JP6920801B2 - Concrete fishing machine and concrete fishing method - Google Patents

Description

The present invention relates to a concrete lifting machine and a concrete lifting method, and in repair work of a concrete deck such as a road bridge, information on the deterioration range of the concrete deck is set and input to the device in advance, and automatic operation is performed based on the information. The present invention relates to a concrete suspending machine and a concrete suspending method in which ultra-high pressure water is sprayed onto a concrete surface portion in a predetermined range so that deteriorated concrete can be efficiently suspended.

The applicant is developing a concrete fishing machine used in the repair work of the maintenance work of the road bridge consisting of steel-concrete synthetic deck. In this concrete fishing machine, improvements have been made to the nozzle support method and support structure of the water jet cutting device used for the purpose of efficiently removing the concrete in the deteriorated part of the concrete deck (Patent Documents 1 and 2). ..

In the concrete fishing machine disclosed in Patent Document 1, the water jet nozzle of the water jet cutting device is supported so as to rotate and swing, and the injection angle of the high-pressure water injected onto the concrete surface is changed to change the injection angle of the reinforcing bar. The lower side etc. can be hung reliably.

In the concrete fishing machine disclosed in Patent Document 2, by arranging nozzle holders in which a plurality of nozzles are arranged in a linear column at a predetermined position, the injection density of high-pressure water ejected from the plurality of nozzles is made uniform. It was possible and the concrete allowed the suspended surface to be smoother.

Japanese Unexamined Patent Publication No. 2005-262420 Japanese Unexamined Patent Publication No. 2005-305566

In the concrete fishing machine described above, a reciprocating drive mechanism for a water jet cutting device is provided on the front surface of the device body that can run on its own by tracks, and it is installed in the reciprocating drive mechanism in the width direction of the road (traverse direction: X-axis direction). The water jet nozzle is reciprocated in the traverse direction along the rail. Therefore, in order to lift the concrete surface of the road bridge, the concrete fishing machine is stopped in front of the fishing range, and the water jet nozzle is moved at a predetermined moving speed while injecting high-pressure water of a predetermined water pressure onto the concrete surface from the nozzle. Move in the traverse direction along the rail. As a result, the concrete surface can be hung in a straight line with a predetermined line width and depth. When the fishing in the predetermined range in the X-axis direction is completed, move the water jet cutting device in the traveling direction of the road (pitch direction: Y-axis direction) and move the water jet nozzle along the rail so that it is connected to the range that has already been lifted. Then, the water is moved in the traverse direction at a predetermined moving speed to inject high-pressure water. By moving in the pitch direction and changing the position, the concrete in a predetermined rectangular range can be hung by repeating the movement in the traverse direction back and forth.

The movement operation of the nozzle of such a water jet cutting device is performed by the operator of the concrete fishing machine with the movement speed in the traverse direction, the movement amount, the movement speed in the pitch direction, the movement amount, the pressure of high-pressure water, the rotation of the nozzle, and the swing command. Etc. are directly input to the control unit of the reciprocating drive mechanism for execution. For this reason, the operator of the concrete chipping machine must constantly observe the chipping condition of the concrete surface and sequentially confirm that the work is being carried out as planned. Therefore, there is a problem that efficient continuous concrete cannot be suspended.

Therefore, an object of the present invention is to solve the problems of the above-mentioned conventional technique, and input information on the range of concrete fishing work, various operating conditions of the device, etc. into the control unit of the concrete fishing machine as setting information in advance. According to the operation command based on the setting information, the concrete is suspended by automatic operation, the implementation status is detected by various detection means and fed back to the operator as visible information, and the work status can be confirmed sequentially on a monitor or the like. Concrete is to provide a fishing machine and concrete is to provide a fishing method.

