JP7642438B2 - Apparatus and method for managing curved drilling - Google Patents

Description

Patent Law Article 30, Paragraph 2 applied Published on the website on May 20, 2020 http://www.pentaocean.co.jp/news/2020/200520.html

Article 30, paragraph 2 of the Patent Act applied. Published in publication at the 55th Geotechnical Engineering Research Conference on July 21, 2020.

Article 30, Paragraph 2 of the Patent Act applied September 25, 2020 Japan Reclamation and Dredging Association Announced at the 2020 Port Technology Report Meeting

Article 30, paragraph 2 of the Patent Act applies October 24, 2020 Japan Construction Machinery Construction Association Construction Machinery Construction Vol. 72 No. 10 Published on page 111

Article 30, paragraph 2 of the Patent Act applied November 10, 2020, Chugoku Regional Development Bureau, Ministry of Land, Infrastructure, Transport and Tourism, Publicly announced at the Chugoku Regional Construction Technology Development Exchange Meeting

Article 30, paragraph 2 of the Patent Act applied December 3, 2020 The Society of Materials Science, Japan, Public Interest Foundation, Published in Proceedings of the 14th Symposium on Ground Improvement, pages 523-530

Patent Act Article 30, Paragraph 2 applied January 19, 2021 ITOCHU Techno-Solutions Corporation Published on CIM JAPAN

Article 30, Paragraph 2 of the Patent Act applied February 9, 2021 Published at the 2020 "Lecture on New Technologies and New Construction Methods" held by the Japan Federation of Construction Contractors

Patent Law Article 30, Paragraph 2 applied February 16, 2021 Nikkan Kogyo Kensetsu Shimbun Unveiled at the Construction Technology Exhibition 2020 Kanto

The present invention relates to technology for managing curved hole drilling.

As a liquefaction countermeasure method for immediately below an existing structure, a method (curved drilling permeation solidification treatment method) is known in which holes are drilled from the ground surface away from the existing structure toward immediately below the existing structure and then improved by injecting a chemical solution. This method requires drilling diagonally and in a curved approach from the ground surface, which is the drilling start position, to immediately below the existing structure, and requires advanced drilling trajectory management to avoid the risk of damage to buried objects underground and ensure quality. For example, Patent Document 1 discloses a technique for managing the finished shape of a ground improvement body that takes buried objects into consideration, in which 3D image data of buried objects existing in the ground is superimposed on 3D image data of the finished shape in ground improvement using a deep mixing treatment method, but the drilling direction in the deep mixing treatment method that Patent Document 1 deals with is vertical drilling from the drilling start position.

JP 2018-111982 A

In the conventional management method for curved drilling directly beneath existing structures in the infiltration solidification treatment method using curved drilling, buried objects at risk of damage are compared with multiple 2D design drawings during planning to check for interference between the two, and during drilling work, the drilling trajectory is separated into 2D images of the plan, cross section, and front based on the results of measurements taken using an insertable gyro, and displayed on the drilling machine's control panel. The operator then constructs a 3D image in his or her mind from these 2D images and corrects and controls the drilling direction while imagining the conditions underground.

The above conventional methods raise the following concerns. First, even if the operator can grasp the construction situation as a two-dimensional image, it is difficult to imagine interference with buried objects such as three-dimensionally congested pipes, and the risk of damage cannot be completely eliminated, which may result in a loss of quality or safety. Second, since the image of the underground cannot be shared visually between the construction manager and the operator, differences in instructions or understanding between the two parties are likely to occur. Third, if a problem occurs during construction, the drilling trajectory during drilling can only be confirmed on the monitor of the drilling management system on-site, so it takes time for the relevant parties to share the current situation in order to update and optimize the plan. And fourth, the accuracy of converting the two-dimensional image of the drilling trajectory into a three-dimensional image in the mind varies depending on the operator.

One of the objectives of the present invention is to provide a system that can easily determine the possibility of interference with existing buried objects during curved hole drilling and share information regardless of the operator's skill level.

In order to solve the above-mentioned problems, the present invention provides a curved drilling management device for managing curved drilling in which drilling is performed from the ground surface at a position away from an existing structure toward directly below the existing structure, the curved drilling management device including an existing buried object coordinate data acquisition unit for acquiring existing buried object coordinate data indicating the three-dimensional coordinates of existing buried objects in a target area for curved drilling, which is input; a drilling plan coordinate data acquisition unit for acquiring drilling plan coordinate data indicating the three-dimensional coordinates of the planned drilling of the curved hole, which is planned according to the three-dimensional coordinates indicated by the acquired existing buried object coordinate data; and an actual drilling coordinate data acquisition unit for acquiring actual drilling coordinate data indicating the three-dimensional coordinates of the curved drilling. The present invention provides a curved drilling management device that is equipped with a display control unit that displays, in a three-dimensional image set on a display screen, an image based on three-dimensional coordinates indicated by the acquired existing buried object coordinate data, an image based on three-dimensional coordinates indicated by the acquired hole drilling plan coordinate data, and an image based on three-dimensional coordinates indicated by the acquired hole drilling actual coordinate data, wherein the display control unit displays, in the three-dimensional image set on the display screen, an image of a coordinate portion where the difference between the three-dimensional coordinates indicated by the hole drilling plan coordinate data and the three-dimensional coordinates indicated by the hole drilling actual coordinate data exceeds a threshold value, in a manner that makes the image distinguishable from a coordinate portion where the difference is within the threshold value .
The present invention also provides a curved drilling management device for managing curved drilling, which is performed from the ground surface at a position away from an existing structure toward directly below the existing structure, comprising: an existing buried object coordinate data acquisition unit for acquiring existing buried object coordinate data indicating the three-dimensional coordinates of existing buried objects in a target area for curved drilling, which is input; a drilling plan coordinate data acquisition unit for acquiring drilling plan coordinate data indicating the three-dimensional coordinates of the planned drilling of the curved hole, which is planned according to the three-dimensional coordinates indicated by the acquired existing buried object coordinate data; and a drilling performance coordinate data acquisition unit for acquiring the three-dimensional coordinates of the curved drilling. We provide a curved drilling management device that is characterized by having a drilling performance coordinate data acquisition unit that acquires target data, and a display control unit that displays an image based on three-dimensional coordinates indicated by the acquired existing buried object coordinate data, an image based on three-dimensional coordinates indicated by the acquired drilling plan coordinate data, an image representing a collection of coordinate positions that are within a threshold distance established as a management standard from the three-dimensional coordinates indicated by the acquired drilling plan coordinate data, and an image based on three-dimensional coordinates indicated by the acquired drilling performance coordinate data, in a three-dimensional image set on a display screen.

