Pneumatic caisson drilling system

Abstract

This system provides a pneumatic caisson drilling system that complements and guarantees the safety and reliability of automated drilling systems and is applicable to a wider range of construction conditions (ground and soil conditions, water level, obstacles, etc.). [Solution] The drilling system S for the pneumatic caisson 1 includes an automatic drilling system SA that automatically drills the ground using an automatically traveling drilling machine 20, a remote manned drilling system SM in which an operator remotely drills from a support center 50, and a switching control unit 40 configured to switch between the automatic drilling system SA and the remote manned drilling system SM based on predetermined monitoring items related to the pneumatic caisson 1.

Description

Technical Field

[0004] , , , , , ,

[0006] , , , ,

[0005] , , , , ,

[0001] The present invention relates to an excavation system for a pneumatic caisson.

Background Art

[0002] Automation of excavation in the pneumatic caisson method not only reduces the labor volume and time, but also can be expected to have effects such as eliminating labor time constraints and improving the working environment, thereby contributing to the improvement of construction efficiency and safety. Therefore, technological development has been promoted aiming at realizing complete automatic excavation. As a result, although complete automation has not been achieved, practical application is being attempted for so-called limited automatic excavation such as the center of the caisson excavation cross-section without attitude control.

[0003] In the sinking excavation of a pneumatic caisson, due to the discontinuity and non-uniformity of the ground, minute inclinations and movements are constantly repeated during the sinking process. Based on the sinking management information such as the attitude of the structure, the shape of the remaining excavation in the work chamber (inside the caisson), and external forces (such as those that can be known from weight, air pressure, circumferential frictional force, and ground reaction force at the blade tip), the excavation position and amount are adjusted to consciously change the bottom support state, and thereby the structure is sunk while correcting the attitude (for terrain measurement, for example, refer to Patent Document 1).

Prior Art Documents

Patent Documents

[0004] <了

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in manned excavation (excavation with an excavator on board and remote operation excavation on the ground), based on the sinking management information, on-site engineers and excavation workers monitor and grasp the attitude information and make appropriate corrective actions. [[ID=]40]

[0006] On the other hand, while automated excavation aims to perform a series of settlement excavation operations automatically, if unexpectedly large inclines or movements occur, or if unforeseen underground obstacles (such as boulders or remaining structures) appear, advanced technical judgment-based excavation instructions and support will be necessary. Although the frequency of unexpected situations will decrease with the development of automated excavation technology, complete elimination is considered difficult. Therefore, in order to realize and promote automated excavation as soon as possible, it is considered realistic to develop technologies for responding to unexpected situations in conjunction with automated excavation technology.

[0007] In the current development stage, if an unexpected situation occurs during automated drilling, the site manager will need to assess the situation, manually switch from automated drilling mode to manned drilling mode, and then either operate the drilling machine directly from the machine or from a control room on site. Therefore, even with automated drilling, it is necessary to constantly monitor the settlement and drilling status at the caisson site. Alternatively, to minimize the occurrence of unexpected situations, automated drilling should be limited to only a small area of ​​ground that will not affect settlement. As a result, the benefits of automated drilling are limited and small.

[0008] Therefore, the present invention provides a pneumatic caisson drilling system that can complement and guarantee the safety and reliability of the automated drilling system by establishing a remote manned drilling support system outside the site and automatically switching to the manned drilling support system if an unexpected situation occurs during automated drilling, thereby making it applicable to a wider range of construction conditions (ground and soil type, water level, obstacles, etc.). [Means for solving the problem]

[0009] To achieve the above objective, the pneumatic caisson drilling system of the present invention comprises: an automatic drilling system that automatically drills the ground using an automatically moving drilling machine; a remote manned drilling system in which an operator remotely drills from a support center; and a switching control unit configured to switch between the automatic drilling system and the remote manned drilling system based on predetermined monitoring items related to the pneumatic caisson. [Effects of the Invention]