In order to achieve the above object, the concrete fishing machine of the present invention is supported by a device main body capable of self-propelling on a concrete deck and a support link mechanism at the rear end of the device main body, and is supported by a fishing mechanism support frame. Along with the guide rail of the fishing mechanism support frame, the concrete deck slab reciprocates along the road width direction, and a single nozzle and a collision type nozzle behind the single nozzle are arranged in tandem along the road extension direction. Information on a fishing mechanism equipped with a nozzle unit having a nozzle, step traveling consisting of a predetermined pitch amount in the road extension direction of the apparatus main body, information on reciprocating traveling in the road width direction of the fishing mechanism, and the concrete floor. Information on the operation of the nozzle that performs the chipping operation of the slab is set and input, a predetermined calculation is performed based on the setting and the input information, and a chipping work command in the target range of the concrete deck is sent to each drive unit. It is characterized by being provided with a control unit for performing.

The device main body has a first detection unit that detects a traveling position in the road extension direction, and the fishing mechanism support frame has a second detecting unit that detects a traveling position in the road width direction. It is preferable to confirm the position of the fishing mechanism and perform the fishing operation based on the calculation result of the control unit performed by receiving the position information from the first and second detection units.

Wherein the control unit, set as the input section, the input screen, wherein it is preferably provided with a selectively displayable touch panel and capable of displaying screen fishing working range and its work record.

It is preferable that the control unit detects the water pressure to each nozzle of the fishing mechanism and feeds back the water pressure management information based on the detected water pressure to the high-pressure water generating means.

As concrete invention fishing method, the above-mentioned concrete information about the step driving of a predetermined pitch of the road extending direction of the main body of the fishing equipment, and the chipping information regarding reciprocal travel of the road width direction of the mechanism, of the concrete slab Information on the operation of the nozzle that performs the chipping operation is set, and based on the calculation result as input information, the chipping work in the chipping target range of the concrete floor slab is started, and the traveling in the road extension direction obtained in the progress of the work is started. It is characterized in that the fishing work is carried out while confirming the position of the fishing mechanism based on the position information and the traveling position information in the road width direction.

In the invention of the concrete fishing method, in the reciprocating travel in the road width direction, the moving speed of the fishing mechanism in a predetermined section is increased or decreased from the moving speed of another section, and the concrete fishing depth in the section is increased in another section. Concrete can be different from the fishing depth.

The concrete of the present invention is a plan view which showed the schematic plan shape of a fishing machine. The concrete shown in FIG. 1 is a side view showing a schematic side shape of a fishing machine. A front view showing a schematic front shape of a chipping mechanism support frame of a concrete chipping machine shown in FIG. 1, and a plan view and a cross-sectional view showing a chipping condition of a concrete surface. The partially enlarged view which showed the structural example of the nozzle of the chipping mechanism of the concrete chipping machine of this invention. The concrete of this invention is a block diagram which showed the structural example of the control system equipment of a fishing machine. The construction state explanatory view which showed an example of the construction state of the concrete slab of a road bridge by the concrete chipping machine of this invention. The flowchart which showed the construction flow of the concrete floor slab lifting work by the concrete hanging machine of this invention. The flowchart which showed the work flow of various setting work in the concrete of this invention. An image diagram schematically showing a monitor display example when the fishing range is set and a monitor display example of the implementation status of the fishing work.

Hereinafter, the configuration of the concrete fishing machine of the present invention and a series of construction procedures of the concrete fishing method will be described with reference to the attached drawings.

FIG. 1 is a plan view showing a schematic configuration of a concrete fishing machine of the present invention. FIG. 2 is also a side view. As shown in both figures, the concrete chipping machine 1 has a drive unit, a device body 10 that functions as a traveling body, and a chipping mechanism support that is supported at the rear end of the device body 10 via a support link mechanism 21. It has a frame and a chipping mechanism equipped with multiple nozzles.

