JP7577977B2 - Drilling system and drilling method - Google Patents

Description

The present invention relates to an excavation system and an excavation method that uses heavy machinery for forming pile holes, etc. to identify the position of a pile hole and perform excavation.

Conventionally, when driving piles into a supporting layer, points marked on the ground are used as pile positions. Furthermore, the position of the pile hole to be driven is confirmed by marking (see Patent Document 1). In this document, an optical surveying instrument is set at a reference point, and the pile core position is marked. Next, before driving the pile, the marked position is confirmed by a GPS surveying instrument consisting of a pair of antennas, a receiver, a communication device, and a controller.
Furthermore, a technique for determining the position of a pile hole by installing a GPS receiver on the boom or reader of a pile driver is also under consideration (see, for example, non-patent document 1).

JP 2002-202357 A

PRODUCTS Edge Positioning System, [online], Taiyu Co., Ltd. website, [searched October 8, 2020] Internet, <URL: http://taiyu-corp.com/products02/gnss/>

When specifying the pile position by marking, the marking may be erased when constructing other piles, etc. If the marking is unclear, it is difficult to specify the pile position.
Furthermore, when managing pile construction, the piles must be checked using drawings and then the pile numbers must be entered into the system. This required a lot of time and effort. There was also a risk of entering the wrong pile number.
Furthermore, when the GPS receiver is installed on the top surface of the boom or leader of the pile driver, maintenance of the GPS receiver is difficult.

The excavation system that solves the above problem is an excavation system that uses a specific device that stores the positional relationship between position information acquisition devices arranged at multiple positions in the main body of a heavy machine equipped with an excavation tool and the excavation tool, and the specific device acquires the positions of the multiple position information acquisition devices and identifies the excavation position of the excavation tool using the acquired positions of the position information acquisition devices and the positional relationship, thereby identifying the planned position of the pile hole to be formed by the excavation tool.

The present invention allows the position of the pile hole to be confirmed efficiently.

FIG. 1 is a configuration diagram illustrating a configuration of an excavation system according to an embodiment. FIG. 2 is a plan view of the heavy equipment as seen from the line 2-2 in FIG. FIG. 2 is an explanatory diagram of a hardware configuration of the embodiment. FIG. 4 is an explanatory diagram of the data structure recorded in the building information storage unit in the embodiment. 4 is a flowchart illustrating a processing procedure of an excavation management process in the embodiment. 4 is a flowchart illustrating a processing procedure of an excavation position confirmation process in the embodiment. FIG. 4 is an explanatory diagram for explaining an excavation position confirmation process in the embodiment. 11 is a screen diagram of an excavation status screen displayed on a display unit of the work terminal in the embodiment. FIG. 13 is a flowchart illustrating a processing procedure of a pile hole position identifying process using three or more marker devices in a modified example. 10A and 10B are explanatory diagrams illustrating a height confirmation process in a modified example. FIG. 10 is an explanatory diagram illustrating a processing procedure of a height confirmation process in a modified example.

Below, an embodiment of a drilling system and a drilling method will be described with reference to Figures 1 to 8. In this embodiment, the drilling system will be described as forming pile holes in which cast-in-place piles are placed to be driven into a supporting layer.

As shown in FIG. 1, the excavation system 10 uses an earth auger 11 as a heavy excavation machine. The earth auger 11 has a crawler 11c and a rotatable main body 11b placed on the crawler 11c. The main body 11b is provided with a driver's seat and the like, and is fixed by multiple outriggers 12 during operation.

Figure 2 is a plan view of the earth auger 11 as viewed from the direction of line 2-2 (above) in Figure 1. A plurality of (two in this embodiment) marker devices A1, A2 are provided at spaced apart positions on the main body 11b. The marker devices A1, A2 function as position information acquisition devices. In this embodiment, the marker devices A1, A2 are GNSS receivers that use the Global Navigation Satellite System (GNSS) to identify the positions (longitude and latitude) at which the marker devices A1, A2 are installed.