The apparatus may include a drilling plan coordinate data acquisition unit that stores drilling plan coordinate data indicating the three-dimensional coordinates of the planned drilling of a curved hole, which is planned according to the three-dimensional coordinates indicated by the acquired existing buried object coordinate data, and the display control unit may display an image based on the three-dimensional coordinates indicated by the drilling plan coordinate data and an image based on the three-dimensional coordinates indicated by the actual drilling coordinate data in a three-dimensional image set on the display screen.

The display control unit may display an image of a coordinate portion where the difference between the three-dimensional coordinates indicated by the drilling plan coordinate data and the three-dimensional coordinates indicated by the drilling performance coordinate data exceeds a threshold value in a three-dimensional image set on the display screen, in a manner that makes the image identifiable from a coordinate portion where the difference is within the threshold value.

The display control unit may display, on the display screen, information regarding the risk of damage to the existing buried object according to the difference between the three-dimensional coordinates indicated by the acquired existing buried object coordinate data and the three-dimensional coordinates indicated by the acquired hole drilling performance coordinate data.

The existing buried object coordinate data acquisition unit may further acquire attributes of the existing buried object, and the display control unit may make the acquired attributes of the existing buried object identifiable and display them in a three-dimensional image set on the display screen.

The apparatus may include an identification unit that identifies the areas of the ground that are planned to be improved and/or the areas that have already been improved by the ground improvement work performed after the curved hole drilling, and the display control unit may display an image of the identified areas of the ground that are planned to be improved and/or the areas that have already been improved in a three-dimensional image set on the display screen.

The present invention also provides a curved drilling management method for managing curved drilling in which drilling is performed from the ground surface at a position away from an existing structure toward directly below the existing structure, the method including: acquiring existing buried object coordinate data indicating the three-dimensional coordinates of existing buried objects in a target area for curved drilling; acquiring drilling plan coordinate data indicating the three-dimensional coordinates of the planned drilling of the curved hole, which is planned according to the three-dimensional coordinates indicated by the acquired existing buried object coordinate data; and acquiring drilling plan coordinate data indicating the three-dimensional coordinates of the planned drilling of the curved hole and/or drilling result coordinate data indicating the three-dimensional coordinates of the curved drilling. The present invention provides a curved drilling management method, which is characterized by comprising: a display control step of displaying, in a three-dimensional image set on a display screen, an image based on three-dimensional coordinates indicated by the acquired existing buried object coordinate data , an image based on three-dimensional coordinates indicated by the acquired drilling plan coordinate data, and an image based on three-dimensional coordinates indicated by the acquired drilling actual coordinate data, wherein an image of a coordinate portion where the difference between the three-dimensional coordinates indicated by the drilling plan coordinate data and the three-dimensional coordinates indicated by the acquired drilling actual coordinate data exceeds a threshold value is made distinguishable from a coordinate portion where the difference is within the threshold value, and is displayed in the three-dimensional image set on the display screen .
The present invention also provides a curved drilling management method for managing curved drilling in which drilling is performed from the ground surface at a position away from an existing structure toward directly below the existing structure, the method including: acquiring existing buried object coordinate data acquisition step for acquiring existing buried object coordinate data indicating the three-dimensional coordinates of existing buried objects in a target area for curved drilling; acquiring drilling plan coordinate data acquisition step for acquiring drilling plan coordinate data indicating the three-dimensional coordinates of the planned drilling of the curved hole, which is planned according to the three-dimensional coordinates indicated by the acquired existing buried object coordinate data; and acquiring drilling result coordinate data indicating the three-dimensional coordinates of the curved drilling. The present invention provides a curved drilling management method, which is characterized by comprising: a drilling actual coordinate data acquisition step for acquiring target data; and a display control step for displaying, on a three-dimensional image set on a display screen, an image based on three-dimensional coordinates indicated by the acquired existing buried object coordinate data, an image based on three-dimensional coordinates indicated by the acquired drilling plan coordinate data, an image representing a collection of coordinate positions that are at a distance within a threshold value established as a management standard from the three-dimensional coordinates indicated by the acquired drilling plan coordinate data, and an image based on three-dimensional coordinates indicated by the acquired drilling actual coordinate data.

The present invention makes it easy to visually determine the possibility of interference with existing buried objects when drilling curved holes.

