Construction management system for shallow ground improvement work

Abstract

The three-dimensional coordinates of the bucket's position are acquired in real time, and the degree of mixing within the construction area is checked for each management section, ensuring that the soil and solidification material within the construction area are mixed evenly and homogeneously. [Solution] Based on the position and direction of the backhoe 1 measured by the GNSS positioning means, the tilt angle of the bucket 6, the tilt angle of the arm 5, the tilt angle of the boom 4 and the tilt angle of the backhoe 1, and the distances L1 and L2 between the connection parts 4a between the rotating body 3 and the boom 4, the connection part 5a between the boom 4 and the arm 5, and the connection part 6a between the arm 5 and the bucket 6, the position of the bucket 6 is identified and the construction area is virtually divided into multiple cube groups based on three-dimensional spatial coordinates, and the number of times a judgment bar 6A virtually set on the bucket 6 based on three-dimensional spatial coordinates passes through any of the cubes in the cube group is counted based on the identified position of the bucket 6.

Description

[Technical Field]

[0001] The present invention relates to a construction management system for shallow ground improvement work in which soil and solidification material within a predetermined construction area are mixed and strengthened by operating a backhoe equipped with a bucket.The three-dimensional coordinates of the moving bucket's position are obtained in real time, and the degree of mixing within the construction area is confirmed for each management section, allowing the soil and solidification material within the construction area to be mixed evenly and homogeneously.In addition, by adding an amount of cement-based solidification material according to the actual excavation range, it is possible to achieve waste-free, high-quality shallow ground improvement work. [Background technology]

[0002] One known method of improving soft ground is the shallow ground improvement method, which involves adding a cement-based solidification material or other solidification agent to a relatively shallow layer of ground (hereinafter referred to as the "shallow layer") at a depth of about 3 m and repeatedly mixing it with the soil in the shallow layer, thereby increasing the bearing capacity of the ground for buildings, roads, etc.

[0003] A backhoe or the like is used to mix the shallow soil with the solidification material, and the operator of the backhoe repeatedly digs up the soil and solidification material in the construction area with a bucket.

[0004] At this time, the operator checks the mixed state of the soil and solidification material based on his / her skilled experience, for example, by visually inspecting the mixed state of the soil and solidification material based on changes in color, and when he / she determines that the color has become almost uniform and there are no more color variations, he / she ends the mixing work using the bucket.

[0005] However, when the mixing of soil and solidification material is performed based on the sense of the operator operating the backhoe, the degree of mixing of the soil and solidification material can vary depending on the operator's level of skill, resulting in uneven mixing in some areas or areas that are barely mixed at all.

[0006] As a method for improving such problems, for example, Patent Document 1 discloses an invention of a surface ground improvement method in which a cement-based solidification material is mixed and stirred almost evenly with excavated soil and sand over the entire area of ​​the ground improvement, thereby easily forming a compacted layer containing solidification material of consistent quality and also obtaining sufficient bearing capacity through ground improvement.

[0007] Specifically, a predetermined amount of cement-based solidification material is evenly placed in multiple locations of approximately the same area within the ground improvement range, and then each cement-based solidification material is mixed with the excavated soil and sand, stirred, and then spread to a predetermined thickness and compacted to form a compacted layer of soil and sand mixed with cement-based solidification material throughout the entire ground improvement range.The cement-based solidification material used is white cement or one pre-mixed with a pigment that can be distinguished from soil and sand.

[0008] Patent Document 2 also discloses an invention for a support system for shallow ground improvement work that determines the position of the bucket in real time based on, among other things, the position and orientation of the backhoe, the rotation angle of the rotating body of the backhoe, the distance between the first connection between the rotating body and the first arm connected to the rotating body, the second connection between the first arm and the second arm connected to the first arm, and the third connection between the second arm and the bucket connected to the second arm, and the inclination angle of the first arm, second arm, and bucket, and virtually divides the construction area into a plurality of segment groups based on three-dimensional spatial coordinates, and determines the degree of mixing of the soil and improvement material from the number of times the bucket passes through any of the segments included in the segment group based on the position of the bucket. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-184072 [Patent Document 2] Patent No. 6406967 [Patent Document 3] Patent No. 4954166 [Patent Document 4] Japanese Patent Application Publication No. 10-68124 [Patent Document 5] Japanese Patent Application Laid-Open No. 2004-225368 Summary of the Invention [Problem to be solved by the invention]

[0010] However, in the surface ground improvement method of Patent Document 1, the work of mixing the cement-based solidification material and soil and sand is carried out based on the sense of the operator operating the backhoe, so there is a possibility that the degree of mixing will be uneven depending on the operator's level of skill, or that there will be areas that are barely mixed at all, resulting in variations in the degree of mixing of the cement-based solidification material and soil and sand.

