement depth 7 (m) by the width of the trencher 4 1 (m) and multiplying the result by the mixing blade pitch 1 (m), resulting in 8750 (m). Therefore, the set cumulative chain travel distance per planar dimension of the trencher 4 is 350 (m), which is obtained by dividing 8750 (m) by the section (division) dimension 5 (m) x 5 (m) x improvement depth 7 (m).Since the cumulative chain travel distance passed by one mixing agitator blade 45 is 1.0 (m), the required time per planar dimension of the trencher 4 is 350 (seconds). Furthermore, since the averaging process is performed every 0.1 m in the direction of travel of the trencher 4, the time required per planar dimension of the trencher 4, 350 seconds, is multiplied by the distance in the direction of travel, 0.1 m, obtained by dividing the required time by the thickness of the trencher 4, 1 m, to obtain 35 seconds. From the above calculations, under the above conditions, it can be considered that a homogeneous improved body has been formed if 35 seconds have passed at the planar position of the trencher 4.

[0060] The design chain speed must be determined taking into account the soil quality, but it is rare for the average chain speed for the entire section (division) to be below 1.0 (m / s), and if the measured value is greater than 1.0 (m / s), it is on the safe side, so it is not considered to be a problem.

[0061] (How to set the coloring judgment threshold) For example, the construction conditions are as follows: the plot (division) dimensions are 5 (m) x 5 (m) x 7 (m), the designed amount of solidification material for the plot (division) is 45,000 (L), the planar dimensions of the trencher 4 are 1 (m) x 1 (m), and the block dimensions are 0.1 (m) x 0.1 (m).

[0062] The threshold for the amount of solidification material injected under these construction conditions can be calculated using the following formula. Under these construction conditions, the number of blocks is calculated by dividing the plot (division) dimensions (5 m x 5 m) by the block dimensions (0.1 m x 0.1 m), resulting in 2,500 blocks. Then, the designed amount of solidification material per unit block is calculated by dividing the designed amount of solidification material for the section (division) (45,000 L) by the number of blocks (2,500), and the coloring determination threshold is 18 L / block.

[0063] On the other hand, the threshold value of the cumulative chain movement distance under the above construction conditions is calculated using the following formula. The cumulative chain travel distance per section (division) is 50 times (times / m 2 ) is divided by the construction volume 5 (m) x 5 (m) x 7 (m) by the width of the trencher 4 1 (m) x 1 (m), and multiplied by the mixing blade pitch 1 (m) to get 8750 (m). Then, the design chain cumulative movement distance per unit block is calculated by dividing the design chain cumulative movement distance of the section (division) 8750 (m) by the number of blocks 2500 (pieces), and the coloring determination threshold is 3.5 (m / block).

[0064] In addition, if the improvement depth differs at the ends of the section (division), the coloring judgment threshold for each block can be calculated by taking the improvement lower end of each block, obtained by connecting the depths of the ends of the section (division) with a straight line, as the design improvement lower end of each block, multiplying this depth by the amount of solidification material injected and the cumulative chain movement distance, and dividing by the average depth.

[0065] (Calculation method for cumulative record value for each block) For example, the width of the mixing impeller 45 of the trencher 4 is 1 (m), the thickness of the trencher 4 is 1 (m), the width of each block is 0.1 (m), the thickness of each block is 0.1 (m), the designed amount of solidification material per section (division) is 45,000 (L), and the work volume is 50 (m 3 / h) and the plot (division) dimensions are 5 (m) x 5 (m) x 7 (m) as construction conditions.

[0066] The measured instantaneous flow rate of the solidification material is Design amount of solidification material per section (division) 45,000 (L) ÷ (section (division) dimensions 5 (m) x 5 (m) x 7 (m) ÷ work volume 50 (m 3 / h)×60)≒215(L / min) If this is the same as the instantaneous flow rate of the designed solidification material, The number of blocks where trencher 4 is located is Plane dimension of trencher 4 (1 (m) x 1 (m)) ÷ block dimension (0.1 (m) x 0.1 (m)) = 100 (pieces) Therefore, the measured instantaneous flow rate of the solidification material, 215 (L / min), is divided by the number of blocks, 100 (pieces), to get 2.15 (L / min·pieces), and converted to per second, the cumulative recorded amount of solidification material is 0.036 (L / sec·pieces).

[0067] Similarly, if the measured instantaneous speed of the chain is 1.0 (m / s), dividing the instantaneous speed of the chain (1.0 (m / s)) by the number of blocks (100) will result in a cumulative recorded value of the chain of 0.01 (m / s).