As shown in FIG. 1, the earth auger 11 has a guide leader 13 erected via a catch fork. Furthermore, the guide leader 13 is maintained vertically by a pair of backstays 14 on the left and right. The guide leader 13 is provided with a guide rail extending in the vertical direction. The drive mechanism 15 is connected to the guide leader 13 so as to be slidable in the vertical direction by fitting into the guide rail with a plurality of spaced arms. The drive mechanism 15 is supported by a suspension cable that is reeled out from the upper end of the guide leader 13. This suspension cable is wound around a movable pulley on the upper surface of the drive mechanism 15. The drive mechanism 15 rises and falls by changing the amount of reeling out of the suspension cable. A digging head 16 is attached to the lower end of the drive mechanism 15 as a digging tool. The digging head 16 has a screw at the bottom and an auger head at the bottom. The digging head 16 rises and falls in accordance with the rise and fall of the drive mechanism 15 while being rotated by the drive mechanism 15.
Furthermore, the excavation system 10 includes a monitoring device 20 that manages the operation of the earth auger 11 .
The monitoring device 20 is connected to an operation terminal 30 .

(Hardware configuration example)
FIG. 3 shows an example of the hardware configuration of an information processing device H10 that functions as the monitoring device 20, the operation terminal 30, and the like.

The information processing device H10 has a communication device H11, an input device H12, a display device H13, a storage device H14, and a processor H15. Note that this hardware configuration is an example, and other hardware may be included.

The communication device H11 is an interface that establishes a communication path with other devices and transmits and receives data, such as a network interface or a wireless interface.

The input device H12 is a device that accepts input from a user, etc., and is, for example, a mouse, a keyboard, a touch panel, etc. The display device H13 is a display or a touch panel display that displays various information, etc.

The storage device H14 is a storage device (e.g., the building information storage unit 22, the positional relationship storage unit 23, and the excavation status storage unit 24 described below) that stores data and various programs for executing various functions of the monitoring device 20 and the work terminal 30. Examples of the storage device H14 include ROM, RAM, and a hard disk.

The processor H15 uses programs and data stored in the storage device H14 to control each process in the monitoring device 20 and the work terminal 30 (for example, the process in the control unit 21 described below). Examples of the processor H15 include a CPU and an MPU. The processor H15 expands programs stored in a ROM or the like into a RAM and executes various processes corresponding to the various processes. For example, when an application program in the monitoring device 20 or the work terminal 30 is started, the processor H15 operates a process that executes each process described below.

The processor H15 is not limited to performing software processing for all of the processes it executes. For example, the processor H15 may be equipped with a dedicated hardware circuit (e.g., an application specific integrated circuit: ASIC) that performs hardware processing for at least some of the processes it executes. That is, the processor H15 may be configured as a circuit including (1) one or more processors that operate according to a computer program (software), (2) one or more dedicated hardware circuits that execute at least some of the various processes, or (3) a combination thereof. The processor includes a CPU and memory such as RAM and ROM, and the memory stores program code or instructions configured to cause the CPU to execute processes. The memory, i.e., computer-readable medium, includes any available medium that can be accessed by a general-purpose or dedicated computer.

(Functions of monitoring devices)
The monitoring device 20 shown in FIG. 1 functions as a specific device and manages the operation of the earth auger 11.
The monitoring device 20 receives and transmits information specifying the position (longitude and latitude) of each of the marker devices A1 and A2 from each of the marker devices A1 and A2. Furthermore, the monitoring device 20 acquires excavation status information of the pile hole h1 by the earth auger 11. This excavation status information is status information acquired during excavation, and includes, for example, information on the drive current value of the drive mechanism 15 and the depth of the tip of the excavation head 16 depending on the position of the drive mechanism 15.

The monitoring device 20 includes a control unit 21 , a building information storage unit 22 as a pile information storage unit, a positional relationship storage unit 23 , and an excavation status storage unit 24 .
The control unit 21 performs processes (including a position specifying stage, a pile hole specifying stage, an excavation management stage, etc.) described later. By executing an excavation program for this purpose, the control unit 21 functions as a position specifying unit 211, a pile hole specifying unit 212, an excavation management unit 213, etc.

The position identifying unit 211 identifies and records the positional relationship between the marker devices A1, A2 and the drilling head 16 in order to identify the pile hole h1.
As shown in FIG. 2, the position of the drilling head 16 is identified using the absolute coordinates (longitude and latitude) of the marker devices A1 and A2, and the distance and direction (orientation) from the marker devices A1 and A2 to the drilling head 16. Here, the angles θ1 and θ2 with respect to the vector V12 from the marker device A1 to the marker device A2 are used as the direction. In addition, since the pile hole h1 is located directly below the drilling head 16, the position of the drilling head 16 and the position of the pile hole h1 coincide with each other. Therefore, the first position is identified at the position of the marker device A1 by the angle θ1 with respect to the vector V12 and by the distance r1 from the position of the marker device A1. Furthermore, the second position is identified at the position of the marker device A2 by the angle θ2 with respect to the vector V12 and by the distance r2 from the position of the marker device A2. Then, the midpoint between the first position and the second position is identified as the position of the drilling head 16. Note that the method of identifying the position of the drilling head 16 from the position coordinates of the marker devices A1 and A2 is not limited to the above. For example, a geometric calculation method (such as finding the intersection between a first circle of radius r1 centered on marker device A1 and a second circle of radius r2 centered on marker device A2) may be used based on the position coordinates of marker devices A1 and A2 and the distance from marker devices A1 and A2 to the drilling head 16.