1 is a block diagram showing an example of the overall configuration of a system according to an embodiment of the present invention; A conceptual diagram explaining curved drilling directly beneath an existing structure. FIG. 2 is a block diagram showing an example of a hardware configuration of a management device according to the embodiment. FIG. 2 is a block diagram showing an example of a functional configuration of a management device in the embodiment. 4 is a flowchart showing the operation procedure of the curved hole drilling management device in this embodiment. 4 is a flowchart showing an example of a construction work according to the embodiment. 11 is a flowchart showing an example of a display control operation of the management device in the embodiment. FIG. 4 is a diagram showing a display example of the drilling machine in the embodiment. FIG. 13 shows a display example of a user terminal according to the embodiment. 13A and 13B are diagrams showing an example of a display on a user terminal according to the embodiment and a usage situation of the display on the user terminal.

An example of an embodiment of the present invention will be described.
[composition]
FIG. 1 is a block diagram showing an example of the overall configuration of a system 1 according to an embodiment of the present invention. The system 1 includes a curved drilling system 10 for performing curved drilling in the ground from the ground surface, a user terminal 20 for displaying information such as the construction status of the curved drilling, a management device 30 that functions as a curved drilling management device for managing the construction of the curved drilling, and a communication network 40 that communicably connects the curved drilling system 10, the user terminal 20, and the management device 30. The curved drilling system 10 includes a drilling machine D that performs curved drilling in the ground directly below an existing structure S from the ground surface while avoiding interference with multiple existing buried objects B (four existing buried objects B in FIG. 2), and a communication device and other auxiliary devices (not shown). The existing buried objects include, for example, water pipes, sewer pipes, gas pipes, and foundation piles of existing structures. The user terminal 20 includes a plurality of display terminals, such as a tablet terminal used by a worker at the site of the curved hole drilling, a personal computer installed at the construction company's office, and a smartphone used by the client of the construction work. The management device 30 is, for example, a server device installed at the construction company. The communication network 40 includes at least one of a wireless communication network and a wired communication network. FIG. 1 illustrates an example in which the curved hole drilling system 10 and the user terminal 20 perform wireless communication and the management device 30 performs wired communication, but this is not limited to the above, and the management device 30 may be connected by a wireless communication network.

The feature of this embodiment is that the construction planning, construction management, and finished shape management of curved hole drilling, which were previously realized using 2D models, are realized using 3D models, for example, called CIM (Construction Information Modeling), making it easy for construction-related parties (for example, workers at the construction site, the construction site office manager, and the construction company, etc.) to visually check the construction status and give various instructions or share a common understanding regarding the work.

Figure 3 is a diagram showing the hardware configuration of the management device 30. The management device 30 is physically configured as a computer device including a processor 3001, memory 3002, storage 3003, communication device 3004, input device 3005, output device 3006, and a bus as a data communication line connecting these. Each of these devices operates with power supplied from a power source (not shown). In the following description, the word "device" can be interpreted as a circuit, device, unit, etc. The hardware configuration of the management device 30 may be configured to include one or more of the devices shown in Figure 3, or may be configured to exclude some of the devices.

The functions of the management device 30 are realized by loading specific software (programs) onto hardware such as the processor 3001 and memory 3002, causing the processor 3001 to perform calculations, control communications via the communication device 3004, acquire data transmitted from other devices, and control at least one of the reading and writing of data in the memory 3002 and storage 3003.

The processor 3001, for example, operates an operating system to control the entire computer. The processor 3001 may be configured with a central processing unit (CPU) including an interface with peripheral devices, a control device, an arithmetic unit, registers, etc. Also, for example, a baseband signal processing unit, a call processing unit, etc. may be realized by the processor 3001.

The processor 3001 reads out programs (program codes), software modules, data, etc. from at least one of the storage 3003 and the communication device 3004 into the memory 3002, and executes various processes according to these. The programs used are those that cause a computer to execute at least some of the operations described below. The functional blocks of the management device 30 may be realized by a control program stored in the memory 3002 and running on the processor 3001. The various processes may be executed by one processor 3001, or may be executed simultaneously or sequentially by two or more processors 3001. The processor 3001 may be implemented by one or more chips. The programs may be transmitted to the management device 30 via a telecommunications line and installed in the memory 3002 or the storage 3003.

The memory 3002 is a computer-readable recording medium, and may be composed of at least one of, for example, a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), a RAM (Random Access Memory), etc. The memory 3002 may also be called a register, a cache, a main memory (primary storage device), etc. The memory 3002 can store executable programs (program codes), software modules, etc. for implementing the method according to this embodiment.

Storage 3003 is a computer-readable recording medium, and may be composed of at least one of, for example, an optical disk such as a CD-ROM (Compact Disc ROM), a hard disk drive, a solid state drive, a flexible disk, a magneto-optical disk (e.g., a compact disk, a digital versatile disk, a Blu-ray (registered trademark) disk), a smart card, a flash memory (e.g., a card, a stick, a key drive), a floppy (registered trademark) disk, a magnetic strip, etc. Storage 3003 may also be called an auxiliary storage device.

The communication device 3004 is hardware (transmitting/receiving device) for communicating between computers via at least one of wired and wireless connections, and is also referred to as, for example, a network device, network controller, network card, or communication module.

The input device 3005 is an input device (e.g., a keyboard, a mouse, a microphone, a switch, a button, etc.) that accepts input from the outside. The output device 3006 is an output device (e.g., a display, a speaker, an LED lamp, etc.) that performs output to the outside. Note that the input device 3005 and the output device 3006 may be integrated into one structure (e.g., a touch panel).