[Device body configuration]
The device main body 10 functions as a traveling unit that moves the concrete fishing machine 1 in a predetermined direction. In the present embodiment, as shown in FIG. 2, the apparatus main body 10 includes an endless track 11 as a traveling body. A diesel engine (not shown) that drives the crawler belt 12 of the endless track 11 is housed inside the apparatus main body 10 that is entirely composed of a substantially rectangular body, and the apparatus main body 10 rotates the crawler belt 12 of the endless track 11 by driving the diesel engine. It is possible to freely move on the concrete deck 2 to be worked by running. A fishing mechanism support frame 20 is supported at the rear end of the apparatus main body 10 via a support link mechanism 21. The support link mechanism 21 is composed of a lateral link mechanism, and can offset the chipping mechanism support frame 20 supported on the output side by a drive mechanism (not shown) such as a hydraulic motor on the input side. By interposing the lateral link mechanism between the device body 10 and the chipping mechanism support frame 20, the chipping mechanism support frame 20 is a pavement made of concrete deck 2 to be worked on regardless of the stop posture of the device body 10. Accurate positioning can be performed on the surface by correcting its position (link deformation in the X, Y, Z-axis directions) and tilt correction (turning around the X, Y, Z-axis). Also in this embodiment, the width direction of the road is the traverse direction: the X-axis direction, the traveling direction of the road is the pitch direction: the Y-axis direction, and the height of the concrete slab 2 orthogonal to both axes from the paved surface. Direction: Z-axis direction.

[Structure of chipping mechanism support frame]
The chipping mechanism support frame 20 is from a frame structure 22 that supports the chipping mechanism 30 so that the chipping mechanism 30 (described later) can perform a stable chipping operation, and moves the concrete in the traverse direction by a predetermined range with the chipping operation. It is configured. Hereinafter, the configuration will be described with reference to FIGS. 1, 2 and 3 (a). The frame structure 22 includes a hood 23 extending in the traverse direction so as to cover the fishing work space, a guide rail 24 for guiding the movement of the fishing mechanism 30 in the traverse direction, and both ends of the hood 23 and the guide rail 24. The side frame 25 to be held is a main component. The hood 23 is a box-shaped body elongated in the traverse direction in which the upper surface and the front and rear surfaces are covered with a steel plate having a soundproof function, and slits 23a are formed in the upper surface plate along the traverse direction. A plurality of nozzles (described later) of the fishing mechanism 30 that move in the traverse direction are movably housed in the hood 23 via the slit 23a. Further, by bringing the lower ends of the rubber covers 26 arranged at the rear ends of the hood 23 into close contact with the pavement surface of the concrete deck 2, the nozzles 33 (described later) that move during the chipping work inject toward the concrete deck 2. It is possible to prevent the high-pressure water from being scattered around. The guide rail 24 is composed of two parallel pipes arranged horizontally at a predetermined distance. Each traveling roller (not shown) provided in the fishing mechanism 30 travels on these pipes. A part of the loop-shaped traversing chain 27 is fixed to a part of the fishing mechanism 30. The traverse chain 27 is hung between the driven sprockets 28 and 28 arranged at both ends of the suspension mechanism support frame 20 in the width direction, and is a drive sprocket of the traverse motor 29 mounted on the fixed portion of the support link mechanism 21 (shown). By the driving force applied from (1), it can rotate in a state of being hung on the driven sprocket 28. Therefore, the fishing mechanism 30 can move in the traverse direction along the guide rail 24 by the rotation of the traversing chain 27. This traverse movement amount can be detected with high accuracy by the traverse encoder S1 provided in the vicinity of the traverse motor 29. The traverse movement amount is controlled according to the maximum traverse width described later. The maximum traverse width is equal to the range of the concrete deck 2 to be chipped (moving distance in the traverse direction).