[0010] Thus, the pneumatic caisson drilling system of the present invention comprises an automatic drilling system that automatically drills the ground using an automatically moving drilling machine, a remote manned drilling system in which an operator remotely drills from a support center, and a switching control unit configured to switch between the automatic drilling system and the remote manned drilling system based on predetermined monitoring items related to the pneumatic caisson. With such a configuration, even if an unexpected situation occurs during automatic drilling, the system can be automatically switched to a manned drilling support system, thereby complementing and ensuring the safety and reliability of the automatic drilling system and making it applicable to a wider range of construction conditions (ground and soil type, water level, obstacles, etc.). [Brief explanation of the drawing]

[0011] [Figure 1] This is a cross-sectional view showing the overall structure of a pneumatic caisson. [Figure 2] This is an illustrative diagram of the entire pneumatic caisson drilling system. [Figure 3] This is a system configuration diagram of the entire pneumatic caisson drilling system. [Figure 4] This is an explanatory diagram illustrating the relationship between the opening ratio and bearing capacity. [Figure 5] This is an explanatory diagram for Case A (switching based on aperture ratio). [Figure 6] This is an explanatory diagram for Case B (switching based on eccentricity). [Figure 7] This is an explanatory diagram for Case C (switching based on multiple items). [Figure 8] This is a flowchart illustrating the transition from an automated drilling system to a remotely operated drilling system. [Figure 9] This is a flowchart illustrating the transition from a remote, manned drilling system to an automated drilling system. [Modes for carrying out the invention]

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the components described in the following examples are illustrative, and are not intended to limit the technical scope of the present invention thereto.

Example

[0013] (Configuration of the pneumatic caisson) First, the overall configuration of the pneumatic caisson 1 will be described with reference to FIG. 1. As shown in FIG. 1, at the lower part of the pneumatic caisson 1, a blade edge 12 with a tapered tip is formed below the side wall 11, and a working chamber 13 is formed surrounded by the inner surface of this blade edge 12, the lower surface of the working chamber slab 14, and (furthermore, the ground). At least one or more excavators 20 are arranged in the working chamber 13, and the pneumatic caisson 1 is sunk by excavating the ground with the excavator 20 that can be switched between manned remote operation / automation. Then, the earth and sand excavated by the excavator 20 are carried out using the earth bucket 22.

[0014] At least one or more material shafts 16 extend from the working chamber 13 toward the ground, and a material lock 17 is installed at the upper part. Similarly, at least one or more man shafts 18 extend from the working chamber 13 toward the ground, and a man lock 19 is installed at the upper part. In addition, although not shown in the figure, pneumatic equipment for sending compressed air into and exhausting the working chamber 13, the material lock 17, and the man lock 19 is arranged.

[0015] The earth bucket 22 is suspended by a wire 26, and is wound up / down by a skater crane 23 as a crane erected on the ground close to the pneumatic caisson 1. Further, the skater crane 23 moves the earth bucket 22 in the horizontal direction and winds up / down it, so as to discharge the earth and sand into the dump truck 29 through the earth and sand hopper 28.

[0016] Furthermore, a remote operation room 15 is installed on the ground near the pneumatic caisson 1. The remote operation room 15 has a remote operation seat 15a for remotely operating the excavator 20, a control panel 15c, and a monitor for displaying the video from the camera mounted on the excavator 20. In addition, a monitor for displaying the video of the inner caisson camera separately installed in the workroom is also installed, so that the situation inside the caisson can be confirmed. Furthermore, there are monitors for displaying communication equipment with the inside of the caisson, values of gas concentration and pressure gauges inside the caisson, etc., and overall monitoring and management such as posture display of caisson sinking, inclination, etc. are performed.

[0017] (Automatic Excavation System) Furthermore, in this embodiment, the excavator 20 is configured to automatically travel by the automatic excavation system SA and automatically excavate the ground. The automatic excavation system SA automatically generates an excavator operation control signal based on various information, and causes the excavator 20 to perform excavation until it sinks to a predetermined depth and loading of earth and sand into the earth bucket 22.