[0011] Furthermore, in the management system for shallow ground improvement work in Patent Document 2, the position and orientation of the backhoe are determined by a GPS positioning means, and because GPS has a limited number of positioning satellites, signals from the positioning satellites can be blocked by buildings or tall mountains, making the positioning accuracy unstable.

[0012] In addition, it is expected that the backhoe body will tilt depending on the condition of the ground during construction, but the tilt (tilt angle) of the backhoe body is not particularly considered as a condition for determining the position of the moving bucket in real time, which created accuracy issues when determining the position of the moving bucket in real time.

[0013] In addition, with either method, the actual excavation area can exceed the designed improvement area due to overexcavation and side collapses during construction. Meanwhile, the amount of cement-based solidification material required to meet quality standards (design solidification material addition amount) is set as the amount of solidification material per unit soil volume. If the actual excavation area is larger, the excavated soil volume also increases, so unless the amount of cement-based solidification material added is increased accordingly, the amount of solidification material will be insufficient and the strength quality will not be met. Therefore, in consideration of the possibility of overexcavation and collapses, a method is adopted in which the amount of solidification material added is set higher in advance so that the designed solidification material addition amount can be met even if the actual excavation area is larger. However, this method results in a problem of increased solidification material waste.

[0014] The present invention has been made to solve the above problems, and aims to provide a construction management system that can achieve high-quality shallow ground improvement work by obtaining the three-dimensional coordinates of the trajectory of the bucket tip position during construction in real time, checking the degree of mixing within the construction area for each management section, enabling the soil and solidification material within the construction area to be mixed evenly and homogeneously, and by adding an amount of cement-based solidification material according to the actual excavation range. [Means for solving the problem]

[0015] The present invention is a construction management system for shallow ground improvement work in which soil and solidification material in a predetermined construction area are mixed by operating a backhoe equipped with a bucket, a backhoe having a running body, a rotating body that rotates relative to the running body, a boom that is rotatably connected to the rotating body, an arm that is rotatably connected to the boom, and a bucket that is rotatably connected to the arm; GNSS positioning means that identifies the position and orientation of the backhoe; and means that measure the tilt angle of the bucket, the tilt angle of the arm, the tilt angle of the boom, and the tilt angle of the backhoe, and the position and orientation of the backhoe measured by the GNSS positioning means, and the tilt angle of the bucket, the tilt angle of the arm, the tilt angle of the boom, and the tilt angle of the backhoe measured by each of the inclinometers are measured. The system is characterized in that it is configured to identify the position of the bucket based on the inclination angle of the backhoe and the distance between the connection between the rotating body and the boom, the connection between the boom and the arm, and the connection between the arm and the bucket, and to virtually divide the construction area into a plurality of cube groups based on three-dimensional spatial coordinates and into a plurality of management sections, and to count, record, and display the number of times a judgment bar virtually provided on the bucket based on three-dimensional spatial coordinates passes over any of the cubes included in the cube groups based on the identified position of the bucket.

[0016] In addition to the means for measuring the inclination angles of the bucket, arm, and boom, the backhoe body is equipped with a means for measuring the inclination angle, thereby making it possible to more accurately determine the position of the bucket during construction.

[0017] In addition, by placing one GNSS antenna on the backhoe body as the GNSS positioning means and placing an orientation confirmation sensor on the boom or arm to check the orientation of the backhoe, even if the GNSS communication conditions deteriorate momentarily during construction, the position of the bucket tip can be determined as long as the backhoe body does not move, thereby improving the accuracy of position determination.

