Management Device

Abstract

To provide a management device supporting operation work through presentation of a tip position of an auger.SOLUTION: A management device manages a ground improvement device comprising: an auger attached on a lower end part of a rod to be inserted into the ground and excavating the ground through rotation around a shaft; a driving device rotating the auger around the shaft; and a vertical rotation mechanism making a shaft of the auger tilt for the shaft of the rod. The management device includes: an acquisition part acquiring a tilting angle of the shaft of the auger; a calculation part calculating a tip position of the auger on the basis of the tilting angle of the shaft of the auger; and a display controller making a display part display a calculation result by the calculation part.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a management device. [Background technology]

[0002] A multi-swing construction method has been known for some time, which allows the construction of improved bodies with three-dimensional shapes by rotating a hydraulic auger in horizontal and vertical planes using a horizontal rotation device and a vertical rotation device (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6397147 Summary of the Invention [Problem to be solved by the invention]

[0004] To create a 3D improved soil body by rotating the hydraulic auger in both vertical and horizontal planes using a soil improvement machine as the base machine and equipping it with a hydraulic auger, vertical rotation device, and horizontal rotation device, it is necessary to measure the vertical and horizontal rotation angles of the hydraulic auger and operate the hydraulic control device that controls the hydraulic pressure of the vertical and horizontal rotation devices according to the measured rotation angles. This operation becomes more difficult as the shape of the improved soil body becomes more complex. Furthermore, even if only the vertical rotation device is used to rotate the soil body in a vertical plane, the operation is complicated.

[0005] In consideration of the above, the present invention has an object to support operation by indicating the tip position of an auger. [Means for solving the problem]

[0006] The management device of the present invention is a management device that manages a ground improvement device that has an auger attached to the lower end of a rod that is inserted into the ground and that excavates the ground by rotating around its axis, a drive device that rotates the auger around its axis, and a vertical rotation mechanism that tilts the axis of the auger with respect to the axis of the rod, and is configured to include an acquisition unit that acquires the inclination angle of the auger axis, a calculation unit that calculates the tip position of the auger based on the inclination angle of the auger axis, and a display control unit that displays the calculation results by the calculation unit on a display unit.

[0007] In the management device according to the present invention, the acquisition unit acquires the tilt angle of the auger shaft, the calculation unit calculates the tip position of the auger based on the tilt angle of the auger shaft, and the display control unit displays the calculation result by the calculation unit on the display unit.

[0008] In this way, the tip position of the auger is calculated based on the inclination angle of the auger shaft when the auger shaft is inclined relative to the axis of the rod, and is displayed on the display unit, thereby presenting the tip position of the auger and assisting in operation work.

[0009] The ground improvement device of the present invention further has a horizontal rotation mechanism that changes the orientation of the vertical rotation mechanism, and the acquisition unit acquires the inclination angle of the auger shaft and the orientation of the vertical rotation mechanism, and the calculation unit calculates the tip position of the auger based on the inclination angle of the auger shaft and the orientation of the vertical rotation mechanism.

[0010] The acquisition unit according to the present invention further acquires positioning results from a positioning device attached to the upper end of the rod, and the calculation unit further uses the positioning results from the positioning device to calculate the tip position of the auger.

[0011] The display control unit according to the present invention displays on the display unit an image representing the auger and the rod according to the calculation results, superimposed with a planned cross section representing the range of ground to be improved.

[0012] The management device according to the present invention further includes a deviation calculation unit that calculates a deviation amount indicating the distance between the calculation result and the planned insertion path of the rod, and the display control unit further displays the deviation amount on the display unit.