[Structure of fishing mechanism]
As described above, the chipping mechanism 30 of the present invention is a member that moves in the traverse direction along the guide rail 24 of the chipping mechanism support frame 20, and is composed of a plurality of nozzles 33 at predetermined positions of the rigid bracket 31. The nozzle unit 32 (FIG. 2) is fixedly held. A swivel (not shown) corresponding to each nozzle 33 mounted inside is attached to the nozzle unit 32, and high-pressure water is supplied to each nozzle 33 via a swivel by a plurality of pressure hoses 36 corresponding to each nozzle. Be guided. The water pressure of the high-pressure water supplied to each nozzle 33 is detected by the water pressure sensor S2 installed in each path of the nozzle unit 32, and the detected value of the water pressure sensor S2 is fed back to the control unit 42 (FIG. 5). If the water pressure drops below the set water pressure, the idling state will occur and the fishing work will be temporarily stopped.

(Control system equipment of the main body of the device)
The device main body 10 is equipped with a control system equipment 40 for running operation of the device main body 10 and for controlling the operation of the fishing mechanism 30. Hereinafter, their configurations will be described with reference to the schematic block diagram shown in FIG. The apparatus main body 10 includes an operation unit 41 (FIGS. 2 and 5) including an operation panel in which operation switches and potentiometers for operating various running conditions of the apparatus main body 10 and the operation of the fishing mechanism 30 described later are arranged. The main configuration is a monitor 43 that displays the progress of the fishing operation, a touch panel screen, and a control unit 42 that issues operation commands based on calculation results based on various operation information and setting information to the drive members of each unit. do. In the present embodiment, the operation unit 41 includes two operation panel ECUs (electronic control units), and the operation panel ECU transmits ON / OFF states of various operation switches on the operation panel surface and voltage signals of the potentiometer to the CAN bus 46. do. The control unit 42 includes three control ECUs, and the control ECU transmits and receives information signals between the operation panel ECU and the touch panel screen, and also takes in signals from various sensors and encoders provided in the fishing machine to determine a predetermined value. The calculation is performed, and the operation of the electromagnetic valve and the proportional control valve installed in each part of the drive device of the fishing machine is controlled based on the calculation result and the received signal. The calculation result is transmitted as information to other ECUs and touch panels via the CAN bus 46. Further, the monitor 43 is provided with a storage unit ECU that functions as a storage unit 44 that records the progress of the fishing work and the actual result data, and an external port 45 for externally outputting data such as the progress of the work and the actual result. ..

(Nozzle configuration)
Here, the configuration of the nozzle 33 mounted on the chipping mechanism 30 of the present invention will be described with reference to FIGS. 2 and 4. In one embodiment of the present invention, a twin nozzle system using two types of nozzles 33, a single nozzle 33S and a collision type nozzle 33C, is adopted. In the twin nozzle system, as shown in the enlarged view of FIG. 4, the single nozzles 33S and 33C are mounted side by side so that the single nozzle 33S is on the front side and the collision type nozzle 33C is on the rear side along the traveling direction of the device. Has been done. In the single nozzle 33S, the nozzle head itself usually rotates and swings, and the target concrete can be efficiently hung. Since the chipping ability in the depth direction is high, it is possible to chip the details such as the peripheral edge. In the case of the twin nozzle method, it is used only by rotation. The collision type nozzle 33C drills a target position by colliding high-pressure water ejected from two nozzle heads having a predetermined predetermined inclination angle on a chipping surface. At this time, since the crushing energy is diffused on the chipping surface, it is possible to perform chipping in a relatively wide range without deep digging. In addition, by adjusting the nozzle inclination angle, high-pressure water can reach the underside of the reinforcing bars, and the concrete under the reinforcing bars can be reliably hung. Alternatively, the surface of the suspended portion 4 is also relatively smooth. As described above, in the case of the twin nozzle system, the fishing speed and the fishing accuracy can be improved by combining the advantages of the single nozzle 33S and the collision type nozzle 33C to function. In the present embodiment, the amount of high-pressure water supplied is assumed to be about 20 L / min for a single nozzle and about 40 L / min for a collision type nozzle.