The pile hole identifying section 212 identifies a pile hole to be excavated that is located within a predetermined allowable radius from the central position of the excavation head 16 identified by the position identifying section 211 .
The excavation management unit 213 executes a process of managing the excavation status of the pile hole h1 in which the pile identified by the pile hole identification unit 212 is to be placed.

As shown in FIG. 4, the building information storage unit 22 records component management data 220 for managing each component that constitutes a building. The component management data 220 is recorded when a building is designed. The component management data 220 includes data related to component identifiers, component types, component positions, and component attribute information.

The member identifier data area stores data on identifiers that identify each member. For example, in the case of a pile, the pile number is used as the member identifier.
The member type data area stores data for identifying the type of member, such as a pillar, beam, or pile.

The component position data area records data on the position where this component will be placed. Since the position of the pile hole coincides with the position of the pile to be placed in the pile hole, the position of the pile component is used as the position of the pile hole.

The attribute information data area of a component stores data on the attributes of the component. For example, if the component is a pile, data on the shape, size, depth to the bearing layer, etc. of the pile are included.
The positional relationship storage unit 23 stores a calculation formula for identifying the position of the drilling head 16 using the position coordinates of the marker devices A1 and A2.

The excavation status memory unit 24 stores data on excavation status information acquired after the start of excavation of the pile hole h1. This excavation status information is temporarily stored when data on the excavation status is acquired from each measuring device.

The work terminal 30 is a computer terminal used by the on-site manager. In this embodiment, the manager sits in the driver's seat of the earth auger 11 and operates the earth auger 11. This work terminal 30 is used to input the positions of the marker devices A1, A2 and the drilling head 16, and to display the positions of pile holes, pile identifiers, and drilling status information. Note that this work terminal 30 may also be used by another manager who is not in the driver's seat.

(Drilling Management Processing)
Next, the excavation management process will be described with reference to FIG.
Here, the monitoring device 20 executes a positional relationship setting process (step S11). Specifically, the marker devices A1 and A2 are installed on the main body 11b of the earth auger 11. Then, the positional relationship (distances r1 and r2, angles θ1 and θ2) between the positions of the marker devices A1 and A2 and the position of the drilling head 16 is measured. The control unit 21 of the monitoring device 20 acquires the positional relationship information input to the work terminal 30 and records it in the positional relationship storage unit 23.

Next, the control unit 21 of the monitoring device 20 executes an excavation position confirmation process (step S12). The details of this process will be described later.
Then, the control unit 21 of the monitoring device 20 executes the excavation process while checking the excavation status (step S13). Specifically, the excavation management unit 213 of the control unit 21 starts driving the drive mechanism 15 and the excavation head 16 of the earth auger 11, and the excavation head 16 forms a pile hole h1 in the ground. In this case, the excavation status information acquired during excavation is displayed in the display area of the excavation status screen displayed on the display device H13 of the work terminal 30 in the excavation position confirmation process (step S12). Then, the manager of the earth auger 11 operates the drive mechanism 15 of the earth auger 11 while viewing the displayed excavation status information, adjusting the lifting and driving amount, etc., to excavate the pile hole h1 so as to reach the bearing layer reaching depth.

(Drilling position confirmation process)
Next, the excavation position confirmation process (step S12) will be described in detail with reference to FIGS.
First, the control unit 21 of the monitoring device 20 executes a process of acquiring the positions of the marker devices (step S21). Specifically, the stake hole identification unit 212 of the control unit 21 acquires the position (longitude and latitude) information of each of the marker devices A1 and A2 from each of the marker devices A1 and A2.

Next, the control unit 21 of the monitoring device 20 executes a process of identifying the pile hole position based on the positions of the marker devices (step S22). Specifically, the pile hole identification unit 212 of the control unit 21 identifies the position (center) of the drilling head 16 using the acquired positions of the marker devices A1 and A2 and the positional relationship of the positional relationship storage unit 23.