[0018] Furthermore, since the amount of excavated soil increases when the bucket position is outside the designed improvement range, the system is configured to instantly calculate the increased volume and instantly calculate and display the current amount of solidification material to be added according to the increased volume. By carrying out construction so that the calculated current amount of solidification material to be added satisfies the designed amount of solidification material to be added, the quality of the improved ground can be ensured. [Effects of the Invention]

[0019] The present invention allows for shallow ground improvement work in which soil and solidification material within a predetermined construction area are mixed by operating a backhoe equipped with a bucket.The present invention obtains the three-dimensional coordinates of the trajectory of the tip position of the bucket during construction in real time, and checks the degree of mixing within the construction area for each management section, thereby enabling the soil and solidification material within the construction area to be mixed evenly and uniformly.

[0020] In addition, by using a GNSS positioning means as a positioning means for determining the position of the backhoe and including the inclination of the backhoe body as a condition for determining the position of the bucket during construction, the position of the bucket during construction can be determined more accurately.

[0021] Furthermore, since the amount of excavated soil increases when the bucket position is outside the designed improvement range, the system is configured to instantly calculate the increased volume and instantly calculate and display the current amount of solidification material to be added according to the increased volume. By carrying out construction so that the calculated current amount of solidification material to be added satisfies the designed amount of solidification material to be added, the quality of the improved ground can be ensured. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 1 shows a backhoe used in shallow ground improvement work according to the present invention, in which FIG. 1(a) is a side view thereof and FIG. 1(b) is an explanatory diagram for identifying the position of the bucket. [Figure 2] FIG. 2 is a plan view of the backhoe shown in FIG. [Figure 3]FIG. 1 is a block diagram of a construction management system for managing shallow ground improvement work according to the present invention. [Figure 4] Figures (a) and (b) are explanatory diagrams for calculating the number of times a backhoe is used to mix soil and solidification material, where Figure (a) is a plan view and Figure (b) is a cross-sectional view, showing the state in which the judgment bar is outside the management area and is not touching any of the cubes. [Figure 5] Figures (a) and (b) are explanatory diagrams for calculating the number of times the soil and solidification material are mixed by a backhoe, and show the state in which the judgment bar goes from not touching any cubes to touching 10 cubes simultaneously. [Figure 6] Figures (a) and (b) are explanatory diagrams for calculating the number of times the backhoe mixes the soil and solidification material, and show the state in which the judgment bar has moved further and touched 10 new cubes simultaneously. [Figure 7] This is an explanatory diagram explaining the specifications of a construction management system for shallow ground improvement work, and is an explanatory diagram explaining ``construction area selection.'' [Figure 8] This is an explanatory diagram explaining the specifications of a construction management system for shallow ground improvement work, and is an explanatory diagram explaining ``position guidance to the construction area.'' [Figure 9] This is an explanatory diagram explaining the specifications of the construction management system for shallow ground improvement work, and is an explanatory diagram explaining the ``start of construction''. [Figure 10] This is an explanatory diagram explaining the specifications of a construction management system for shallow ground improvement work, and is an explanatory diagram explaining the ``number of mixing times'' using a bucket. [Figure 11] This is an explanatory diagram explaining the specifications of a construction management system for shallow ground improvement work, and is an explanatory diagram explaining the ``maximum depth'' in the construction area. [Figure 12] FIG. 1 is an explanatory diagram illustrating the specifications of a construction management system for shallow layer ground improvement work, and is an explanatory diagram illustrating "addition amount - layer completion". [Figure 13]Figures (a) and (b) are explanatory diagrams explaining the specifications of a construction management system for shallow ground improvement work, and are explanatory diagrams for the case where the amount of solidification material to be added is added. [Figure 14] This is an explanatory diagram illustrating the specifications of a construction management system for shallow ground improvement work, and explains the ``three-dimensional model'' of the construction area and bucket. DETAILED DESCRIPTION OF THE INVENTION

[0023] 1 to 3 show an embodiment of the construction management system for shallow ground improvement work of the present invention. In the figures, reference numeral 1 denotes a backhoe equipped with a bucket for mixing soil and solidification material within a predetermined construction area.