[0013] The tip of the auger according to the present invention has an outlet formed thereat for discharging stabilizer, and the acquisition unit further acquires the amount of rotation of the auger and the amount of stabilizer discharged, and the display control unit displays on the display unit a contour diagram representing the amount of rotation of the auger and the amount of stabilizer discharged at each position on the trajectory of the auger tip position. [Effects of the Invention]

[0014] As described above, according to the management device of the present invention, the tip position of the auger can be calculated based on the inclination angle of the auger shaft when the auger shaft is inclined relative to the axis of the rod, and this can be displayed on the display unit, thereby providing the effect of presenting the tip position of the auger and assisting in operation work. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a schematic diagram showing a ground improvement system according to an embodiment of the present invention. [Figure 2] 1 is a block diagram showing a management device according to an embodiment of the present invention; [Figure 3] FIG. 2 is a functional block diagram illustrating a management device according to an embodiment of the present invention. [Figure 4] FIG. 10 is a diagram showing an example of a display screen showing the tip position of an auger in the management device according to the embodiment of the present invention. [Figure 5] FIG. 10 is a diagram showing an example of a display screen showing a deviation amount in the management device according to the embodiment of the present invention. [Figure 6] FIG. 10 is a diagram showing an example of a display screen showing a contour diagram in the management device according to the embodiment of the present invention. [Figure 7] 4 is a flowchart showing the contents of a management processing routine of the management device according to the embodiment of the present invention. [Figure 8] A schematic diagram showing a ground improvement system relating to a modified embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0017] <Principle of the embodiment of the present invention> The CDM (Cement Deep Mixing) method, which involves construction at a constant cross section in the depth direction, allows construction management simply by controlling the rod rotation speed and slurry discharge rate for each excavation depth. While the CDM method only involves one-dimensional movement in the direction of rod penetration, the Multi-Swing method involves two-dimensional movement underground even when using only a vertical rotation device. Therefore, the Multi-Swing method cannot be managed with a CDM management device that only handles one-dimensional movement.

[0018] In addition, with the multi-swing method, the underground position of the hydraulic auger, its rotation speed, and the amount of slurry discharged must be recorded for construction management purposes.

[0019] Therefore, in an embodiment of the present invention, a ground improvement system including a hydraulic control device and a construction management device has the following features.

[0020] (1) Control the operation of the hydraulic auger, vertical rotation device, and horizontal rotation device. (2) Automatic operation is performed by specifying the control angles of the vertical rotation device and horizontal rotation device. (3) Measure the vertical rotation angle of the hydraulic auger. (4) The horizontal rotation angle of the rod is measured as the direction of the hydraulic auger. (5) Using the GPS measurement results, the coordinates of the tip position of the hydraulic auger are calculated. (6) The tip position of the hydraulic auger and the design cross section are displayed on the display device of the construction management device. (7) A contour diagram of the hydraulic auger rotation speed and the slurry discharge rate is displayed on the display unit of the construction management device. (8) Record the measurement results of the hydraulic control device (hydraulic pressure supplied to the hydraulic auger, horizontal rotation device, and vertical rotation device). (9) Record the tip position and rotation speed of the hydraulic auger and the amount of stabilizer discharged. (10) The hydraulic pressure supplied from one hydraulic source is distributed and controlled to three systems (hydraulic auger, horizontal rotation device, and vertical rotation device).

[0021] <Configuration of the soil improvement system according to the embodiment of the present invention> First, a ground improvement system according to an embodiment of the present invention will be described with reference to FIGS.

[0022] As shown in FIG. 1, the ground improvement system includes a ground improvement device 10, a hydraulic control device 80, an operation device 90, and a construction management device 100.

[0023] (Configuration of the ground improvement device) As shown in Fig. 1, the ground improvement device 10 of this embodiment has a rod 1 attached to a leader 70 of a heavy machine 7, which is a ground improvement machine, and has a lower end inserted into ground 2, and a hydraulic auger 6 attached to the lower end of the rod 1. The rod 1 is cylindrical and extends vertically (in the direction of arrow Z).

[0024] The hydraulic auger 6 includes a cylindrical inner cylinder and a cylindrical outer cylinder that is rotatable around the axis of the hydraulic auger 6 outside the inner cylinder. A drive device that rotates the outer cylinder is provided inside the inner cylinder of the hydraulic auger 6. This drive device is, for example, a hydraulic motor with a drive shaft, and the drive shaft is rotated by the pressure of hydraulic oil supplied from a hydraulic source (not shown) provided in the hydraulic control device 80 via a supply pipe (not shown).