Next, the control unit 21 of the monitoring device 20 executes a search process for the corresponding pile (step S23). Specifically, the pile hole identification unit 212 of the control unit 21 acquires the member management data 220 for the member type (pile). Next, the pile hole identification unit 212 searches the identified member management data 220 for a member (pile) located within an allowable radius from the position of the drilling head 16 identified using the positions of the marker devices A1 and A2.

Next, the control unit 21 of the monitoring device 20 executes a process to determine whether or not a corresponding pile is present (step S24). Here, if component management data 220 is extracted in which a pile position is recorded within an allowable radius from the position of the drilling head 16, it is determined that a corresponding pile is present.

For example, as shown in FIG. 7, a circular area C1 within an allowable radius from the center calculated as the position of the drilling head 16 is identified for the main body 11b of the earth auger 11. Then, if a pile P3 whose center is located within this circular area C1 is present, it is determined that the corresponding pile is present.

If the component management data 220 of a pile located within the allowable radius cannot be extracted (if "NO" in step S24), the control unit 21 of the monitoring device 20 executes a warning process (step S25). Specifically, the pile hole identification unit 212 of the control unit 21 displays an error message on the display device H13 of the work terminal 30 indicating that there is no corresponding pile. For example, if there is no pile P3 in FIG. 7 and only piles P1 and P2 are present, a warning process is executed.

On the other hand, when it is determined that the corresponding pile is present (YES in step S24), the control unit 21 of the monitoring device 20 executes a pile number acquisition process (step S26). Specifically, the pile hole identification unit 212 of the control unit 21 acquires the member identifier (pile number) of the extracted member management data 220.
Next, the control unit 21 of the monitoring device 20 executes a display process of the excavation management screen (step S27). Specifically, the excavation management unit 213 of the control unit 21 generates an excavation status screen 510 and displays it on the work terminal 30. The excavation management unit 213 includes in this excavation status screen 510 the acquired pile number 511 and the bearing layer reach depth 512 of the attribute information of the member management data 220. Furthermore, in this excavation status screen 510, a display area 515 is included that displays the integral current value, vibration, excavation time, etc. corresponding to the depth of the location where the pile is placed.

(Action)
The monitoring device 20 stores positional relationship information between the two marker devices A1, A2 spaced apart from each other on the body 11b of the earth auger 11 and the drilling head 16. The control unit 21 of the monitoring device 20 uses the positions of the marker devices A1, A2 acquired from the marker devices A1, A2 to identify the position of the drilling head 16. This makes it possible to identify the position of the pile hole h1 that coincides with the position of the drilling head 16.

According to this embodiment, the following effects can be obtained.
(1) In this embodiment, the control unit 21 of the monitoring device 20 identifies the position of the drilling head 16 using the positions of the marker devices A1 and A2 installed on the body 11b of the earth auger 11. This makes it possible to efficiently identify the position of the pile hole h1. In addition, since the marker devices A1 and A2 are attached to the body 11b of the earth auger 11, maintenance of the marker devices A1 and A2 is easy.

(2) In this embodiment, if there is a pile that matches the identified position of the excavation head 16 (if "YES" in step S24), the control unit 21 of the monitoring device 20 executes a display process of the excavation management screen (step S27). This allows the excavation status information with the identified pile position to be confirmed on the excavation management screen.

(3) In this embodiment, if there is no pile that matches the identified pile hole position (if "NO" in step S24), the control unit 21 of the monitoring device 20 executes a warning process (step S25). This makes it possible to alert the manager when the position of the drilling head 16 of the earth auger 11 does not correspond to the position of the pile hole h1 to be formed.

This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.
In the above embodiment, two marker devices A1 and A2 are arranged at different positions on the main body 11b of the earth auger 11, and the position of the pile hole h1 is specified using the positions of the marker devices A1 and A2. The position information acquisition device provided on the main body of the heavy equipment only needs to be able to measure different positions, and for example, one belt-shaped marker device capable of measuring different positions may be used, or three or more markers at different positions may be used. When three or more position information acquisition devices are used, two (pairs) of the three or more position information acquisition devices may be used to calculate position candidates for the excavation head 16, and the position of the excavation head 16 may be specified using the statistical values of the calculated position candidates. Here, the average value may be used as the statistical value.
Then, using two (pairs) of the three or more installed position information acquisition devices (marker devices, etc.), a calculation formula for identifying the position of the drilling head 16 is generated and stored in the positional relationship memory unit 23.