[0024] The backhoe 1 comprises a running body 2, a rotating body 3, a boom 4, an arm 5 and a bucket 6, and the running body 2 comprises caterpillars (endless tracks) 7, which are driven by the caterpillars 7 to enable the backhoe to move under its own power on the ground.

[0025] A rotating body 3 is disposed above the running body 2, and the rotating body 3 is configured to rotate horizontally 360 degrees around a connecting part 3a with the running body 2 as an axis by the power of a hydraulic motor or the like.

[0026] The rotating body 3 is equipped with an operating unit 8, which includes a driver's seat (not shown) for the operator who drives the backhoe 1, and around it are operating levers (not shown) and an operating panel (not shown) for operating the boom 4, arm 5 and bucket 6, as well as a construction management device 9 for executing the construction management system for shallow ground improvement work, which will be described later.

[0027] The boom 4 is disposed in front of the rotating body 3 , the arm 5 is disposed in front of the boom 4 , and the bucket 6 is disposed at the tip of the arm 5 .

[0028] In addition, the boom 4 is connected to the rotating body 3, the arm 5 is connected to the tip of the boom 4, and the bucket 6 is connected to the tip of the arm 5, each of which is connected so that they can rotate freely in the vertical direction around an axis perpendicular to the traveling direction of the backhoe 1.

[0029] In addition, a boom cylinder (actuator) 10 and an arm cylinder (actuator) 11 are arranged on the upper side of the boom 4, each along the axial direction of the boom 4, and a bucket cylinder (actuator) 12 is arranged on the upper side of the arm 5, along the axial direction of the arm 5.

[0030] Both ends of the boom cylinder 10 are rotatably connected to the rotating body 3 and the approximately midpoint of the boom 4, respectively, and both ends of the arm cylinder 11 are rotatably connected to the approximately midpoint of the boom 4 and the boom-side end of the arm 5, respectively.

[0031] Furthermore, both ends of the bucket cylinder 12 are rotatably connected to the boom side end of the arm 5 and the end of the bucket 6, respectively, and in particular, the bucket side end of the bucket cylinder 12 is rotatably connected to the end of the bucket 6 via a bucket link 13.

[0032] In addition, an idler link 14 is arranged between the connection portion between the bucket cylinder 12 and the bucket link 13 (hereinafter referred to as "link connection portion 14a") and a portion slightly inward from the tip of the arm 5 (hereinafter referred to as "link connection portion 14b"), and both ends of the idler link 14 are rotatably connected to the link connection portion 14a and the link connection portion 14b, respectively.

[0033] The boom 4 rotates up and down around the connecting part 4a with the rotating body 3 as an axis when the boom cylinder 10 extends and retracts, the arm 5 rotates up and down around the connecting part 5a with the boom 4 as an axis when the arm cylinder 11 extends and retracts, and furthermore, the bucket 6 rotates up and down around the connecting part 6a with the arm 4 as an axis when the bucket cylinder 12 extends and retracts.

[0034] Furthermore, the combination of these operations changes the position and attitude angle of the bucket 6, causing the bucket 6 to repeatedly dig up and mix the soil and solidification material within the construction area.

[0035] In addition, a link inclinometer (sensor) 15 is disposed on the idler link 14, an arm inclinometer (sensor) 16 is disposed on the boom side end of the arm 5, and a boom inclinometer 17 is disposed approximately in the middle of the boom 4. In addition, a construction machine inclinometer 18 is disposed on the lower end of the revolving body 3.

[0036] In addition, the link inclinometer 15 is placed on the idler link 14 rather than on the bucket 6, thereby preventing malfunction or damage due to direct contact or collision with the soil.

[0037] In addition, the link inclinometer 15, arm inclinometer 16, boom inclinometer 17 and construction machine inclinometer 18 are connected in order from the link inclinometer 15 to the construction machine inclinometer 18 so that CAN communication is possible, and are configured to be able to obtain information on the bucket 6, arm 5, boom 4 and backhoe 1 body.

[0038] The link inclinometer 15 is an inclinometer for measuring the tilt angle of the bucket 6 that rotates around the connecting portion 6a (the tilt angle of the bucket 6 in the forward and backward directions of the backhoe 1 with the connecting portion 6a as the rotation axis).