[0018] In the automatic excavation system SA, while successively grasping various information, for example, the posture of the excavator (position, operation status), the posture of the caisson (sinking, inclination, eccentricity), and the shape of the ground inside the caisson (the shape of the soil wing involved in the vertical support of the caisson inside the caisson, the opening ratio), based on the values of various sensors (20a) for excavator operation control, caisson posture measurement, and ground shape measurement inside the caisson, an excavator operation control signal is automatically created.

[0019] Among these, the caisson posture (sinking, inclination, eccentricity) can be measured by a sinking meter for sinking and an inclinometer for inclination. For eccentricity, for example, by aiming at a target provided on the caisson body using an automatic tracking total station and analyzing the measured value and the sinking and inclination measurement values, real-time automatic measurement is possible (automatic posture measurement system).

[0020] Furthermore, the excavation shape of the ground inside the caisson (the natural ground within the work chamber 13) (the shape of the earthworks involved in the vertical support of the caisson inside the caisson, and the opening ratio) can be measured and analyzed, for example, by continuously operating man-anchoring inside the caisson or a 3D scanner installed on the slab, and it is also possible to calculate the opening ratio and the volume of earthworks (excavation surface shape measurement system).

[0021] Specifically, the automated drilling system SA, as shown in Figure 3, mainly consists of a drilling machine 20 and a (short-range) remote control room 15 at the site. The drilling machine 20 is equipped with various sensors 20a for operation control, a PC unit 20b, a control panel 20c, etc. The remote control room 15 at the site is equipped with an operating device 15a, a control circuit unit 15b, a control panel 15c, a safety device 15d, and a HostPC 15e that commands the control circuit unit 15b to generate control signals based on sensor information from the drilling machine.

[0022] The various motion control sensors 20a attached to the excavator 20 are sensors for acquiring information such as the attitude information, position information, and load information applied to the excavator 20. Examples of sensors used include angle gauges such as rotary encoders, displacement gauges, distance gauges, and pressure gauges.

[0023] Furthermore, the excavator operation control signal is used to operate the excavator 20. Based on the caisson attitude information obtained by caisson attitude measurement and the ground shape measurement information obtained by measuring the ground shape inside the caisson, the excavation range and depth, and the location of the excavated soil discharge are calculated, the operation trajectory of the excavator 20 is created, and the excavator operation control signal is created based on that.

[0024] This automated drilling system SA is equipped with a safety device 15d and a control circuit unit 15b to switch between automated drilling and (short-range) remote drilling at the site in preparation for unforeseen circumstances. Switching instructions from the switching control unit 40, described later, are transmitted to the HostPC 15e. Operation information for the selected operation (automatic / (short-range) remote / long-range remote) is transmitted from the control panel 15c to the control panel 20c of the drilling machine 20 via the control circuit unit 15b.

[0025] Furthermore, information on the excavator's posture and the shape of the ground inside the tunnel, collected from various sensors 20a installed on the excavator 20, is transmitted to the remote control room 15 at the site via the PC unit 20b. Therefore, if an unexpected situation occurs with the excavator's posture or the shape of the ground inside the tunnel during automatic excavation, the site manager who detects (recognizes) this can operate the safety device 15d to switch to manual operation (short-range remote operation) at the site.

[0026] (Pneumatic caisson drilling system) As shown in Figures 2 and 3, the drilling system S for the pneumatic caisson 1 in this embodiment is comprised of the above-mentioned automatic drilling system SA, a (long-range) remote manned drilling system SM using high-speed communication technology, and a switching control unit 40 (alert system) that determines which of these two systems to use to control the drilling machine 20.

[0027] In other words, the drilling system S of the pneumatic caisson 1 in this embodiment includes an automated drilling system SA that is performed at the construction site, and a (long-distance) remote manned drilling system SM in which an operator remotely controls the drilling machine 20 at the construction site from a distance. In addition, it includes a switching control unit 40 that acts as an alert system to switch between these two systems in the event of an unexpected situation.