[0025] Furthermore, a plurality of discharge ports (not shown) for discharging a stabilizer such as cement milk are formed at the lower end (tip) of the hydraulic auger 6. When the ground 2 is excavated by the hydraulic auger 6, the stabilizer supplied via the supply pipe 68 is discharged from the discharge ports, and the excavated ground 2 and the stabilizer are stirred and mixed, thereby making it possible to build a ground improvement body (not shown) in the ground 2.

[0026] Furthermore, a flow meter 66 is provided in the supply pipe 68. The flow meter 66 measures the amount of stabilizer discharged per unit time.

[0027] A vertical rotation mechanism 3 is provided between the hydraulic auger 6 and the rod 1. The vertical rotation mechanism 3 includes a fixed portion, a shaft portion, and a vertical rotation portion, and by rotating the vertical rotation portion around the axis of the shaft portion (corresponding to the horizontal axis), the axis of the hydraulic auger 6 is tilted with respect to the axis of the rod 1. A drive device is provided inside the shaft portion. This drive device is, for example, a hydraulic motor with a drive shaft, and rotates the vertical rotation portion around the axis of the shaft portion (corresponding to the horizontal axis) by the pressure of hydraulic oil supplied from a hydraulic source (not shown) provided in the hydraulic control device 80 via a supply pipe (not shown).

[0028] Also attached is a rotation angle sensor 64 that detects the rotation angle of the vertical rotation part, i.e., the inclination angle of the shaft of the hydraulic auger 6. The rotation angle sensor 64 is, for example, a potentiometer having a resistor (not shown) and a slider (not shown) that slides on the surface of the resistor as the vertical rotation part rotates. By detecting the resistance value of this rotation angle sensor 64, the rotation angle of the vertical rotation part relative to the shaft part can be detected as the inclination angle of the shaft of the hydraulic auger 6.

[0029] Furthermore, a horizontal rotation mechanism 4 is provided above the vertical rotation mechanism 3. In this embodiment, the horizontal rotation mechanism 4 is provided between the leader 70 of the heavy machine 7 and the rod 1.

[0030] The horizontal rotation mechanism 4 has a fixed part, an axis part, and a horizontal rotation part, and changes the orientation of the vertical rotation mechanism 3 by rotating the vertical rotation mechanism 3 around the axis of the horizontal rotation mechanism 4 (corresponding to the vertical axis).

[0031] Specifically, the fixed part of the horizontal rotation mechanism 4 is disk-shaped, and its upper surface is fixed to the leader 70 of the heavy equipment 7. In addition, the horizontal rotation part of the horizontal rotation mechanism 4 is disk-shaped, and its lower surface is fixed to the upper end of the rod 1.

[0032] A drive unit is provided inside the shaft portion. This drive unit is, for example, a hydraulic motor equipped with a drive shaft, and rotates the horizontal rotation unit around the axis of the shaft portion (corresponding to the vertical axis) by the pressure of hydraulic oil supplied from a hydraulic source (not shown) provided in the hydraulic control device 80 via a supply pipe (not shown).

[0033] Furthermore, a rotation angle sensor 62 is attached to the fixed part of the horizontal rotation mechanism 4 to detect the rotation angle of the horizontal rotation part, i.e., the orientation of the vertical rotation mechanism 3. The rotation angle sensor 62 can detect the rotation angle of the horizontal rotation part relative to the fixed part as the orientation of the vertical rotation mechanism 3.

[0034] A positioning device 60 such as a GPS sensor is provided at the upper end of the rod 1. Specifically, the positioning device 60 is installed on the upper surface of the horizontal rotation mechanism 4. The positioning device 60 measures the three-dimensional coordinates of the installation position of the positioning device 60. The positioning device 60 is, for example, two GPS sensors. In addition, an inclinometer 61 is provided at the upper end of the rod 1. The inclinometer 61 measures the tilt angle of the rod 1.

[0035] (Configuration of hydraulic control device) The hydraulic control device 80 receives commands for the rotation amount of the hydraulic auger 6, the control angle of the vertical rotation device 3, and the control angle of the horizontal rotation mechanism 4 from the operation device 90 in response to operations by the operator.

[0036] The hydraulic control device 80 controls the hydraulic pressure supplied from the hydraulic pressure source to the hydraulic auger 6 in accordance with a command for the rotation amount of the hydraulic auger 6 .