[0039] The arm inclinometer 16 is an inclinometer for measuring the tilt angle of the arm 5 which rotates around the connecting portion 5a (the tilt angle of the arm 16 in the forward and backward direction of the backhoe 1 with the connecting portion 5a as the rotation axis).

[0040] The boom inclinometer 17 is an inclinometer that measures the tilt angle of the boom 4 that rotates around the connecting portion 4a (the tilt angle of the boom 4 in the forward and backward direction of the backhoe 1 with the connecting portion 4a as the rotation axis).

[0041] The construction machine inclinometer 18 is an inclinometer that measures the inclination angle (roll angle) of the backhoe 1, which is tilted around the rotation axis in the forward and backward direction of the backhoe 1, and the inclination angle (pitch angle) of the backhoe 1, which is tilted around the rotation axis in the lateral direction of the backhoe 1.

[0042] In addition, IMUs (inertial sensors) that can calculate the tilt angle (attitude angle) of each part within the sensor are arranged as link inclinometers 15, arm inclinometers 16, boom inclinometers 17, and construction machine inclinometers 18.

[0043] In this configuration, the position and attitude angle of the tip of the bucket 6 during construction are calculated within the construction management system and acquired in real time based on the inclination angles of the bucket 6, arm 5 and boom 4 and the inclination angle of the backhoe 1 measured by the link inclinometer 15, arm inclinometer 16, boom inclinometer 17 and construction machine inclinometer 18, respectively, and the distances L1 and L2 between the connection parts 4a, 5a and 5a, 6a, of the connection part 4a between the rotating body 3 and the boom 4, the connection part 5a between the boom 4 and the arm 5, and the connection part 6a between the arm 5 and the bucket 6.

[0044] The distance L1 between the connecting portions 4a and 5a and the distance L2 between the connecting portions 5a and 6a are inherent design values ​​of the backhoe 1, and are measured in advance.

[0045] Figure 3 is a block diagram of a construction management system for managing shallow ground improvement work. It is equipped with a construction management device 9 for running this system, a construction management server 19, a construction management terminal (tablet for administrator) 20, a construction monitoring terminal (tablet for visitors) 21, and a daily report creation PC 22, and is configured so that the construction management monitor can manage the excavation improvement depth within the construction area, the amount of solidification material added, the degree of mixing, etc.

[0046] Specifically, it has the following functions: (1) The construction management device 9 can acquire the three-dimensional coordinates of the trajectory of the bucket tip position in real time, and record and display the excavation improvement depth within the construction area, the amount of solidification material added within the management area, the degree of mixing within the management area, etc. Also, if the excavation improvement depth within the construction area, the amount of solidification material added within the management area, or the degree of mixing within the management area does not meet the management standard values, an alarm can be issued in real time.

[0047] (2) The construction management terminal 20 and the construction monitoring terminal 21 have the function of displaying in real time the same construction status and construction records as those displayed on the construction management monitor 25, and the daily report creation PC 22 has the functions of setting reference values, creating instructions such as reading design drawings, creating construction records and daily reports, printing, etc. Also, by accessing the construction management server 19, it is possible to perform real-time monitoring of the construction status in a three-dimensional display with a movable viewpoint, checking the construction results, and downloading the construction results.

[0048] (3) The GNSS antenna 23 is an antenna for receiving GNSS and measuring the position of the backhoe 1. One antenna (main antenna) is located at the rear of the rotating body 3, and a sensor (sub-antenna (not shown)) for confirming the direction is separately located on the boom 4 or arm 5.

[0049] The signal from the GNSS antenna 23 is input into the GNSS module 24, which is connected to the construction management monitor 25 via a LAN. The signal from the main antenna is transmitted to the construction management monitor 25 as a GPGGA sentence, and the signal from the sub-antenna is transmitted to the construction management monitor 25 as a GPHDT sentence.

[0050] The construction management device 9 is placed within the construction site via a repeater (Wi-Fi antenna) and is relayed to a construction management server 19 which receives, distributes, stores, etc. data during construction. The construction management server 19 is relayed to a construction management terminal 20 carried by the construction manager, a construction monitoring terminal 21 carried by visitors, and a daily report creation PC 22, each via a repeater (Wi-Fi antenna).