[0028] In this explanation, Figure 2 and Figure 3 (described later) illustrate the case where there is one support center 50, one remote control room (site) 15, and one excavator 20, but the explanation is not limited to this. For example, multiple caisson excavator operating devices 50a, ... can be arranged in the support center 50 so that multiple operating devices 50a, ... can be connected to one excavator 20. Conversely, multiple excavators 20, ... can be connected to one operating device 50a.

[0029] (Long-range remote manned drilling system) The remote manned drilling system SM remotely controls the ceiling-mounted drilling machine 20 at the site from outside the caisson site using high-speed communication technology. The off-site control device (50a) and the drilling machine 20 at the site are connected on a one-to-one basis when in use. In this embodiment, by providing a support center 50 with multiple control devices 50a, ..., it is possible to connect to multiple drilling machines 20, ... at multiple sites.

[0030] Unlike the aforementioned automated drilling system SA, the (long-distance) remote manned drilling system SM is configured so that an operator can remotely drill the drilling machine 20 from a support center 50 or the like. Here, "remote" generally means operating the drilling machine 20 using an operating device located outside the workroom 13 without boarding the drilling machine 20. In this embodiment, "remote" includes not only short-distance remote drilling where the operating device 15a is located close to the site (consisting of the drilling machine 20 and the remote control room 15), but also long-distance remote drilling where the operating device 50a is located at a support center 50 far from the site.

[0031] As shown in Figure 3, the specific hardware configuration of the (long-range) remote manned drilling system SM consists of a drilling machine 20, a remote control room 15 at the site, and a support center 50 which is a long-range remote control room. The drilling machine 20 and the remote control room 15 have been described above, so their explanation will be omitted.

[0032] The support center 50 is equipped with an operating device 50a for remotely operating manned excavation from a location away from the site (long distance). In addition to an operating lever, the operating device 50a may also be equipped with a monitor for displaying various information from the site and a communication device for contacting the site manager. Although not shown in the figures, it is preferable that the support center 50 is equipped with multiple operating devices 50a, ... Furthermore, the support center 50 itself can also be distributed across multiple locations.

[0033] Furthermore, when performing remote (long-distance) manned excavation from a location far from the actual site, operating the control device 50a located in the support center 50 will cause the excavator 20 to operate via the remote control room 15.

[0034] (Switching control unit) The switching control unit 40 in this embodiment is configured to switch between the automated drilling system SA and the remote manned drilling system SM based on predetermined monitoring items related to the pneumatic caisson 1. The switching control unit 40 also functions as an alert system to respond to unexpected situations during automated drilling. The switching control unit 40 has a management server 41 as a management device, and the management server 41 constantly monitors the monitoring items 42 during automated drilling.

[0035] Examples of monitoring items 42 include internal pressure, settlement, tilt, eccentricity, opening ratio, underground obstacles, and equipment failure. Unexpected events are determined by deviations from the control values ​​of the monitoring items 42 mentioned above, communications from the equipment indicating abnormalities, or anomaly detection based on internal video analysis, and an alarm is issued by the management server 41.

[0036] Here, for example, two types of alarms (two stages) can be used: Alarm A and Alarm B. Alarm A is an alarm indicating that remote manned drilling can be continued, and Alarm B is an alarm indicating that drilling should be stopped immediately. Therefore, if Alarm A is issued, the operation will immediately transition to long-distance remote manned drilling (see Figure 8). On the other hand, if Alarm B is issued, the drilling operation will be stopped immediately (see Figure 8). The criteria for issuing Alarm A (first criterion value) and Alarm B (second criterion value) can be predetermined.