[0037] The hydraulic control device 80 controls the hydraulic pressure supplied from the hydraulic source to the drive device of the vertical rotation device 3 in accordance with a command for the control angle of the vertical rotation device 3 .

[0038] The hydraulic control device 80 controls the hydraulic pressure supplied from the hydraulic source to the drive device of the horizontal rotation mechanism 4 in accordance with a command for the control angle of the horizontal rotation mechanism 4 .

[0039] In this embodiment, hydraulic pressure supplied from one hydraulic source is controlled to be distributed to three systems: the hydraulic auger 6, the vertical rotation device 3, and the horizontal rotation mechanism 4.

[0040] The hydraulic control device 80 also measures and records the hydraulic pressure supplied to each of the hydraulic auger 6, the horizontal rotation mechanism 4, and the vertical rotation mechanism 3. The hydraulic control device 80 also measures and records the amount of rotation of the hydraulic auger 6 based on the hydraulic pressure supplied to the hydraulic auger 6.

[0041] (Configuration of construction management device) As shown in FIG. 2, the construction management device 100 according to this embodiment includes a CPU (Central Processing Unit) 12, a graphics card 13, a GPU (Graphics Processing Unit) 14, a RAM (Random Access Memory) 16, an HDD (Hard Disk Drive) 18, a communication interface (I / F) 21, and a bus 23 for interconnecting these components.

[0042] The CPU 12 and GPU 14 execute various programs. The RAM 16 is used as a work area when the CPU 12 executes the various programs. The HDD 18, which serves as a recording medium, stores various programs and data, including a program for executing a management processing routine, which will be described later.

[0043] The construction management device 100 in this embodiment is connected to a positioning device 60, rotation angle sensors 62, 64, a flow meter 66, and a hydraulic control device 80 via a communication interface 21, either wired or wirelessly.

[0044] The construction management device 100 of this embodiment is represented by functional blocks along with a program for executing a management processing routine, as shown in Figure 3. The construction management device 100 includes an input unit 20, a calculation unit 30, and a display unit 50.

[0045] The input unit 20 accepts as inputs the inclination angle of the shaft of the hydraulic auger 6 detected by the rotation angle sensor 64, the orientation of the vertical rotation mechanism 3 detected by the rotation angle sensor 62, the positioning results by the positioning device 60, the amount of rotation of the hydraulic auger 6 measured by the hydraulic control device 80, and the amount of stabilizer discharged per unit time measured by the flow meter 66.

[0046] The calculation unit 30 includes an acquisition unit 32, a position calculation unit 34, a deviation calculation unit 36, and a display control unit 38.

[0047] The acquisition unit 32 acquires the input inclination angle of the axis of the hydraulic auger 6, the orientation of the vertical rotation mechanism 3, the positioning results obtained by the positioning device 60, the amount of rotation of the hydraulic auger 6, and the amount of stabilizer discharged per unit time.

[0048] The position calculation unit 34 calculates the position of the tip of the hydraulic auger 6 using the tilt angle of the shaft of the hydraulic auger 6 , the orientation of the vertical rotation mechanism 3 , and the position measurement result by the position measurement device 60 .

[0049] Specifically, the three-dimensional coordinate (x, y, z) is calculated by subtracting the y coordinate from the three-dimensional coordinate (x, y, z) represented by the positioning result by the positioning device 60 by the length l (for example, l = 3 m) of the rod 1 in the downward direction. Then, the direction from the lower end of the rod 1 to the tip position of the hydraulic auger 6 is calculated from the inclination angle of the shaft of the hydraulic auger 6 and the direction of the vertical rotation mechanism 3.

[0050] Then, the three-dimensional coordinates (x, yl, z) are calculated as the three-dimensional coordinates representing the tip position of the hydraulic auger 6, calculated by moving the length of the hydraulic auger 6 (for example, 2 m) in the direction from the lower end of the rod 1 to the tip position of the hydraulic auger 6.

[0051] The deviation calculation unit 36 ​​calculates the deviation amount indicating the distance between the three-dimensional coordinates representing the tip position of the hydraulic auger 6 calculated by the position calculation unit 34 and the planned insertion path of the rod 1.