The management device 30 may be configured to include hardware such as a microprocessor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field programmable gate array (FPGA), and some or all of the functional blocks may be realized by the hardware. For example, the processor 3001 may be implemented using at least one of these pieces of hardware.

Figure 4 is a diagram showing an example of the functional configuration of management device 30. Each function realized by management device 30 is realized by loading specific software (programs) onto hardware such as processor 3001 and memory 3002, causing processor 3001 to perform calculations, control communication by communication device 3004, and control at least one of reading and writing of data in memory 3002 and storage 3003.

In FIG. 4, the existing buried object coordinate data acquisition unit 31 acquires existing buried object coordinate data indicating the three-dimensional coordinates (xd, yd, zd) of existing buried objects in the area to be drilled for curved holes. This existing buried object coordinate data is input to the management device 30, for example, by an operator's input operation to the input device 3005, or by reading from a specified storage medium or external device, and the existing buried object coordinate data acquisition unit 31 acquires the input existing buried object coordinate data.

The hole drilling performance coordinate data acquisition unit 32 acquires hole drilling performance coordinate data indicating the three-dimensional coordinates (xc, yc, zc) where curved hole drilling was performed. The drilling position of a curved hole can be measured using a positioning technology called insertion gyro measurement, which is realized by the curved hole drilling system 10. This hole drilling performance coordinate data is transmitted from the curved hole drilling system 10 to the management device 30 via the communication network 40, and the hole drilling performance coordinate data acquisition unit 32 acquires this hole drilling performance coordinate data.

The drilling plan coordinate data acquisition unit 33 stores drilling plan coordinate data indicating the three-dimensional coordinates (xp, yp, zp) of the planned drilling, which is planned based on the three-dimensional coordinates indicated by the existing buried object coordinate data. This drilling plan coordinate data was created by the construction plan creator of the construction company as a planned drilling route that will have minimal effect on the existing buried object, for example by referring to a display screen that displays the three-dimensional coordinates indicated by the existing buried object coordinate data. The created drilling plan coordinate data is input to the management device 30 by the input device 3005, and is acquired and stored by the drilling plan coordinate data acquisition unit 33.

The identification unit 34 identifies the planned and/or actual ground improvement portions of the ground due to the construction of the ground improvement work performed after the curved hole drilling. More specifically, the identification unit 34 calculates three-dimensional coordinates (xip, yip, zip) indicating the planned completed portion of the ground improvement body according to a predetermined simulation algorithm based on the chemical injection plan data (planned chemical injection pressure, planned chemical injection amount, expected displacement, etc.) created by the construction plan creator of the construction company. The identification unit 34 also calculates three-dimensional coordinates (xia, yia, zia) indicating the actual completed portion of the ground improvement body according to a predetermined simulation algorithm based on the actual chemical injection data (actual chemical injection amount, chemical injection pressure, and measured displacement on the ground surface, etc.) at the construction site.

The display control unit 35 superimposes a three-dimensional image (hereinafter also referred to as a three-dimensional model) based on the three-dimensional coordinates (xd, yd, zd) indicated by the existing buried object coordinate data acquired by the existing buried object coordinate data acquisition unit 31 and a three-dimensional image based on the three-dimensional coordinates (xc, yc, zc) indicated by the hole drilling performance coordinate data acquisition unit 32 on a three-dimensional image set on the display screen of the user terminal 20, and integrally manages and controls each data. The three-dimensional image here refers to an image displayed based on three-dimensional coordinate axes virtually set on the display screen so that construction personnel can visualize each position in three-dimensional space. This makes it easy for construction personnel to visually grasp the position of the existing buried object and the performance position of the curved hole drilling in three-dimensional space.

The display control unit 35 also superimposes a three-dimensional image based on the three-dimensional coordinates (xp, yp, zp) indicated by the drilling plan coordinate data stored in the drilling plan coordinate data acquisition unit 33 and a three-dimensional image based on the three-dimensional coordinates (xc, yc, zc) indicated by the actual drilling coordinate data acquired by the actual drilling coordinate data acquisition unit 32 on a three-dimensional image set on the display screen of the user terminal 20. This allows construction personnel to easily visually grasp and compare the planned position of the curved drilling and its actual position in three-dimensional space.

The display control unit 35 also superimposes a three-dimensional image of the planned ground improvement portion and/or the actual ground improvement portion identified by the identification unit 34 on the three-dimensional image set on the display screen of the user terminal 20. This allows construction personnel to easily visually grasp the planned ground improvement portion and/or the actual ground improvement portion in three-dimensional space.

[work]
Next, a series of operations using this curved hole drilling management device will be described.
[Work Procedure]
First, referring to FIG. 5, the handling procedure of the present curved hole drilling management device will be described. In FIG. 5, the administrator performs advance preparation (step S11). Specifically, the administrator installs the programs required for the user terminal 20 and the management device 30 to operate. The administrator also connects the curved hole drilling system 10 to the communication network 40 so that the drilling data can be transmitted from the curved hole drilling system 10 to the management device 30. The administrator also collects information on existing buried objects that are at risk of being damaged by drilling in the construction target area (such as three-dimensional coordinate data of the existing buried objects and their attributes), and inputs the initial stereoscopic diagram data converted into a three-dimensional model to the management device 30. As a result, the existing buried object coordinate data acquisition unit 31 of the management device 30 acquires existing buried object coordinate data indicating the three-dimensional coordinates (xd, yd, zd) of the existing buried object. Based on this existing buried object coordinate data, the management device 30 performs display control as described below. The administrator prepares coordinate conversion parameters and the like for reflecting the measurement results and the drilling coordinate data transmitted in association with the drilling work in the initial stereoscopic drawing data by matching the coordinates of the drilling positions measured in the curved drilling system 10 with the coordinate positions in the initial stereoscopic drawing data prepared as a three-dimensional model. In addition, the administrator prepares an environment for data linking via the management device 30, such as building a cloud system and setting access rights, in order to share data among those involved in the construction work.