[0037] (Specific examples of criteria for issuing alarms A and B) The criteria for issuing such alarms A and B can be defined, for example, as follows:

[0038] • Sudden change in pressure inside the box Example) Alarm A: Change of 0.006 MPa or more and less than 0.01 MPa (First reference value) Alarm B: Change of 0.01 MPa or more (Second standard value)

[0039] • Caisson settlement amount exceeds control value Example) Alarm A: 270 mm / time or more and less than 300 mm / time (1st standard value) 5 mm / min or more but less than 10 mm / min (First reference value) Alarm B: 300mm / time or more (Second standard value) 10 mm / min or more (second reference value)

[0040] • Caisson slope deviation from controlled value Example) Alarm A: 0.06 degrees Celsius or higher and less than 0.08 degrees Celsius (First standard value) Alarm B: 0.08 degrees or higher (second threshold)

[0041] • Caisson eccentricity exceeds control value Example) Alarm A: 240mm or more and less than 300mm (First standard value) Alarm B: 300mm or more (using automatic posture measurement system) (Second reference value)

[0042] ·Exceeding aperture ratio Example) Alarm A: Planned value (1st baseline value)

[0043] • Detection of anomalies such as the appearance of underground obstacles through analysis of in-cabin camera footage. Example) Alarm A: Abnormality detection through the use of image recognition technology / human monitoring (first reference value)

[0044] • Caisson excavator, internal soil removal equipment malfunction Example) Alarm B: Fault detection (second reference value)

[0045] Furthermore, the criteria for issuing an alarm to determine an unexpected situation may be based on a single item (see Examples A and B) or on multiple items (see Example C).

[0046] Furthermore, the management server 41 can also determine alarm activation criteria for determining an unexpected situation, for example, based on the results learned through machine learning.

[0047] Furthermore, the management server 41 does not need to be located on-site, as long as it is in a location where communication is possible.

[0048] When transitioning from automated drilling to long-distance remote manned drilling, site manager approval and safety devices (such as changeover switches) can be implemented as checkpoints.

[0049] Furthermore, if the monitored parameters return to within the control range through long-distance remote manned drilling, it is possible to return to automated drilling (see Figure 9).

[0050] (Examples of application) Next, using Figures 4 to 7, we will explain examples of applying the pneumatic caisson 1 excavation system S to various monitoring items. In the following, Example A (Figures 4 and 5) will describe an example of management by opening ratio as a single item management example 1, Example B (Figure 6) will describe an example of management by bridge foundation required accuracy (e.g., Ministry of Land, Infrastructure, Transport and Tourism) as a single item management example 2, and Example C (Figure 7) will describe an example of management by settlement amount, inclination amount, and completed top surface eccentricity as a multi-item management example.

[0051] Case A: In Case A, Figures 4 and 5 are used to explain management by opening ratio as an example of management using a single item.

[0052] First, let's explain the concept of "opening ratio" using Figure 4. The "opening ratio" is the ratio of the total working area to the area of ​​the opening (excluding the unexcavated portion of the cutting edge). In the construction of pneumatic caisson 1, this opening ratio is adjusted (the width of the unexcavated portion is adjusted) to prevent excessive settlement of the caisson. In other words, if the unexcavated portion is large and the opening ratio is small, the bearing capacity of the ground is large, making it less likely to settle. On the other hand, if the unexcavated portion is small and the opening ratio is large, the bearing capacity of the ground is small, making it more likely to settle.

[0053] In the construction of pneumatic caisson 1, a planned value for the opening ratio is determined in advance for each lot and soil type. If this planned value is exceeded, it is judged that there is a possibility of excessive settlement. This opening ratio can be measured in real time by installing a 3D scanner inside the caisson. As a management item, for example, if the opening ratio exceeds the planned value, an alarm A may be issued.

[0054] Next, we will explain a detailed example using Figure 5. Here, we will explain using a 3-lot drilling example. Assume that the opening ratio is determined as shown in the table through preliminary studies. Then, in practice, it will be controlled sequentially from step 1 to step 8.