[0052] Specifically, assuming that the planned insertion path of the rod 1 is vertical, the distance between the x and y coordinates of the planned insertion path of the rod 1 and the x and y coordinates of the tip position of the hydraulic auger 6 is calculated as the deviation amount.

[0053] The display control unit 38 causes the display unit 50 to display the calculation results by the position calculation unit 34. Specifically, the display control unit 38 causes the display unit 50 to display an image showing the hydraulic auger 6 and rod 1 according to the calculation results by the position calculation unit 34, with a planned cross section showing the range of the ground to be improved superimposed on it (FIG. 4). FIG. 4 shows an example in which the dotted portion represents the hydraulic auger 6, the shaded portion represents the rod 1, and the white portion represents the planned cross section. FIG. 4 also shows an example in which information about the tip position of the hydraulic auger 6 is displayed.

[0054] In addition, the display control unit 38 causes the display unit 50 to display the amount of deviation calculated by the deviation calculation unit 36 ​​in response to an operation by the operator (FIG. 5(A)). FIG. 5(A) shows an example in which an image representing the hydraulic auger 6 and the rod 1 and information representing the construction position of the hydraulic auger 6 are displayed. FIG. 5(B) shows an enlarged view of the information representing the construction position of the hydraulic auger 6. FIG. 5(B) shows an example in which the deviation in the x-coordinate and the deviation in the y-coordinate between the planned insertion path of the rod 1 and the tip position of the hydraulic auger 6, as well as the amount of deviation between the tip position of the hydraulic auger 6 and the planned insertion path of the rod 1, are displayed. FIG. 5 also shows an example in which the inclination (pitch angle, roll angle) of the rod 1 is measured and displayed. Note that when measuring the inclination of the rod 1, the inclination of the rod 1 may be calculated based on the measurement results of the inclinometer 61 and the detection results of the rotation angle sensor 64.

[0055] Furthermore, in response to an operation by the operator, the display control unit 38 causes the display unit 50 to display a contour diagram representing the rotation amount of the hydraulic auger 6 acquired at each position on the trajectory of the tip position of the hydraulic auger 6 and the amount of stabilizer discharged per unit time (FIG. 6). In FIG. 6, an example is shown in which the solid line represents the trajectory of the tip position of the hydraulic auger 6, the color of the solid line represents the rotation amount of the hydraulic auger 6 acquired at each position on the trajectory of the tip position of the hydraulic auger 6, and the filled rectangular portion represents the amount of stabilizer discharged per unit time.

[0056] (Method of driving ground improvement equipment) As described above, the ground improvement device 10 of this embodiment inserts the rod 1 into the ground 2 using the heavy equipment 7, while rotating the outer cylinder of the hydraulic auger 6 using the drive device, and stirs and mixes the excavated ground 2 with the stabilizing material, thereby constructing a ground improvement body (not shown) in the ground 2.

[0057] At this time, the hydraulic control device 80 receives commands for the rotation amount of the hydraulic auger 6, the control angle of the vertical rotation device 3, and the control angle of the horizontal rotation mechanism 4 from the operating device 90 in response to operation by the operator. Then, the hydraulic control device 80 controls the hydraulic pressure supplied from the hydraulic source to the hydraulic auger 6 in response to the command for the rotation amount of the hydraulic auger 6, controls the hydraulic pressure supplied from the hydraulic source to the drive device of the vertical rotation device 3 in response to the command for the control angle of the vertical rotation mechanism 3, and controls the hydraulic pressure supplied from the hydraulic source to the drive device of the horizontal rotation mechanism 4 in response to the command for the control angle of the horizontal rotation mechanism 4.

[0058] The ground improvement device 10 adjusts the shape of the ground improvement body constructed on the ground 2, the inclination of the ground improvement body, etc., by changing the inclination angle of the axis of the hydraulic auger 6 relative to the axis of the rod 1 and the inclination direction (orientation) of the axis of the hydraulic auger 6 relative to the axis of the rod 1.

[0059] Specifically, when tilting the axis of the hydraulic auger 6 relative to the axis of the rod 1, the vertical rotation part of the vertical rotation mechanism 3 is rotated around its axis relative to the shaft part by a drive device (not shown) installed inside the shaft part of the vertical rotation mechanism 3.