Next, the manager creates a drilling plan in the three-dimensional model (step S12). Specifically, the manager uses a specified information processing device to convert the existing buried object coordinate data into the initial stereogram data, and while referring to the existing buried object, creates drilling plan coordinate data indicating the three-dimensional coordinates (xp, yp, zp) of the planned drilling of the curved hole as a three-dimensional model on the initial stereogram data, and uploads it to the management device 30. Similarly, chemical injection plan data (chemical injection pressure, planned chemical injection amount, expected displacement amount, etc.) is created as a three-dimensional model on the initial stereogram data and uploaded to the management device 30. The drilling plan coordinate data acquisition unit 33 of the management device 30 stores this drilling plan coordinate data and chemical injection plan data. In addition, the identification unit 34 of the management device 30 identifies the three-dimensional coordinates (xip, yip, zip) indicating the planned part of the ground improvement body based on this chemical injection plan data. Based on these drilling plan coordinate data and the planned completed portion of the ground improvement body, display control is performed by the management device 30 as described below. This allows construction personnel to check the drilling plan coordinate data on the initial stereoscopic diagram data using their own user terminals 20.

Next, the worker performs the ground improvement work from drilling to injecting the chemical solution and removing the equipment. (Step S13). The procedure of this construction itself will be described later, but when drilling the curved hole, the measurement results of the drilling performance measured by the insertion type gyro measurement are transmitted from the curved hole drilling system 10 to the management device 30 via the communication network 40. In the management device 30, the hole drilling performance coordinate data acquisition unit 32 converts this measurement result into a three-dimensional model and stores it as hole drilling performance coordinate data. In addition, the chemical solution injection performance data when drilling the curved hole is transmitted from the curved hole drilling system 10 to the management device 30 via the communication network 40 and stored in the hole drilling performance coordinate data acquisition unit 32. The identification unit 34 of the management device 30 identifies the three-dimensional coordinates (xia, yia, zia) indicating the completed shape of the ground improvement body based on this chemical solution injection performance data (chemical solution injection amount performance, chemical solution injection pressure, and ground surface measurement displacement amount, etc.). This allows construction workers to check the drilling plan coordinate data and/or drilling performance coordinate data on the three-dimensional model using their own user terminals 20. Construction workers can also check the ground improvement performance on the three-dimensional model using their own user terminals 20.

Next, the worker or manager manages the completed work (step S14). Specifically, the worker or manager can input any attribute information, such as the construction date, the amount of chemicals injected, and construction photos, from their own user terminal 20, etc., and associate this attribute information with the construction results that have been turned into a 3D model. This allows construction personnel to share and check the construction results and attribute information on the 3D model using their own user terminal 20.

[Installation procedure]
Next, the procedure for construction in step S13 in Fig. 5 will be described in detail with reference to Fig. 6. In Fig. 6, an operator carries various devices necessary for construction, such as the curved hole drilling system 10, to the construction site and prepares the drilling machine D to start drilling (step S31).

Next, the worker performs drilling based on the drilling plan coordinate data displayed on the user terminal 20 (step S32). At this time, the worker measures the drilling position in real time using the fixed gyro measurement of the curved drilling system 10, and while checking the deviation from the drilling plan coordinate data, controls the attitude of the casing pipe of the drilling machine D to perform drilling at the position indicated by the drilling plan coordinate data. The fixed gyro measurement detects the position, attitude and trajectory data of the rod tip during drilling in real time using a sensor equipped at the tip of the drilling rod of the drilling machine D. During this drilling operation, the worker also measures the drilling position using an insertion gyro measurement that allows more precise measurement than the fixed gyro measurement, for example, every 3 to 6 m of drilling distance in curved drilling and every 9 to 18 m of drilling distance in straight drilling (step S33). The measurement results of this insertion type gyro measurement are sent as actual drilling coordinate data indicating the three-dimensional coordinates (xc, yc, zc) where the curved drilling was performed from the curved drilling system 10 to the management device 30 via the communication network 40 (step S34). Based on this actual drilling coordinate data, the management device 30 performs display control as described below. The worker replaces the measurement results of the fixed gyro measurement with the measurement results of the insertion type gyro measurement, checks the deviation from the drilling plan coordinate data, and continues drilling (step S35).

In addition, as shown in Figure 9, if the 3D model based on the actual drilling coordinate data, which is the measurement result using the insertion gyro measurement, deviates from the 3D model based on the drilling plan coordinate data by more than a specified distance during drilling, the worker or manager will stop the operation of the drilling machine D, return to the point where the deviation from the drilling plan data became large, correct the drilling direction, etc., and resume drilling, adjusting the actual drilling coordinate data so that it falls within the drilling plan coordinate data.

When the worker has completed drilling one line, he or she inserts the injection outer tube into the casing pipe of the drilling machine D (step S36), pulls out the casing pipe (step S37), and injects a predetermined amount of chemical liquid (step S38). The above work is performed for each line of drilling.