[0055] First, the soil type for the 3-lot excavation is set to cohesive soil, the planned value (control value) for the opening ratio is set to 60%, and the alarm type is set to alarm A (change from automatic excavation to long-distance remote manned excavation) (Step 1). Automatic excavation begins, and the opening ratio decreases as excavation progresses (Step 2). Subsequently, the opening ratio reaches 60%. At this point, no settlement is assumed (Step 3). When the opening ratio measured by the 3D scanner reaches 60%, the switching control unit 40 issues alarm A to warn of the possibility of excessive settlement. At the same time, the switching control unit 40 switches from automatic excavation to manned excavation (long-distance remote operation) (Step 4).

[0056] Then, the operator at Support Center 50 performs manned excavation according to the manager's instructions (Step 5). With appropriate excavation instructions and manned excavation work carried out in accordance with those instructions, the caisson sinks within the appropriate range (Step 6). When the opening ratio returns to less than 60%, the system switches from manned excavation (long-distance remote control) back to automated excavation (Step 7). After that, automated excavation continues, and the monitoring of control items continues (Step 8).

[0057] ·Case B: In Case B, using Figure 6, we will explain management by bridge foundation required accuracy (e.g., Ministry of Land, Infrastructure, Transport and Tourism) as an example of management by a single item. In the case of pneumatic caisson foundation construction, the eccentricity d of the bridge foundation required accuracy is within 300 mm. For example, the management value for alarm A can be set to 300 × 80% = 240 mm, and the management value for alarm B can be set to 300 mm. In this case, when the eccentricity d is between 240 mm and 300 mm, the switching control unit 40 will issue alarm A and switch from automatic excavation to long-distance remote manned excavation, and when it exceeds 300 mm, the switching control unit 40 will issue alarm B and stop the excavation work.

[0058] ·Case C: In Case C, Figure 7 illustrates an example of management using multiple parameters, specifically settlement, tilt, and completed top eccentricity. For example, as the caisson settles, the tilt and eccentricity continue to increase, and if this settlement trend continues, it is conceivable that the required precision of the caisson structure cannot be ensured.

[0059] As for specific management items, for example, if the absolute value of the inclination increases by 0.05 degrees and the absolute value of the completed top surface eccentricity increases by 50 mm while the settlement amount is between 0 mm and 1000 mm, the switching control unit 40 will issue an alarm A and switch from automatic excavation to long-distance remote manned excavation. As shown in the graph in Figure 7, if the settlement trend continues as is, the height of the top surface of the caisson structure is expected to fall outside the management range (assumed structure position), so the excavation position of the ground inside the caisson will be changed by manned excavation to bring it back within the management range.

[0060] (Regarding the control flow) Next, using Figures 8 and 9, we will explain the specific control flow using the drilling system S (see Figure 3) of the pneumatic caisson 1. Here, using Figure 8, we will explain the flow of changing from automated drilling to long-distance remote manned drilling, and using Figure 9, we will explain the flow of returning from long-distance remote manned drilling to automated drilling.

[0061] First, the flow of switching from automated drilling to long-distance remote manned drilling will be explained using the flowchart in Figure 8. Initially, the management server 41 sets the management values ​​for issuing alarms during automated drilling (Step S1). Then, the automated drilling operation is carried out (*1; Step S2). In parallel with Step S2, various management values ​​during automated drilling are checked (*2; Step S3). Then, some unexpected situation occurs (see paragraphs 0035-0047; Step S4). In this case, the management server 41 of the switching control unit 40 sends an alarm signal of either Alarm A or Alarm B depending on the severity of the unexpected situation (Step S5).

[0062] At the caisson site, upon receiving an alarm signal (step S6), the HostPC15e stops automatic excavation (step S7). Once automatic excavation stops, an automatic excavation stop signal is sent from the caisson site to the management server 41 (step S8), and the management server 41 receives the automatic excavation stop signal (step S9). At this point, if the management server 41 determines that the unexpected situation corresponds to alarm B, it stops the work (step S50) and takes other necessary actions (step S51).

[0063] On the other hand, if the management server 41 determines that an unexpected situation corresponds to alarm A, it sends a remote operation signal to the support center 50 (step S10), and the support center 50 receives the remote operation signal (step S11). The support center 50 assigns an appropriate operator from among the available operating devices 50a (operators) (step S12). Next, the excavator 20 and the operating device 50a are connected (step S13). Note that the connection can also be set in advance when the value approaches a standard value during automatic excavation work.