[0051] Next, we will explain the main specifications of the construction management system. (1) Selecting the construction area (see Figure 7) a. To select a construction area, on the screen of the construction management monitor 25, touch the construction area X to be constructed from the pre-loaded drawing, or select it from the list Y on the right side of the screen (for example, "B-3").

[0052] b. Drawings are read and coordinates are set on the daily report creation PC 22, and since there is a possibility of corrections, it is desirable to also be able to set drawing coordinates on the construction management monitor 25. c. The drawing can be enlarged or reduced using the button at the bottom left of the screen (not shown), or by using two fingers on the screen, or by using the mouse wheel when a mouse is connected. It can also be moved horizontally on the screen by dragging with the mouse or touch.

[0053] (2) Position guidance (see Figure 8) a. Once the selection of the construction area is confirmed, the system will transition to position guidance mode. b. The horizontal distances in all directions from the tip position of the bucket 6 (judgment bar 6A) to the center of the construction area X (for example, "rear↓1.33m" or "right→0.19m"), and the turning angle (for example, "left turn 0.3°") required for the construction area X and the tip position of the bucket 6 (judgment bar 6A) to be parallel are displayed on the left side of the screen. c. By inputting two points on the drawing coordinates (x-axis: right direction, y-axis: up direction) and two corresponding points on the World Geodetic System coordinates (x-axis: north direction, y-axis: east direction) obtained by GNSS surveying at the site, the drawing on the screen is aligned with the GNSS coordinates of the site.

[0054] (3) Construction management screen (see Figure 9) a. By operating the backhoe 1, construction can begin when the center of the tip of the bucket 6 is within the construction area X. b. On the construction screen displayed on the construction management monitor 25, the name of the selected construction area X (e.g., "B-3"), the depth m of the bucket tip (e.g., "3.35 m"), the instantaneous flow rate L / min (e.g., "303.70 L / min"), and the cumulative flow rate (L) since the start of measurement are displayed on the left side of the screen. c. Current amount of solidification material added compared to the designed amount of solidification material added (kg / m 3 ) and its bar graph will be displayed in the bottom left of the screen.

[0055] d. If the judgment bar 6A extends outside the construction area, the amount of soil to be improved increases, and the current amount of solidification material to be added decreases according to that amount of soil. e. The center of the screen is a schematic diagram (top view) of the construction area X, which displays the "number of mixings" and "maximum depth" according to the construction, and changes color to show the progress. You can also switch between the "number of mixings" and "maximum depth" displays. f. The right side of the screen displays the backhoe's posture in three dimensions, and the positional relationship between the backhoe 6 and the construction area X is displayed in three-dimensional space coordinates. The posture of the backhoe 6 can be moved, enlarged, or reduced by touching the screen (see Figure 14).

[0056] (4) Number of stirring times (see Figures 4-6 and 10) The construction area is virtually divided into a number of cube groups (for example, each cube has a width, depth, and height (depth) of 10 cm) based on three-dimensional spatial coordinates, and into a number of management zones (for example, each has a width, depth, and height (depth) of 1 m). Based on the identified position of the bucket 6, the number of times (number of mixings) that the judgment bar 6A passes through any of the cubes a, ... included in the management zone is counted for each management zone, recorded, and displayed on the construction management monitor (see Figure 4-6).

[0057] The judgment bar 6A is a bar that is virtually set in advance on the bucket 6 based on three-dimensional spatial coordinates, and is displayed as a long, thin rectangle (or cylinder) colored (for example, purple) and parallel to the tip of the bucket 6, and multiple bars may be set parallel to the tip of the bucket 6 if necessary.

[0058] 4 to 6 show the number of times (mixing times: unit is times / m) that the judgment bar 6A passes through the management section Q that is virtually set based on three-dimensional spatial coordinates. 3The number of times the judgment bar 6A touches the cubes a, ... is counted, and the number of times the judgment bar 6A touches the cubes a, ... is calculated from the count within the management section Q.

[0059] The calculation method for the number of mixing times is explained in detail below with reference to the figures. Figures 4, 5, and 6 show the case where the width, depth, and height (depth) of the management section Q are each 1 m, and Figures 4(a) and (b) show the state where the judgment bar 6A is outside the management section Q and is not touching any of the cubes a, ...