[Display control function by management device 30]
Next, the display control function of the management device 30 for the user terminal 20 will be described with reference to Figs. 7 to 10. This display control can be performed at any time before, during, or after construction. In Fig. 7, the management device 30 acquires data for displaying an image on the user terminal 20 (step S101). For example, the existing buried object coordinate data acquisition unit 31 of the management device 30 acquires existing buried object coordinate data indicating the three-dimensional coordinates (xd, yd, zd) of the existing buried object in the target area of the curved drilling in step S11 of Fig. 5 described above. In addition, the drilling result coordinate data acquisition unit 32 acquires drilling result coordinate data indicating the three-dimensional coordinates (xc, yc, zc) where the curved drilling was performed in step S34 of Fig. 6 described above. In addition, the drilling plan coordinate data acquisition unit 33 acquires drilling plan coordinate data indicating the three-dimensional coordinates (xp, yp, zp) of the planned drilling in step S12 of Fig. 5 described above. In addition, the display control unit 35 acquires three-dimensional coordinates (xip, yip, zip) indicating the planned ground improvement portion identified by the identification unit 34 in steps S12 and S13 of Figure 5 described above, and/or three-dimensional coordinates (xia, yia, zia) indicating the actual ground improvement portion.

Next, the display control unit 35 of the management device 30 accepts an operation on the user terminal 20 (step S102), and in response to the operation, transmits the data acquired in step S101 to the user terminal 20 via the communication network 40, and displays various images on the user terminal 20 (step S103).

For example, the display control unit 35 transmits the existing buried object coordinate data and the hole drilling record coordinate data to the user terminal 20, and superimposes a three-dimensional image based on the three-dimensional coordinates (xd, yd, zd) indicated by the existing buried object coordinate data and a three-dimensional image based on the three-dimensional coordinates (xc, yc, zc) indicated by the hole drilling record coordinate data on a three-dimensional image set on the display screen of the user terminal 20.

The display control unit 35 also transmits the drilling plan coordinate data and the actual drilling coordinate data to the user terminal 20, and displays a three-dimensional image based on the three-dimensional coordinates (xp, yp, zp) indicated by the drilling plan coordinate data and a three-dimensional image based on the three-dimensional coordinates (xc, yc, zc) indicated by the actual drilling coordinate data superimposed on the three-dimensional image set on the display screen of the user terminal 20.

The display control unit 35 also transmits the three-dimensional coordinates (xip, yip, zip) indicating the planned ground improvement portion identified by the identification unit 34 and/or the three-dimensional coordinates (xia, yia, zia) indicating the actual ground improvement portion to the user terminal 20, and superimposes a three-dimensional image based on these three-dimensional coordinates (xip, yip, zip) and/or the three-dimensional coordinates (xia, yia, zia) on the three-dimensional image set on the display screen of the user terminal 20.

Figure 8 shows an example of the actual drilling coordinate data displayed on the two-dimensional coordinate planes of the plan, cross section, and front on the operation screen that was previously checked by the operator when operating the curved drilling. Note that while Figure 8 only shows an example of a display based on the actual drilling coordinate data, it is also possible to display based on the drilling plan coordinate data. Also, in Figure 8, the existing buried object may be displayed as a line drawing. In contrast, Figure 9 shows an example of the management device 30 displaying the drilling plan coordinate data and the actual drilling coordinate data superimposed on a three-dimensional image. In Figure 9, the "design drilling line" is an image display based on the three-dimensional coordinates (xp, yp, zp) of the planned drilling indicated by the drilling plan coordinate data, and the "actual drilling line" is an image display based on the three-dimensional coordinates (xc, yc, zc) indicated by the actual drilling coordinate data. In addition, the "control value of the drilling trajectory" refers to a set of coordinate positions that are within a threshold distance set as a control criterion from the "design plan line" represented by multiple three-dimensional coordinates (xp, yp, zp) indicated by the drilling plan coordinate data, and it is desirable for the "actual drilling line" to be within the circle indicated by this control value.

The "drilling line" in FIG. 10 is an image display based on the three-dimensional coordinates (xc, yc, zc) indicated by the drilling performance coordinate data. The "sewage pipe" and "storm water pipe" in FIG. 10 are image displays based on the three-dimensional coordinates (xd, yd, zd) indicated by the existing buried object coordinate data. The spherical figure a in FIG. 10 is an image display based on the three-dimensional coordinates (xia, yia, zia) indicating the performance part of the ground improvement body. In FIG. 10, the spherical figure a, which is the performance part of the ground improvement body, is displayed, but before ground improvement work is performed, the spherical figure a' is displayed based on the three-dimensional coordinates (xip, yip, zip) indicating the planned part of the ground improvement body, and as the drilling work is performed, the image display based on the three-dimensional coordinates (xia, yia, zia) indicating the performance part of the ground improvement body is superimposed on or replaced by the spherical figure a'. As shown in FIG. 10, workers and managers at the construction site can understand the construction status by looking at these images displayed on the user terminal 20.

According to this embodiment, the workers and managers who carry out ground improvement work can visually and easily grasp the positions of existing buried objects and the actual positions of the curved drilling in three-dimensional space by using the three-dimensional images based on the existing buried object coordinate data and the drilling actual coordinate data displayed in real time. Also, according to this embodiment, by sharing the three-dimensional images in which the drilling plan coordinate data and the drilling actual coordinate data are displayed, it is possible to visually and easily grasp the planned position of the curved drilling and its actual position in three-dimensional space. Also, according to this embodiment, it is possible to visually and easily grasp the state of the ground improvement planned part and/or the ground improvement actual part in the three-dimensional space underground by using the three-dimensional images in which the ground improvement planned part and/or the ground improvement actual part are displayed. In this way, by sharing information on the three-dimensional model in real time, it is possible to avoid risks such as damage to existing buried objects, and it is possible to confirm the impact of the improvement body on the surrounding existing buried objects during the injection of the chemical solution, and it is less likely that discrepancies will occur between the parties involved, and the contents of instructions and responses can be clearly transmitted. This results in improved construction quality and safety.