[0060] The rotation angle sensor 64 detects the rotation angle of the vertical rotation part of the vertical rotation mechanism 3 relative to the shaft, and when the rotation angle reaches the commanded control angle, the drive device is stopped. This allows the vertical rotation mechanism 3 to set the tilt angle of the hydraulic auger 6 to the commanded control angle.

[0061] In addition, when changing the direction (orientation) in which the axis of the hydraulic auger 6 is inclined relative to the axis of the rod 1, the horizontal rotation part of the horizontal rotation mechanism 4 is rotated around the axis relative to the shaft part by a drive device (not shown) provided inside the shaft part of the horizontal rotation mechanism 4.

[0062] The rotation angle sensor 62 detects the rotation angle of the horizontal rotation part of the horizontal rotation mechanism 4 relative to the fixed part, and when the rotation angle reaches the commanded control angle, the drive device is stopped. This allows the horizontal rotation mechanism 4 to set the direction of the hydraulic auger 6 to the commanded control angle.

[0063] (Operation of construction management device) Next, the operation of the construction management device 100 according to the embodiment of the present invention will be described.

[0064] First, the input unit 20 sequentially receives as input the tilt angle of the shaft of the hydraulic auger 6 detected by the rotation angle sensor 64, the orientation of the vertical rotation mechanism 3 detected by the rotation angle sensor 62, the positioning results from the positioning device 60, the amount of rotation of the hydraulic auger 6 measured by the hydraulic control device 80, and the amount of stabilizer discharged per unit time measured by the flow meter 66. At this time, the construction management device 100 executes the management processing routine shown in Figure 7.

[0065] First, in step S100, the acquisition unit 32 acquires the input inclination angle of the axis of the hydraulic auger 6, the orientation of the vertical rotation mechanism 3, the positioning results obtained by the positioning device 60, the rotation amount of the hydraulic auger 6, and the amount of stabilizer discharged per unit time.

[0066] Then, in step S102, the position calculation unit 34 calculates the tip position of the hydraulic auger 6 using the tilt angle of the shaft of the hydraulic auger 6, the orientation of the vertical rotation mechanism 3, and the position measurement result by the position measurement device 60.

[0067] In step S104, the deviation calculation unit 36 ​​calculates the deviation amount indicating the distance between the three-dimensional coordinates representing the tip position of the hydraulic auger 6 calculated by the position calculation unit 34 and the planned insertion path of the rod 1.

[0068] In step S106, the display control unit 38 causes the display unit 50 to display an image showing the hydraulic auger 6 and rod 1 according to the calculation results by the position calculation unit 34, with a planned cross section showing the range of the ground to be improved superimposed thereon (FIG. 4). The display control unit 38 also causes the display unit 50 to display the amount of displacement calculated by the displacement calculation unit 36 ​​in response to an operation by the operator (FIG. 5). The display control unit 38 also causes the display unit 50 to display a contour diagram showing the rotation amount of the hydraulic auger 6 acquired at each position on the trajectory of the tip position of the hydraulic auger 6 and the discharge amount of stabilizer per unit time in response to an operation by the operator (FIG. 6).

[0069] In step S108, it is determined whether or not to end the process. If an instruction to end the process is received, the management process routine is ended. On the other hand, if an instruction to end the process is not received, the process returns to step S100.

[0070] As described above, according to the management device of the embodiment of the present invention, the tip position of the hydraulic auger is calculated based on the inclination angle of the hydraulic auger shaft when the shaft of the hydraulic auger is inclined relative to the axis of the rod, and this is displayed on the display unit, thereby presenting the tip position of the hydraulic auger and assisting in operating work.

[0071] <Modification> The present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the spirit and scope of the present invention.

[0072] For example, the heavy machine 7 that inserts the rod 1 into the ground 2 is not limited to a soil improvement machine, but may be a boring machine (base machine) or the like.

[0073] Specifically, as shown in Fig. 8, the ground improvement system includes a ground improvement device 210, a hydraulic control device 80, an operation device 90, and a construction management device 100. In the ground improvement device 210, a hydraulic auger 6 is attached to the lower end of a rod 1 operated by a stationary boring machine (base machine) 8. A vertical rotation mechanism 3 is provided between the hydraulic auger 6 and the rod 1. A horizontal rotation mechanism 4 is provided between a leader 70 of a heavy machine 7 and the rod 1.