[0068] (Effects of this embodiment) As described above, the quality control system for ground improvement according to this embodiment records construction record values ​​not only in the virtual section block VB but also in the entire construction section block WB. As shown in the first step S1 of the control flow, at the start of subsequent construction, a feedback process is performed to reflect the construction record values ​​of the entire construction section block WB, which overlaps the center coordinate Q of the virtual section block VB where construction is about to begin, to the virtual section block VB where the center coordinate Q is located. Therefore, for example, if the trencher 4 extends into an adjacent virtual section during construction, resulting in partial construction being completed at the time of construction of the adjacent virtual section, the construction record values ​​of the solidification material injection amount and the cumulative chain travel distance that have already been completed can be reflected (feedback) to the virtual section block VB where construction is about to begin. This allows the construction record values ​​of the solidification material injection amount and the cumulative chain travel distance to be adjusted in the virtual section block VB where construction is about to begin. This prevents excessive improvement in the virtual section block VB, resulting in less ground improvement loss.

[0069] Furthermore, in this embodiment, as shown in the eighth step S8 of the control flow, the excess or deficiency of the improvement quality can be visualized by the pass / fail judgment using coloring processing. Therefore, the operator operating the backhoe 1 during construction can adjust the excess or deficiency of the improvement quality according to the pass / fail judgment using the coloring processing. This ensures good ground improvement with little excess or deficiency.

[0070] Furthermore, when adding up the cumulative recorded values ​​of the solidification material injection amount and the cumulative chain travel distance to the construction record values, if the cumulative recorded values ​​of the solidification material injection amount and the cumulative chain travel distance are accumulated by a simple addition process, there is a risk that the construction record values ​​recorded in the virtual division block VB will be excessive or insufficient, for example, when the trencher 4 penetrates and insufficient when the trencher 4 is pulled out.

[0071] Therefore, in this embodiment, if the trencher 4 is positioned on the virtual division block VB for a predetermined time Tp or longer, which is a threshold value, more appropriate improved quality control can be performed by averaging the construction record values ​​of the solidification material injection amount and the cumulative chain movement distance.

[0072] If the averaging process is performed within the predetermined time Tp, for example, immediately after the trencher 4 moves the virtual division block VB, there is a risk that the material will be determined to be homogeneous even if the improvement is still insufficient.

[0073] Therefore, in this embodiment, the time when the mixed state becomes good is set as the judgment time until the averaging process, and the averaging process is performed when the trencher 4 is positioned in the virtual division block VB for a predetermined time Tp or more, which is the judgment time. In this way, by setting the predetermined time Tp when the mixed state becomes good as the judgment time until the averaging process, good refinement quality can be ensured.

[0074] In addition, in this embodiment, by setting the judgment time to the time at which the mixed state is judged to be good, calculated based on the designed cumulative chain travel distance, it is possible to ensure appropriate improvement quality taking into account the mixing capacity of the trencher 4 and the soil quality of the original ground.

[0075] Although the judgment time can be calculated each time according to the mixing capacity of the trencher 4, setting it to a fixed, predetermined value allows it to be set on the safe side in terms of the quality of the improved substance and also simplifies the control content. This reduces the processing power required for calculation and the costs associated with building the system.

[0076] (Variation) FIG. 8 is a diagram showing another example of the quality control system for ground improvement according to the present invention, and shows an image of the monitor screen MD installed on the backhoe 1.

[0077] For example, as shown in FIG. 8, the display windows F1 and F2 according to the above embodiment can be integrated into a single display window F16, which can comprehensively determine the pass / fail status of both the solidifying agent injection amount and the cumulative chain travel distance, and perform a pass / fail judgment using coloring. Specifically, a display window F17 displayed above the display window F16 displays a "solidifying agent judgment" indicating the pass / fail status of the solidifying agent injection amount, while a display window F18 displayed adjacent to the display window F17 displays a "chain cumulative judgment" indicating the pass / fail status of the cumulative chain travel distance. As shown in FIG. 8, the solidifying agent judgment in the display window F17 displays an "x" and the cumulative chain judgment in the display window F18 displays an "o," and the color display in the display window F16, which performs the comprehensive judgment, displays "70%." This is because the cumulative chain judgment has reached "100%" and is therefore a pass, but the solidifying agent judgment is only "70%," so the lower judgment (the "70%" judgment) is reflected in the virtual division block. This allows the operator operating the backhoe 1 to check the pass / fail results of both parameters, the amount of solidification material injected and the cumulative chain travel distance, in a single display window F16 displayed on the monitor screen MD.