[Modification]
The present invention is not limited to the above-described embodiment. The above-described embodiment may be modified as follows. In addition, two or more of the following modifications may be combined and implemented.

The display control unit 35 may display, in the 3D image set on the display screen of the user terminal 20, 3D images of coordinate parts where the difference between the 3D coordinates (xp, yp, zp) indicated by the drilling plan coordinate data and the 3D coordinates (xc, yc, zc) indicated by the actual drilling coordinate data (i.e., the shortest distance between both coordinates outside the range indicated by the planned drilling coordinate data within the range indicated by the actual drilling coordinate data) exceeds a predetermined threshold value, in a manner that makes the 3D images distinguishable from 3D images of coordinate parts where the difference is within the threshold value (e.g., by changing the display color). This allows construction personnel to easily visually grasp in the 3D model the sections where drilling has been performed at positions significantly different from the drilling plan.

The display control unit 35 may also display information on the risk of damage to existing buried objects on the display screen of the user terminal 20 according to the difference between the three-dimensional coordinates indicated by the acquired existing buried object coordinate data and the three-dimensional coordinates indicated by the acquired hole-drilling performance coordinate data. As the hole-drilling performance coordinate data used in this case, it is preferable to use the measurement results obtained by a fixed gyro measurement that is performed simultaneously with the hole-drilling work.

In addition, when a difference of a predetermined threshold or more occurs between the three-dimensional coordinates of the drilling performance data measured by the fixed gyro during drilling work and the three-dimensional coordinates of the drilling plan coordinate data corresponding to those three-dimensional coordinate positions, a warning may be issued to the worker or manager by sound or light, etc.

The display control unit 35 may also display a warning message indicating a risk of damage to the existing buried object on the display screen of the user terminal 20 when the difference (e.g., the shortest distance between the two) between the three-dimensional coordinates indicated by the acquired existing buried object coordinate data and the three-dimensional coordinates indicated by the acquired hole drilling performance coordinate data is equal to or less than a threshold value. This allows construction personnel to easily understand that there is a risk of damage to the existing buried object.

The existing buried object coordinate data acquisition unit 31 acquires existing buried object coordinate data indicating the three-dimensional coordinates of the existing buried object, as well as attribute data indicating the attributes of the existing buried object, and the display control unit 35 may make the attributes of the existing buried object indicated by the acquired attribute data identifiable and display them in a three-dimensional image set on the display screen. The attributes of the existing buried object referred to here may include at least one or more attributes of the type of the existing buried object (buried pipe, cavity, foundation of a structure, rock, etc.), the size of the existing buried object, the name of the buried pipe (water pipe, gas pipe, etc.), the material of the buried pipe, or the ease of damage, as well as the reliability of the existing buried object coordinate data. For example, the display control unit 35 changes the display color of at least one or more attributes of the type of the existing buried object, the size of the existing buried object, the name of the buried pipe, the material of the buried pipe, the ease of damage, or the reliability of the existing buried object coordinate data based on the acquired attribute data, for example, or displays the attribute itself in text. This allows construction workers to easily understand the attributes of existing buried objects.

The present invention may be a method for managing curved drilling in a permeation solidification treatment method using curved drilling, which manages drilling from the ground surface at a position away from an existing structure toward directly below the existing structure, and may include an existing buried object coordinate data acquisition step for acquiring existing buried object coordinate data indicating the three-dimensional coordinates of existing buried objects in the target area for curved drilling, which is input, a drilling plan coordinate data acquisition step for acquiring drilling plan data indicating the three-dimensional coordinates of the planned drilling of the curved hole and/or drilling actual coordinate data indicating the three-dimensional coordinates where the curved hole was drilled, and a display control step for displaying an image based on the three-dimensional coordinates indicated by the acquired existing buried object coordinate data and an image based on the three-dimensional coordinates indicated by the acquired drilling plan coordinate data and/or drilling actual coordinate data on a three-dimensional image set on a display screen.

1: System, 10: Curved drilling system, 20: User terminal, 30: Management device, 31: Existing buried object coordinate data acquisition unit, 32: Drilling performance coordinate data acquisition unit, 33: Drilling plan coordinate data acquisition unit, 34: Identification unit, 35: Display control unit, 3001: Processor, 3002: Memory, 3003: Storage, 3004: Communication device, 3005: Input device, 3006: Output device, B: Existing buried object, D: Drilling machine, S: Existing structure.