(Movement of the device body in the pitch direction)
As shown in FIG. 2, the apparatus main body 10 can freely travel by rotationally driving the crawler belt 12, but in the chipping work, it is necessary to perform step traveling in which the apparatus main body 10 advances by a predetermined amount in the pitch direction (Y direction). .. For this step running, the travel encoder S3 is attached to a running motor (not shown) of the track drive unit of the apparatus main body 10. This travel encoder detects the amount of movement of the device body 10 in the pitch direction by detecting the amount of rotation of the drive wheels, and the amount of feed (movement amount) of the track 12 by the drive wheels rotated by the traveling motor, the device body 10, Further, the amount of movement of the fishing mechanism support frame 20 during the fishing work can be strictly controlled.

[Configuration of high-pressure water generator]
In the present invention, the high-pressure water injected from the nozzle of the concrete fishing machine 1 is boosted to a predetermined water pressure by a pump mounted on the high-pressure water generator 50 separate from the concrete fishing machine 1, and the high-pressure hose. Concrete is supplied to the fishing machine 1 by 51. The high-pressure water generator is an in-vehicle pump based on a known plunger-type high-pressure generator capable of generating high-pressure water up to about 230 MPa, and in the present embodiment, as shown in FIG. 6, the loading platform of the truck. The concrete is loaded on the ground and connected by the high-pressure hose 51, and the concrete moves according to the progress of the fishing work. The concrete can move together with the fishing machine 1.

[Control of chipping depth]
Regarding the control of the depth of the chipping portion 4 in the chipping work of the pavement surface of the concrete deck 2 using the above-mentioned chipping mechanism 30, FIG. This will be described with reference to c). In the chipping work of the present invention, as shown in FIG. 3C, the chipping is performed so as to form the chipping portions 4a and 4 having different depths in the one-stroke chipping operation of the chipping mechanism 30 in the traverse direction. It can be carried out. That is, by changing the moving speed in the traverse direction in a predetermined section (V1 → V2, V2> V1), the injection time of high-pressure water to the fishing target portion is changed (increased), and as a result, the fishing depth h is also changed. It utilizes the fact that it can be changed (h1 → h2, h2 <h1) in the corresponding section. The method of controlling the fishing depth h by controlling the injection time of the high-pressure water (that is, the moving speed of the nozzle) is particularly when the concrete deck 2 having different concrete strengths is hung or in the concrete deck 2. It is effective when the upper surface of the girder, haunch, etc., which have a large amount of reinforcement, are hung at the same time as the floor slab.

[Outline of chipping work for concrete decks]
The concrete slab 2 of the road bridge described above will be described with reference to FIG. FIG. 6 shows a deteriorated part of the concrete deck 2 of a road bridge with two lanes on each side, which was judged to be a deteriorated part by a preliminary inspection performed on the road surface concrete. Rectangular range: hereinafter referred to as a fishing target range 3), the concrete of the present invention shows a state in which the fishing machine 1 and the high-pressure water generator are deployed on the concrete deck 2. As shown in the figure, the concrete chipping machine 1 is equipped with the high-pressure water generator 50 at a position where the nozzle position of the chipping mechanism 30 is located on the starting point side of the chipping target range 3 and a predetermined distance in front of the nozzle position. Vehicles are deployed. In concrete, the fishing machine 1 and the high-pressure water generator are connected by a high-pressure hose. The extension of the high-pressure hose is about 30 m in consideration of the pressure loss of the supplied high-pressure water, of which the effective working range is 20 m in the pitch direction as one span, and each span is a plurality of target ranges for chipping within each span. With respect to 3, the setting and input of the information of the fishing work, which will be described later, and the fishing work by the automatic operation are repeatedly carried out. Note that FIG. 6 also shows an arrangement example of the concrete fishing machine 1 and the high-pressure water generator 50 in the fishing work range of the next span for reference.