Then, the control unit 21 of the monitoring device 20 executes a process of acquiring the positions of the marker devices (step S21), and then executes a process of specifying the stake hole positions shown in FIG. 9 as step S22.
In this process, the control unit 21 of the monitoring device 20 first executes a process of identifying a target pair (step S31). Specifically, the stake hole identification unit 212 of the control unit 21 extracts two of the three or more installed position information acquisition devices (marker devices, etc.) as a pair. Then, the control unit 21 extracts the positions of the position information acquisition devices identified as a pair from the positions of the position information acquisition devices acquired in the process of acquiring the positions of the marker devices (step S21).

Next, the control unit 21 of the monitoring device 20 executes a process of identifying candidate positions of the pile holes based on the positions of the target pairs for each identified pair (step S32). Specifically, the pile hole identification unit 212 of the control unit 21 identifies the position of the drilling head 16 as a candidate position using the extracted positions of the position information acquisition devices and a calculation formula stored in the positional relationship storage unit 23 that identifies the position of the drilling head 16 using the target pairs.

After identifying the candidate positions of the stakeholes for all pair combinations, the control unit 21 of the monitoring device 20 executes a process of identifying the statistical value of the candidate positions as the position of the stakehole (step S33). Specifically, the stakehole identifying unit 212 of the control unit 21 identifies the average position of the candidate positions of the stakeholes as the position of the stakehole. This makes it possible to accurately identify the position of the stakehole even when the accuracy of the position information acquisition device is poor.

- In the above embodiment, in the excavation position confirmation process, the control unit 21 of the monitoring device 20 confirms the position in the horizontal direction. In addition, the control unit 21 may also execute a height confirmation process that also confirms the position (height) in the vertical direction.

In this case, as shown in FIG. 10, the positional relationship memory unit 23 of the monitoring device 20 stores the altitude H1 at the depth reference position, the installation height H2 at which the marker device A1 is installed from the ground G1, and the reference height H3 from the ground G1 to the depth reference. Here, the depth reference is the height at which excavation begins. For example, assume that the altitude H1 is 6 m, the installation height H2 is 2 m, and the reference height H3 is 1 m.

Thereafter, the height confirmation process shown in FIG. 11 is executed.
In this process, the control unit 21 of the monitoring device 20 first executes a process of acquiring the altitude of the marker device (step S41). Specifically, the stake hole identification unit 212 of the control unit 21 acquires the position information (altitude M1) of the marker device A1 from the marker device A1. Here, the altitude M1 is acquired as 7 m.

Then, the control unit 21 of the monitoring device 20 executes a calculation process of the elevation of the ground using the elevation of the marker device (step S42). Specifically, the pile hole identification unit 212 of the control unit 21 calculates the elevation M2 of the ground G1 by subtracting the installation height H2 stored in the positional relationship storage unit 23 from the elevation M1 of the acquired marker device A1. Here, the elevation M2 of the ground G1 is calculated to be 5 m (= 7 m - 2 m).

Then, the control unit 21 of the monitoring device 20 executes a process of calculating the difference between the elevation of the depth reference and the elevation of the ground (step S43). Specifically, the pile hole identification unit 212 of the control unit 21 calculates the difference D1 by subtracting the calculated elevation M2 of the ground G1 from the elevation H1 of the depth reference. Here, the difference D1 is calculated to be 1 m (= 6 m - 5 m).

Next, the control unit 21 of the monitoring device 20 executes a process to determine whether the difference is equal to the set height (step S44). Specifically, the pile hole identification unit 212 of the control unit 21 determines whether the difference D1 calculated in step S43 is equal to the reference height H3 from the ground G1 to the depth reference.

Here, if the difference D1 does not match the reference height H3 (if "NO" in step S44), the control unit 21 of the monitoring device 20 executes a warning process (step S45) similar to step S25. If the difference D1 matches the reference height H3, the control unit 21 of the monitoring device 20 displays a confirmation screen including a confirmation button (step S46).