[0060] Figures 5(a) and (b) show the state where the judgment bar 6A moves from not touching any cubes a, ... to touching 10 cubes a, ... simultaneously, and a count of 10 is added. Figures 6(a) and (b) show the state where the judgment bar 6A moves further and touches 10 new cubes a, ... simultaneously, and another 10 counts are added. From Figures 4(a) and (b) to the state shown in Figures 6(a) and (b), the judgment bar 6A touches a total of 20 cubes a, ..., resulting in a total count of 20.

[0061] Here, the number of times of mixing in the management section Q when the judgment bar 6A passes through 100 cubes a, ... is 1 time / m 3 In this example, the number of mixing times is 20÷100=0.2 times / m3.

[0062] In this example, there are 100 cubes a, ... on the plane of management area Q. When the judgment bar 6A passes through 100 cubes, it is considered as one pass, and this is the volume of the control area (1m 3 ) is expressed as the number of stirrings per

[0063] If the height of the management area is 2m, the volume of the management area is 2m 3 Therefore, if 100 cubes are passed through, the mixing frequency is 0.5 times / m. 3 This becomes: By performing this calculation, the number of mixing times within the control section Q can be determined, which can be used as a guide for the degree of mixing.

[0064] (5) Maximum depth (see Figure 11) a. The maximum depth display indicates whether the judgment bar 6A has reached the bottom of the management area by coloring it. b. As with the number of stirrings, divide the sample into 10 cm squares, for example, and measure the maximum depth every 10 cm. c. The management area currently being worked on in the construction area X is divided into cubes a, ... each 10cm long and wide, and the top of the layer is set to 0% and the bottom to 100%, and the percentage that the tip (cutting edge) of the bucket 6 has reached in each area is displayed.

[0065] (6) Amount of solidification material added (see Figures 12 and 13) If the construction area is of a certain height (depth), divide it into multiple layers and carry out construction. For example, if the height (depth) is 2m, set the first layer as a 1m management area and the second layer as a 1m management area. a. The current amount of solidification material added to the layer being improved and the soil to be improved in the management area is displayed in a bar graph in the lower left corner of the screen. b. When the judgment bar 6A moves outside the construction area, the amount of soil to be improved increases, and the current amount of solidification material required to be added decreases according to that amount of soil. c. If the tip of the bucket (judgment bar 6A) is deeper than the top of the management area under construction and outside the construction area due to over-digging, etc., the amount of soil to be improved is added. The aforementioned 10cm cubes are set outside the construction area as well, and when the judgment bar 6A touches a cube outside the construction area for the first time after never touching it before, 1 cube = 0.001m 3 This is added to the soil volume to be improved.

[0066] In actual construction, over-excavation and side collapses often occur, resulting in the actual improvement area being larger than the designed improvement area. Even in such cases, the designed amount of solidification material must be satisfied. Therefore, in the past, the required amount of solidification material was set in advance, assuming that the actual excavation area would be larger, as shown by the dashed lines in Figure 13(a) and (b).

[0067] This resulted in cost and environmental problems due to the increased amount of solidification material injected and longer construction times.

[0068] In the example of Figures 13(a) and 13(b), the volume of the design improvement range is 3 × 3 × 2 = 18 m 3 The volume of soil to be improved is 3.6 x 3.6 x 2.3 = 29.8 m 3 This means that 1.66 times the amount of solidification liquid needs to be injected.

[0069] (7) Construction completed Once the "number of mixing times," "maximum depth," and "amount of solidifying agent added" all meet the preset standards, construction of the second layer will begin. If the standards are not met, an alarm will be displayed. Once the final layer is completed, construction is complete and the construction results are saved to a file. [Industrial Applicability]

[0070] The present invention acquires the three-dimensional coordinates of the trajectory of the bucket tip position during construction in real time, checks the construction area by grid and layer, and can mix the soil and solidification material within the construction area evenly and homogeneously. [Explanation of symbols]