[0078] As described above, in this modified example, the pass / fail judgment is made by comprehensively judging the construction record value of the solidification material injection amount and the construction record value of the cumulative chain movement distance. Therefore, the operator operating the backhoe 1 can proceed with the improvement construction without having to check the pass / fail judgment of each parameter displayed in the multiple display windows F1, F2 (see Figure 3) as in the previous embodiment, thereby reducing the operator's effort (burden).

[0079] The present invention is not limited to the configuration exemplified in the above embodiment, and can be freely modified according to the specifications of the quality control system for ground improvement to be applied, within the scope that does not deviate from the intent of the present invention.

[0080] For example, the display format of the monitor screen MD illustrated in the above embodiment is merely an example, and the layout and display format of each display window, mesh coarseness, etc. can be changed as desired depending on the specifications of the quality control system for ground improvement to be applied.

[0081] Furthermore, the positioning satellites DS include not only the GPS exemplified in the above embodiment, but also any other positioning satellites used for positioning, such as GLONASS, BeiDou, Galileo, Michibiki, and NAVIC. [Explanation of symbols]

[0082] 1... Backhoe (base machine) 2... Boom 3...Arm 4... Trencher (mixing and stirring head) 43...Drive chain 44...Hydraulic motor (hydraulic actuator) 45...Mixing impeller AN1...GNSS antenna (receiving antenna) AN2...Radio receiving antenna (receiving antenna) AS1...Angle sensor (measurement means) AS2...Angle sensor (measurement means) AS3...Angle sensor (measurement means) DS...positioning satellite MD...Monitor screen (display means) PU…Arithmetic unit VM...Virtual division map VB...Virtual division block WM...Overall construction area WB: Entire construction area block Q: Center coordinates Tp…Predetermined time (judgment time)

Claims

1. A ground improvement device is provided at the tip of the boom and arm of a construction machine that functions as a base machine, and is equipped with a mixing and stirring head having mixing and stirring blades that move up and down via a chain based on the driving force of a hydraulic actuator, and the mixing and stirring head is used to excavate the original ground while mixing and stirring with a solidification material to increase the strength of the original ground. In this ground improvement, the position coordinates of the mixing and stirring head in a global coordinate system are calculated using a global navigation satellite system, and based on these position coordinates, an overall construction section map of the planned construction area where the ground improvement will be performed and a virtual division map into divisions of the planned construction area are used to perform construction management of the ground improvement, The ground improvement device is a plurality of receiving antennas for receiving satellite signals transmitted from positioning satellites; A measuring means for measuring the horizontal distance from the base machine to the mixing and stirring head; A calculation device that calculates the planar position and penetration depth of the mixing and stirring head based on the position coordinates of the base machine calculated based on the satellite signal and the measurement results of the measuring means; a display means for displaying the planar position of the mixing and stirring head on the virtual division diagram in real time as a visually recognizable image; a recording means for recording the injection amount of the solidification material at the planar position of the mixing and stirring head and the cumulative movement distance of the chain as construction record values ​​for each of the subdivided virtual division blocks in the virtual division diagram and the entire construction section block subdivided to the same size or smaller than the virtual division blocks in the entire construction section diagram; Equipped with The computing device At the start of construction, the construction record value of the entire construction section block that overlaps with the center coordinates of the virtual division block from which construction will begin is reflected in the virtual division block where the center coordinates are located, In the virtual division block and the entire construction section block, the actual measurement values ​​of the injection amount of the solidification material and the cumulative movement distance of the chain are added to the construction record value as cumulative record values, The construction quality is judged by comparing the construction record values ​​of the injection amount of the solidification material in the virtual division block and the cumulative movement distance of the chain with threshold values ​​distributed among the virtual division blocks, which are calculated by dividing the design injection amount of the solidification material and the design cumulative movement distance of the chain by the number of the virtual division blocks, and the judgment result is displayed by color on the display means. A quality control system for ground improvement characterized by:

2. The quality control system for ground improvement according to claim 1, The computing device The time when the mixing impeller mixes and mixes the raw ground to a good mixing state is calculated or recorded as a judgment time, When the planar position of the mixing and stirring head projected onto the virtual division diagram is located on the virtual division block for the judgment time or longer, the construction record values ​​recorded on the virtual division block within the range of the planar position are averaged. A quality control system for ground improvement characterized by:

3. The quality control system for ground improvement according to claim 2, The judgment time is a time calculated based on a designed cumulative movement distance of the chain, at which the mixing state is judged to be good. A quality control system for ground improvement characterized by:

4. The quality control system for ground improvement according to any one of claims 1 to 3, The calculation device performs a pass / fail judgment by comprehensively judging the execution record value of the injection amount of the solidification material and the execution record value of the cumulative movement distance of the chain. A quality control system for ground improvement characterized by:

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