[0064] Next, the management server 41 sends a notification authorizing the start of remote operation (step S14), and at the caisson site, the HostPC 15e switches the operation from automated excavation to long-distance remote manned operation (step S15). After that, an operator at the support center 50 operates the excavator 20 remotely based on excavation instructions from the site manager (step S16). Excavation instructions may be given, for example, by a monitor or communication device mounted on the operating device 50a.

[0065] Next, the flow of returning from long-distance remote manned drilling to automated drilling will be explained using the flowchart in Figure 9. As mentioned above using the flowchart in Figure 8, the drilling machine 20 is being operated remotely by an operator at the support center 50 (step S16). The management server 41 checks various control values ​​during manned drilling (step S17), and decides to cancel the alarm if the values ​​have decreased to below the control values ​​(step S18). The management server 41 notifies the remote operation stop instruction (step S19), and when it transmits the remote operation stop instruction signal (step S20), the support center 50 receives the remote operation stop signal (step S21). The operator at the support center 50 stops the remote operation (step S22) and transmits the remote operation stop signal (step S23).

[0066] When the management server 41 receives a remote operation stop signal (step S24), it sends an automatic drilling start permission notification (step S25), and at the caisson site, the HostPC 15e switches the operation from long-distance remote manned operation to automatic drilling (step S26). After that, the automatic drilling work is carried out (*1; step S2 in Figure 8). Various management values ​​during automatic drilling are checked in parallel with step S2 (*2; step S3 in Figure 8).

[0067] (effect) Next, we will list and explain the effects of the pneumatic caisson 1 drilling system S.

[0068] (1) As described above, the drilling system S of the pneumatic caisson 1 in this embodiment includes an automatic drilling system SA that automatically drills the ground using an automatically traveling drilling machine 20, a remote manned drilling system SM in which an operator remotely drills from a support center 50, and a switching control unit 40 configured to switch between the automatic drilling system SA and the remote manned drilling system SM based on predetermined monitoring items related to the pneumatic caisson 1. With such a configuration, even if an unexpected situation occurs during automatic drilling, the system can be automatically switched to a manned drilling support system, thereby complementing and ensuring the safety and reliability of the automatic drilling system SA and making it applicable to a wider range of construction conditions (ground and soil type, water level, obstacles, etc.).

[0069] In other words, the application of automated drilling technology can be moved from limited stages, such as situations where automated drilling needs to be constantly monitored at the caisson site or where only a limited area of ​​ground that will not affect settlement is automatically drilled, to on-site implementation and practical use. This allows for the early enjoyment of the benefits of automated drilling and expands opportunities for its adoption. An increase in case studies will lead to an acceleration of technological development. In short, automated drilling reduces the number of personnel required, while operators at the support center 50 can flexibly respond when needed.

[0070] (2) The switching control unit 40 also stores a first reference value for a predetermined monitoring item, which is used to switch from the automatic drilling system SA to the remote manned drilling system SM and continue drilling, and a second reference value for stopping the drilling operation of the drilling machine 20. By differentiating the operation after switching using these two types of reference values, the remote manned drilling system SM and the automatic drilling system SA can be used automatically. Depending on the characteristics of the monitoring item, it is of course possible to set only a single reference value (first reference value).

[0071] (3) Furthermore, the switching control unit 40 is configured to switch (return to) the automated drilling system SA and continue drilling when a predetermined monitoring item falls within the first reference value. Therefore, when the monitoring item falls within the reference value due to drilling by the operator, it can be smoothly returned to the automated drilling system SA.

[0072] (4) In addition, the support center 50 is equipped with multiple operating devices 50a, ..., and multiple operating devices 50a, ... can be connected to one excavator 20, so that the appropriate operator can be selected and used depending on the situation.