[0071] 1 backhoe, 2 running body, 3 rotating body, 3a connecting part between the rotating body and running body, 4 boom, 4a boom and rotating body connection part, 5 arm, 5a Arm and boom connection, 6 Bucket, 6A is a virtual judgment bar; 6a is a connection part between the bucket and the arm; 7 Caterpillar, 8 Operation unit, 9 Construction management device, 10 boom cylinder (actuator), 11 arm cylinder, 12 bucket cylinder, 13 bucket link, 14 idler link, 14a, 14b link connection part, 15 link inclinometer (sensor), 16 Arm inclinometer (sensor), 17 Boom inclinometer (sensor), 18 Construction machine inclinometer (sensor), 19 Construction management server 20 Construction management terminal (tablet for visitors), 21 Construction monitoring terminal (administrator tablet), 22 Daily report creation PC, 23 GNSS antenna, 24 GNSS module, 25 Construction management monitor.

Claims

1. A construction management system for shallow ground improvement work in which soil and solidification material in a predetermined construction area are mixed by operating a backhoe equipped with a bucket, The backhoe includes a running body, a rotating body that rotates relative to the running body, a boom that is rotatably connected to the rotating body, an arm that is rotatably connected to the boom, a bucket that is rotatably connected to the arm, GNSS positioning means that identifies the position and orientation of the backhoe, and means for measuring the inclination angle of the bucket, the inclination angle of the arm, the inclination angle of the boom, and the inclination angle of the backhoe, and the position and orientation of the backhoe measured by the GNSS positioning means, and the inclination angle of the bucket, the inclination angle of the arm, the inclination angle of the boom, and the inclination angle of the backhoe that are respectively measured by the inclination measuring means. and a construction management system for shallow ground improvement work, characterized in that the system is configured to identify the position of the bucket based on the inclination angle of the backhoe and the distance between each of the connection parts of the connection part between the rotating body and the boom, the connection part between the boom and the arm, and the connection part between the arm and the bucket, and to virtually divide the construction area into a plurality of cube groups based on three-dimensional spatial coordinates, and to count, record, and display the number of times a judgment bar virtually provided on the bucket based on three-dimensional spatial coordinates passes over any of the cubes included in the cube group based on the identified position of the bucket.

2. 2. A construction management system for shallow ground improvement work as described in claim 1, characterized in that one GNSS antenna is installed on the backhoe body as the GNSS positioning means, and an orientation confirmation sensor is installed on the boom or arm to confirm the orientation of the backhoe.

3. 2. A construction management system for shallow ground improvement work as described in claim 1, characterized in that when the judgment bar moves outside the division set within the construction area and the amount of soil to be improved increases, the amount of solidification material added is increased by the necessary amount.

4. A construction management method for shallow ground improvement work using a construction management system for shallow ground improvement work comprising a running body, a rotating body that rotates relative to the running body, a boom rotatably connected to the rotating body, an arm rotatably connected to the boom, a backhoe rotatably connected to the arm and equipped with a bucket that mixes soil and solidification material within a construction area, a GNSS positioning means for identifying the position and orientation of the backhoe, and means for measuring the inclination angle of the bucket, the inclination angle of the arm, the inclination angle of the boom, and the inclination angle of the backhoe, characterized in that the construction management method for shallow ground improvement work comprises the following steps. (1) A process of determining the position and orientation of the backhoe using the GNSS positioning means. (2) A process of measuring the inclination angle of the bucket, the inclination angle of the arm, the inclination angle of the boom, and the inclination angle of the backhoe using the link inclinometer, the arm inclinometer, the boom inclinometer, and the construction machine inclinometer, respectively. (3) A process of determining the position of the bucket based on the determined position and orientation of the backhoe, the measured inclination angle of the bucket, the inclination angle of the arm, the inclination angle of the boom, and the inclination angle of the backhoe, and the distance between each connecting portion. (4) A step of virtually dividing the construction area into a plurality of cube groups based on three-dimensional spatial coordinates. (5) A process of counting, recording, and displaying the number of times that a judgment bar, which is virtually provided on the bucket based on three-dimensional spatial coordinates, passes through any of the cubes included in the group of cubes based on the identified position of the bucket. (6) A process of increasing the amount of solidification material added as needed when the judgment bar moves outside the division set within the construction area and the amount of soil to be improved increases.

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