[0074] In addition to stationary boring machines, mobile boring machines that can run on laid rails can also be used. In particular, mobile boring machines that can move regularly are suitable when constructing wall-shaped ground improvement bodies.

[0075] Furthermore, the positioning device 60 may be omitted, and the tip position of the hydraulic auger 6 may be calculated using the upper end of the rod 1 as the reference position. For example, the three-dimensional coordinates of the upper end of the rod 1 may be set as the origin (0,0,0), and the tip position of the hydraulic auger 6 may be calculated in the same manner as in the above embodiment.

[0076] Also, the horizontal rotation mechanism 3 may be omitted, and the axis of the hydraulic auger 6 may be tilted relative to the axis of the rod 1 using only the vertical rotation device 3 .

[0077] Specifically, from the three-dimensional coordinates (x, y, z) represented by the positioning results by the positioning device 60, the three-dimensional coordinates (x, yl, z) are calculated by subtracting the y coordinate in the downward direction by the length l of the rod 1. Then, from the inclination angle of the axis of the hydraulic auger 6 and the predetermined orientation of the axis of the hydraulic auger 6, the direction from the bottom end of the rod 1 to the tip position of the hydraulic auger 6 is calculated. Then, from the three-dimensional coordinates (x, yl, z), the three-dimensional coordinates of the destination moved the length of the hydraulic auger 6 in the direction from the bottom end of the rod 1 to the tip position of the hydraulic auger 6 are calculated as the three-dimensional coordinates representing the tip position of the hydraulic auger 6. [Explanation of symbols]

[0078] 1 rod 3 Vertical rotation mechanism 4 Horizontal rotation mechanism 6 Hydraulic Auger 7. Heavy machinery 8. Boring Machine 10, 210 Ground improvement equipment 20 Input section 30 Arithmetic section 32 Acquisition Department 34 Position calculation section 36 Deviation calculation unit 38 Display control unit 50 Display 60 Positioning device 61 Inclinometer 62, 64 Rotation angle sensor 66 Flow meter 80 Hydraulic control device 90 Operating equipment 100 Construction management equipment

Claims

1. an auger attached to a lower end of a rod inserted into the ground and rotating around its axis to excavate the ground; a drive device that rotates the auger about an axis; a vertical rotation mechanism that tilts the axis of the auger relative to the axis of the rod; A management device for managing a ground improvement device having an acquisition unit that acquires the inclination angle of the auger shaft; a calculation unit that calculates a tip position of the auger based on an inclination angle of the auger shaft; a deviation calculation unit that calculates a deviation amount indicating a distance between the calculated result of the tip position and a planned insertion path of the rod; a display control unit that displays the calculation result by the calculation unit, the deviation amount, and the inclination of the rod based on the measurement result of the inclination angle of the rod on a display unit; Including, A discharge port for discharging the stabilizer is formed at the tip of the auger, The acquisition unit further acquires the rotation amount of the auger and the discharge amount of the stabilizer, The display control unit further controls the display unit to display a contour diagram representing the rotation amount of the auger and the discharge amount of the stabilizer at each position on the trajectory of the tip position of the auger.

2. The ground improvement device further includes a horizontal rotation mechanism that changes the orientation of the vertical rotation mechanism, The acquisition unit acquires the inclination angle of the auger shaft and the orientation of the vertical rotation mechanism, The management device according to claim 1 , wherein the calculation unit calculates the position of the tip of the auger based on the inclination angle of the auger shaft and the orientation of the vertical rotation mechanism.

3. the acquisition unit further acquires a positioning result from a positioning device attached to an upper end of the rod; 3. The management device according to claim 1, wherein the calculation unit calculates the position of the tip of the auger by further using the positioning result obtained by the positioning device.

4. A management device described in any one of claims 1 to 3, wherein the display control unit displays an image representing the auger and the rod according to the calculation results, superimposed with a planned cross-section representing the range of ground to be improved, on the display unit.

Images