[0073] (5) Conversely, since multiple operating devices 50a can be connected to multiple excavators 20 at multiple sites, the resources of multiple operators at the support center 50 can be effectively utilized. In other words, the manned excavation support system reduces the number of engineers required because it eliminates the need to assign engineers to each site by providing remote support to multiple caisson sites simultaneously from the support center 50.

[0074] (6) Furthermore, the switching control unit 40 can also use only one of the following as a predetermined monitoring item: the internal pressure value of the pneumatic caisson 1, the amount of settlement, the amount of inclination, or the amount of eccentricity, and efficient settlement management can be performed according to the characteristics of the pneumatic caisson 1.

[0075] (7) Furthermore, the switching control unit 40 can also use a combination of at least two of the following as predetermined monitoring items: the internal pressure value of the pneumatic caisson 1, the amount of settlement, the amount of inclination, or the amount of eccentricity, thereby enabling more practical and efficient settlement management.

[0076] (8) Furthermore, the switching control unit 40 uses the opening ratio of the pneumatic caisson 1, the presence or absence of underground obstacles, or the presence or absence of equipment failure as predetermined monitoring items, so that settlement management can be carried out efficiently according to the characteristics of events that occur suddenly.

[0077] Although embodiments of the present invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments, and any design modifications that do not depart from the spirit of the present invention are included in the present invention. [Explanation of Symbols]

[0078] 1: Pneumatic caisson 11: Side wall 12:Blade mouth 13: Workshop 14: Workshop slab 15: Remote Control Room 15a: Operating device 15b: Control circuit unit 15c: Control panel 15d:Safety device 15e:HostPC 16: Material Shaft 17: Material Lock 18: Mannschaft 19: Manrock 20: Excavator 20a: Various sensors for motion control 20b: PC Unit 20c: Control panel 22: Earth Bucket 23: Skater Crane 26: Wire 28: Soil Hopper 29: Dump truck 30: Control device 40: Switching control unit (alert system) 41: Management Server 42: Monitored items 50: Support Center 50a: Caisson drilling machine operating device SA: Automated drilling system SM: Remote Manned Drilling System S: Pneumatic caisson drilling system

Claims

1. An automated excavation system that uses an automatically moving excavator to automatically excavate the ground, A remote manned drilling system in which an operator drills remotely from a support center, A switching control unit is configured to switch between the automated drilling system and the remote manned drilling system based on predetermined monitoring items related to the pneumatic caisson, A pneumatic caisson drilling system equipped with [a specific feature].

2. The pneumatic caisson drilling system according to claim 1, wherein the switching control unit stores a first reference value for switching from the automatic drilling system to the remote manned drilling system and continuing drilling with respect to a predetermined monitoring item, and a second reference value for stopping the drilling operation of the drilling machine.

3. The pneumatic caisson drilling system according to claim 2, wherein the switching control unit is configured to switch from the remote manned drilling system to the automatic drilling system and continue drilling when a predetermined monitoring item falls within a first reference value.

4. The pneumatic caisson drilling system according to claim 1, wherein the support center is equipped with multiple operating devices, and multiple of the operating devices can be connected to the drilling machine.

5. A pneumatic caisson drilling system according to claim 4, wherein multiple operating devices can be connected to multiple excavators at multiple sites.

6. A pneumatic caisson drilling system according to any one of claims 1 to 5, wherein the switching control unit uses only one of the following as a predetermined monitoring item: the internal pressure value of the pneumatic caisson, the settlement amount, the inclination amount, or the eccentricity amount.

7. A pneumatic caisson drilling system according to any one of claims 1 to 5, wherein the switching control unit uses a combination of at least two of the following as predetermined monitoring items: the internal pressure value of the pneumatic caisson, the settlement amount, the inclination amount, or the eccentricity amount.

8. A pneumatic caisson drilling system according to any one of claims 1 to 5, wherein the switching control unit uses the opening ratio of the pneumatic caisson, the presence or absence of underground obstacles, or the presence or absence of equipment failure as predetermined monitoring items.

Images