[Example of fishing work]
Hereinafter, a construction example of the chipping work of the concrete deck 2 of the road bridge shown in FIG. 6 will be described with reference to FIGS. 7 to 9. FIG. 7 is a flowchart showing an outline of the work procedure from the start to the completion of the above-mentioned one-span fishing work. The range 3 for the chipping, which is shown in FIG. The outer peripheral line of range 3 is directly marked on the pavement surface. In this state, as shown in FIG. 6, the concrete moves the fishing machine 1 to the starting point position of one span (step 100: hereinafter referred to as S100).

(Outline of setting and input work)
Prior to the fishing operation, the operator sets and inputs the operating conditions of the fishing device from the touch panel screen (FIG. 2) of the control unit 42 equipped in the device main body 10 of the concrete fishing machine 1 (S200). In the present embodiment, an input screen corresponding to the settings selected by the operator and the contents of the input item selection button is displayed on the touch panel screen, and a numerical value or the like is directly touch-input to the input location of each input screen. It has become. As the operation conditions to be input, as shown in FIG. 8, as basic settings, the work date and time, the traveling speed of the device main body 10, the maximum traverse width of the chipping mechanism 30, and the traverse speed (converted to the drive amount of the traverse motor in the control unit 42). The pitch distance is set (S210). Next, the specifications of each nozzle 33 (33S, 33C), the setting of the combination, the rotation speed, and the tilt angle are input (S220). In addition, the stop time when the nozzle 33 is located at the end is set so that extra digging does not occur when the nozzle 33 is folded back at the edge portion of the fishing target range 3, and there is no insufficient fishing due to a decrease in water pressure. As described above, the lower limit value for lowering the water pressure is set (S230). If it falls below this lower limit (for example, 195 MPa), it is preferable to issue a warning so that the high-pressure water generator 50 (FIG. 6) is in an idling state and the fishing operation is temporarily stopped. As the running conditions, continuous running and pitch running can be switched according to the working conditions, and pitch running is performed during the fishing work. By appropriately selecting the traveling speed and the shape of the nozzle 33, it is possible to appropriately set the chipping depth, the reinforcement position, the reinforcement density, and the like in the chipping target range 3.

Next, information input / setting of the fishing work range is performed (S240). FIG. 9A is a screen example in which the information on the fishing work range is quantified and shown as a schematic diagram. On the left side of the figure, as information on the continuous fishing work range (1st to 3rd) of 3 patterns, each fishing width, fishing distance, and fishing start position (2nd and 3rd) are set and progressed. ) Is displayed numerically. On the right side of the figure, a plan view of the planned fishing range corresponding to the numerical information is schematically shown. In the present embodiment, the fishing work range is 3 patterns (3 places), but it goes without saying that it can be appropriately increased by changing the specifications of the screen size and the resolution.

(Implementation of fishing work)
When the traveling direction switch of the operation panel 41 (FIG. 2) is in the forward direction and pitch traveling is set by the control unit 42, the fishing work is automatically performed in the fishing work range according to the set value displayed numerically. It is carried out by operation (S300). FIG. 9B shows a screen in which the fishing work results are colored and overwritten on the plan view of the planned fishing range (in the same figure, the second shows that the work is completed halfway through the fishing work range). ing. In this way, the progress information of the fishing work is sequentially recorded in the storage unit 44 (FIG. 5), and the range where the fishing work is completed can be visually confirmed on the monitor 43 as an output screen, and the progress management of the work can be easily performed. be able to.

Further, the fishing area is calculated and displayed on the monitor 43 as the actual information of the fishing work. The fishing area is automatically calculated by the product of the fishing width and the fishing distance for the correction of each fishing work range. What is the correction of the chipping width? The setting is a value that is close to the actual chipping width by making a predetermined correction based on the actual traverse distance and nozzle tilt angle detected with respect to the chipping width. The work information (work number, work start date time, completion time) in each fishing work range and each record of each fishing area are stored in the storage unit 44 by selecting the work management and record saving menu shown on the touch panel of the control unit 42. It is saved (S310). Furthermore, work history can be stored and saved as a record of achievements. This work history is obtained by paying attention to the water pressure in the high-pressure water generator 50, and recognizes that the work is in progress when the water pressure is equal to or higher than a predetermined pressure. The cumulative total of the above is sequentially stored in the storage unit 44.