Claims (7)

A curved drilling management device that manages curved drilling, which drills holes from the ground surface at a position away from an existing structure toward directly below the existing structure,
an existing buried object coordinate data acquisition unit that acquires existing buried object coordinate data indicating three-dimensional coordinates of existing buried objects in a target area for curved hole drilling, which is input;
a drilling plan coordinate data acquisition unit that acquires drilling plan coordinate data indicating three-dimensional coordinates of a curved hole to be drilled, the three-dimensional coordinates being planned according to the acquired existing buried object coordinate data;
a drilling result coordinate data acquisition unit for acquiring drilling result coordinate data indicating three-dimensional coordinates where the curved hole is drilled;
a display control unit that displays an image based on three-dimensional coordinates indicated by the acquired existing buried object coordinate data, an image based on three-dimensional coordinates indicated by the acquired drilling plan coordinate data, and an image based on three-dimensional coordinates indicated by the acquired drilling performance coordinate data in a three-dimensional image set on a display screen;
The display control unit is
An image of a coordinate portion where the difference between the three-dimensional coordinates indicated by the drilling plan coordinate data and the three-dimensional coordinates indicated by the drilling performance coordinate data exceeds a threshold value is made identifiable from a coordinate portion where the difference is within the threshold value, and is displayed in the three-dimensional image set on the display screen.
A curved hole drilling management device characterized by the above. A curved drilling management device that manages curved drilling, which drills holes from the ground surface at a position away from an existing structure toward directly below the existing structure,
an existing buried object coordinate data acquisition unit that acquires existing buried object coordinate data indicating three-dimensional coordinates of existing buried objects in a target area for curved hole drilling, which is input;
a drilling plan coordinate data acquisition unit that acquires drilling plan coordinate data indicating three-dimensional coordinates of a curved hole to be drilled, the three-dimensional coordinates being planned according to the acquired existing buried object coordinate data;
a drilling result coordinate data acquisition unit for acquiring drilling result coordinate data indicating three-dimensional coordinates where the curved hole is drilled;
a display control unit that displays, on a three-dimensional image set on a display screen, an image based on three-dimensional coordinates indicated by the acquired existing buried object coordinate data, an image based on three-dimensional coordinates indicated by the acquired drilling plan coordinate data, an image representing a set of coordinate positions that are at a distance within a threshold value determined as a management standard from the three-dimensional coordinates indicated by the acquired drilling plan coordinate data, and an image based on three-dimensional coordinates indicated by the acquired drilling performance coordinate data;
A curved hole drilling management device comprising: The display control unit is
The curved drilling management device of claim 1 or 2, characterized in that information regarding the risk of damage to the existing buried object is displayed on the display screen according to the difference between the three-dimensional coordinates indicated by the acquired existing buried object coordinate data and the three- dimensional coordinates indicated by the acquired drilling performance coordinate data. The existing buried object coordinate data acquisition unit further acquires attributes of the existing buried object,
The curved hole drilling management device described in any one of claims 1 to 3 , characterized in that the display control unit makes the attributes of the acquired existing buried object identifiable and displays them in a three-dimensional image set on the display screen. A determination unit is provided for determining a portion of the ground to be improved and/or a portion of the ground that has already been improved by the ground improvement work performed after the curved hole drilling,
The curved hole drilling management device described in any one of claims 1 to 4 , characterized in that the display control unit displays images of the identified planned ground improvement areas and/or actual ground improvement areas in a three-dimensional image set on the display screen. A curved drilling management method for managing curved drilling in which drilling is performed from the ground surface at a position away from an existing structure toward directly below the existing structure,
An existing buried object coordinate data acquisition step of acquiring existing buried object coordinate data indicating three-dimensional coordinates of existing buried objects in a target area for curved hole drilling, which is input;
A drilling plan coordinate data acquisition step of acquiring drilling plan coordinate data indicating three-dimensional coordinates of a curved hole to be drilled, the three-dimensional coordinates being planned according to the three-dimensional coordinates indicated by the acquired existing buried object coordinate data;
a drilling result coordinate data acquisition step of acquiring drilling plan coordinate data indicating three-dimensional coordinates of the planned drilling of the curved hole and/or drilling result coordinate data indicating three-dimensional coordinates of the curved hole drilled;
A curved drilling management method comprising: a display control step for displaying, in a three-dimensional image set on a display screen, an image based on three-dimensional coordinates indicated by the acquired existing buried object coordinate data, an image based on three-dimensional coordinates indicated by the acquired drilling plan coordinate data, and an image based on three-dimensional coordinates indicated by the acquired actual drilling coordinate data, wherein an image of a coordinate portion where the difference between the three-dimensional coordinates indicated by the drilling plan coordinate data and the three-dimensional coordinates indicated by the actual drilling coordinate data exceeds a threshold value is made identifiable from a coordinate portion where the difference is within the threshold value, and is displayed in the three-dimensional image set on the display screen . A curved drilling management method for managing curved drilling in which drilling is performed from the ground surface at a position away from an existing structure toward directly below the existing structure,
An existing buried object coordinate data acquisition step of acquiring existing buried object coordinate data indicating three-dimensional coordinates of existing buried objects in a target area for curved hole drilling, which is input;
A drilling plan coordinate data acquisition step of acquiring drilling plan coordinate data indicating three-dimensional coordinates of a curved hole to be drilled, the three-dimensional coordinates being planned according to the three-dimensional coordinates indicated by the acquired existing buried object coordinate data;
a drilling result coordinate data acquisition step for acquiring drilling result coordinate data indicating three-dimensional coordinates where the curved hole has been drilled;
a display control step of displaying, on a three-dimensional image set on a display screen, an image based on three-dimensional coordinates indicated by the acquired existing buried object coordinate data, an image based on three-dimensional coordinates indicated by the acquired drilling plan coordinate data, an image representing a set of coordinate positions that are at a distance within a threshold value determined as a management standard from the three-dimensional coordinates indicated by the acquired drilling plan coordinate data, and an image based on three-dimensional coordinates indicated by the acquired drilling performance coordinate data;
A curved hole drilling management method comprising:

Images