After that, the manager, who has confirmed by measurement that the reference height H3 from the ground G1 to the depth reference is 1 m, selects the confirmation button on the confirmation screen. Conventionally, the depth reference was confirmed only by the manager's measurement, but since the depth reference can be confirmed using the marker device A1, the depth reference can be double-checked. Then, the control unit 21 of the monitoring device 20 may execute the process following the search process for the corresponding pile (step S23). Also, the display process of the confirmation screen may be omitted to omit manual confirmation. Furthermore, the calculated elevation of the ground G1, the elevation of the depth reference H1, and the reference height H3 may be simultaneously displayed to have the manager confirm the difference between the elevation of the depth reference and the elevation of the ground and the reference height H3, and the processes of steps S43 and S44 may be omitted.

- In the above embodiment, the marker devices A1 and A2 as position information acquisition devices are installed on the top surface of the main body 11b of the earth auger 11. The position of the main body of the heavy equipment on which the position information acquisition devices are installed is not limited to the top surface. For example, they may be fixed to the side of the main body.

Furthermore, the marker devices A1 and A2 as position information acquisition devices may be any device capable of acquiring coordinate (latitude and longitude) information of their positions, and are not limited to acquiring position information directly from a position information acquisition device such as a GNSS receiver. For example, the positions of the marker devices A1 and A2 may be optically detected, and the positions (coordinates) of the marker devices A1 and A2 may be acquired from another device using triangulation or the like.

- In the above embodiment, the heavy machinery is described using an earth auger 11 as a drilling device that forms pile holes. The heavy machinery is not limited to an earth auger as a drilling device. For example, it may be a drilling device in which a drilling tool other than a screw is attached to the drilling head 16.

Next, the technical ideas that can be understood from the above embodiment and other examples will be described below.
(a) the specific device is
The pile information storage unit is connected to the pile information storage unit that stores the installation position of the pile in association with a pile identifier that identifies the pile,
The excavation system according to claim 1, characterized in that the position of the excavation tool is compared with the installation positions of the piles stored in the pile information memory unit, and a pile whose installation position corresponds to the position of the excavation tool is identified.
(b) the position information acquisition device is attached to the main body at three or more different locations;
The specific device is
Identifying a candidate excavation position of the drilling tool using the positions of two selected position information acquisition devices from among the position information acquisition devices and a positional relationship between the positions of the two position information acquisition devices and the drilling tool;
The excavation system according to claim 1 or (a), characterized in that the position of the excavation tool is identified using the excavation position candidate.
(c) The excavation system described in claim 1, (a) or (b), characterized in that the identification device stores the installation height from the ground to the position information acquisition device, acquires the altitude of the position information acquisition device, and calculates the altitude of the ground using the acquired altitude of the position information acquisition device and the installation height.

θ1, θ2...angle, A1, A2...marker device as position information acquisition device, C1...circular area, D1...difference, G1...ground, h1...pile hole, H1, M1, M2...altitude, H2...installation height, H3...reference height, P1, P2, P3...pile, r1, r2...distance, 1, R2...marker device, V12...vector, 10...drilling system, 11...earth auger as heavy equipment, 11b...main body, 11c...crawler, 12...outrigger, 13...guideline , 14...backstay, 15...driving mechanism, 16...drilling head as a drilling tool, 20...monitoring device as a specific device, 21...control unit, 22...building information storage unit, 23...positional relationship storage unit, 24...drilling status storage unit, 30...work terminal, 211...position identification unit, 212...pile hole identification unit, 213...drilling management unit, 220...component management data, 510...drilling status screen, 511...pile number, 512...support layer reach depth, 515...display area.

Claims (2)

An excavation system using a specific device that stores a positional relationship between three or more position information acquisition devices attached at different positions on a main body of a heavy machine equipped with an excavation tool and the excavation tool,
The specific device is
Identifying a pair of two location information acquisition devices from among the three or more location information acquisition devices;
Identifying a candidate position of a post hole for each of the identified pairs using the position of the position information acquisition device;
A drilling system characterized in that a planned position of a pile hole to be formed by the drilling tool is determined by specifying a statistical value of the identified candidate positions of the pile hole as a drilling position of the drilling tool. An excavation method using a specific device that stores a positional relationship between three or more position information acquisition devices attached at different positions on a main body of a heavy machine equipped with an excavation tool and the excavation tool, comprising:
The specific device is
Identifying a pair of two location information acquisition devices from among the three or more location information acquisition devices;
Identifying a candidate position of a post hole for each of the identified pairs using the position of the position information acquisition device;
A drilling method comprising the steps of: determining a planned position of a pile hole to be formed by the drilling tool by determining a statistical value of the determined candidate positions of the pile hole as a drilling position of the drilling tool.