As described above, each data stored in the storage unit 44 can be output to an external storage medium via the external port 45 (FIG. 5). As a storage medium that can be connected to the external port 45, various standard products such as a USB memory and an SD card can be used. A wireless transmission / reception unit may be provided as the external port 45 to directly transmit to a personal computer or tablet. In that case, it is preferable to use, for example, a wireless chip having a Wifi (registered trademark) function and a Bluetooth (registered trademark) function as the wireless transmission / reception unit. The export format can be set to a format that is easy for the user to manage data, such as text format and table format.

The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope shown in each claim. That is, an embodiment obtained by combining technical means appropriately modified within the scope of the claims is also included in the technical scope of the present invention.

1 Concrete fishing machine 2 Concrete floor slab 3 Fishing target range 4 Fishing part 10 Equipment body 20 Fishing mechanism Support frame 21 Support link mechanism 24 Guide rail 27 Traverse chain 29 Traverse motor 30 Fishing mechanism 33 Nozzle 33S Single nozzle 33C Collision type nozzle 35 Pressure Hose 40 Control system equipment 41 Operation panel 42 Control unit 43 Monitor 44 Storage unit 50 High-pressure water generator S1 Traverse encoder S2 Water pressure sensor S3 Travel encoder

Claims (6)

A device body that can run on a concrete deck and
It is supported at the rear end of the main body of the device via a support link mechanism, and has a chipping mechanism support frame.
The concrete floor slab reciprocates along the guide rail of the support frame of the fishing mechanism along the road width direction, and the single nozzle and the collision type nozzle behind the single nozzle are arranged in tandem along the road extension direction. A fishing mechanism equipped with a nozzle unit having a nozzle,
Information on step travel consisting of a predetermined pitch amount in the road extension direction of the apparatus main body, information on reciprocating travel in the road width direction of the chipping mechanism, and information on the operation of the nozzle that performs the chipping operation of the concrete deck. Is set and input, a predetermined calculation is performed based on the setting and input information, and a control unit that issues a chipping work command for the chipping target range of the concrete deck to each drive unit.
A concrete fishing machine characterized by being equipped with. The device main body has a first detection unit that detects a traveling position in the road extension direction, and the chipping mechanism support frame has a second detecting unit that detects a traveling position in the road width direction. Based on the calculation result of the control unit performed by receiving the position information from the first and second detection units, the position of the fishing mechanism is confirmed and the fishing operation is performed. The concrete fishing machine according to claim 1. Wherein the control unit according to claim 1, wherein setting the input portion, and the input screen, the above having a selectively displayable touch panel and a screen capable of displaying a fishing working range and its work record The concrete is a fishing machine described in. The first aspect of claim 1, wherein the control unit detects the water pressure to each nozzle of the fishing mechanism and feeds back water pressure management information based on the detected water pressure to the high-pressure water generating means. Concrete is a fishing machine. Concrete as claimed in claim 1, and information related to the step traveling having a predetermined pitch of the road extending direction of the main body of the fishing equipment, and the chipping information regarding reciprocal travel of the road width direction of the mechanism, chipping of the concrete slab operation Information related to the operation of the nozzle is set, and based on the calculation result as input information, the chipping work of the target range of the concrete floor slab is started, and the traveling position information in the road extension direction obtained in the progress of the work is started. A concrete fishing method characterized in that the fishing work is carried out while confirming the position of the fishing mechanism based on the traveling position information in the road width direction. In the reciprocating travel in the road width direction, the moving speed of the fishing mechanism in a predetermined section is increased or decreased from the moving speed of another section so that the concrete fishing depth in the section is different from the fishing depth in the other section. concrete Hatsu Ri way method according to claim 5, characterized in.

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