JP5512438B2 - Law shoulder tightness management device - Google Patents

Description

  TECHNICAL FIELD The present invention relates to a method for managing a firm shoulder compaction for compacting a shoulder portion of embankment and managing a compacted state.

  In recent years, there is a case where a trapezoidal dam body is constructed using CSG (Cemented Sand and Gravel) in consideration of economy. In such a construction, unlike the concrete placement by the conventional formwork, the CSG itself is spread over several layers and then compacted and compacted by a compacting machine such as a vibration roller. At this time, it is necessary to manage the compaction state of the rolling part. The conventional compaction management system manages the compaction state by counting the number of times of rolling for each place while measuring the self-running position of the compaction roller (for example, see Patent Document 1).

  On the other hand, the rolling roller is excellent for efficiently rolling a wide area, but if the shoulder portion at the end of the bank body is stepped and solidified, the shoulder portion collapses due to the weight of the rolling roller. For this reason, the shoulder portion has been compacted using a compacting machine provided with a rolling device at the tip of the arm of the backhoe (for example, see Patent Document 2).

JP 2004-36340 A JP 2009-280982 A

  In the compacting machine of Patent Document 2, a management system for managing the compacted state has not been established, and the present state is that the compacted state of the shoulder portion is managed by monitoring of an operator. However, since the management of the firm state of the shoulder portion is affected by the operator's sense and skill level, management with less error not required by the operator's monitoring is required.

  From such a point of view, an object of the present invention is to provide a method for controlling the shoulder compression of a shoulder capable of managing with high accuracy the tightening state of the shoulder portion of the embankment.

  The present invention, which was devised to solve such problems, comprises a compacting means for compacting the shoulder portion of the embankment, a moving means for supporting and moving the compacting means, and a position of the compacting means. Position measuring means for measuring, and management means for managing the state of compaction by the compaction means, the compaction means comprising a presser plate covering the shoulder portion, and the presser plate to the shoulder A rolling device that presses against the portion, and the moving means includes an arm that holds the compacting means at a tip, a boom that supports the arm in a tiltable manner, and a swivel that supports the boom in a tiltable manner. And a traveling unit that travels the swivel unit, and the position measuring means is provided on the arm, a position detecting means provided on the swivel part, an inclinometer provided on the boom, and the arm. Inclinometer and position of the swivel unit A position calculator for calculating the position of the compaction means at the tip of the arm from the tilt angle of the boom and the arm, and the management means is a compaction time for integrating the compaction time for each compaction location It is a law firmness management apparatus characterized by comprising a computer.

  In short, the present invention detects and measures the places to be compacted by the position measuring means, and integrates the compaction time for each place to be compacted by the compaction time calculator. According to the configuration of the present invention, it is possible to estimate the compaction state of the place by accumulating the compaction time for each compaction place while accurately grasping the construction position of compaction. In other words, it is possible to perform highly accurate management with few errors by quantitatively managing the compaction state of the shoulder portion by the compaction time. Furthermore, by managing by the compaction time, it is possible to confirm whether the compaction construction as designed is performed reliably. Further, since the position measuring means calculates the position of the clamping means at the tip of the boom from the position detecting means provided at the turning portion and the values of the inclinometers provided at the boom and the arm, respectively, the position detecting means is the compacting means. It can be arranged at a position away from the means. Therefore, it is difficult for vibration of the rolling device to be transmitted to the position detection means. As a result, the use environment of the position detecting means is improved and the service life can be extended.

  Moreover, in this invention, it is good also considering a pair of receiver for global positioning systems provided in the said turning part as the said position detection means.

  According to such a configuration, it is possible to accurately detect the direction facing the position coordinates of the turning unit from the detection position of the pair of global positioning system receivers. Further, the position coordinates of the clamping means at the tip of the arm can be accurately calculated from the position coordinates and direction data of the turning unit, the length data and the inclination data of the boom and arm.

  Furthermore, in this invention, you may comprise the said presser plate so that inclination is possible along the front-end | tip of the said shoulder part.

  According to such a configuration, the presser plate can be along the surface of the shoulder portion of various inclination angles, so that the entire surface of the shoulder portion can be uniformly rolled.

  In the present invention, the compacting means may be detachably attached to the arm.

  According to such a configuration, another device can be attached to the tip of the arm. For example, the concrete compaction state can be managed by attaching a vibrator for compacting the concrete to the tip of the arm and managing the vibration time (consolidation time).

  Moreover, in this invention, you may further provide the contact determination means which determines whether the said compaction means is contacting the said shoulder part.

  According to such a configuration, the compaction time can be counted in a state where the compaction means is securely in contact with the shoulder portion, so that the precise compaction time can be grasped and the control accuracy of the compaction state is improved. Further improvement.

  According to the present invention, an excellent effect is exhibited in that the compacted state of the shoulder portion of the embankment can be managed with high accuracy without monitoring by an operator.

It is the block diagram which showed the law firmness management apparatus which concerns on embodiment of this invention. It is the side view which showed the compaction means and movement means of the legal shoulder compaction management apparatus which concerns on embodiment of this invention.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a shoulder stiffness management apparatus according to embodiments of the present invention will be described in detail with reference to the attached drawings. In the present embodiment, a method for tightening shoulders will be described by taking as an example a case where a trapezoidal CSG dam is constructed.

  When constructing a trapezoidal CSG dam, the CSG is sprinkled every lift of a predetermined height (for example, 50 cm). CSG is spread using a bulldozer. Then, the flat part which entered the fixed distance inner side from the shoulder part of the CSG layer is compacted using a rolling roller wheel. The compacted state of the rolling roller wheel is managed by counting the number of rolling times for each location while measuring the self-running position of the rolling roller wheel. The rolling roller wheel is driven using, for example, an 11t roller and is subjected to a plurality of rotation pressures to complete the compaction.

  On the other hand, the shoulder portion performs compaction and management of the compacted state using the shoulder-shoulder compaction management device according to the present embodiment.

  As shown in FIG. 1, the shoulder compaction management apparatus 1 includes a compaction means 10, a movement means 20, a position measurement means 30, and a management means 40.

  The compacting means 10 is for compacting the shoulder portion 2 of the embankment. The fastening means 10 is detachably attached to an arm 21 that is a part of the moving means 20. As shown in FIG. 2, the compacting means 10 includes a pressing plate 11 that covers the shoulder portion 2 and a rolling device 12 that presses the pressing plate 11 against the shoulder portion 2. The presser plate 11 is formed by joining two plate members so that they can be bent. One of the two plate members is a horizontal plate 11a, and the other is an inclined plate 11b. The horizontal plate 11 a is placed on the upper horizontal surface of the shoulder portion 2. The inclined plate 11 b is placed on the slope of the shoulder portion 2. The inclined plate 11b is hinged to the end of the horizontal plate 11a and is configured to be tiltable with respect to the horizontal plate 11a. The inclined plate 11b is connected to a rod 13a of an expansion / contraction cylinder 13 fixed to the rolling device 12, and the inclination angle is determined by the amount of expansion / contraction of the expansion / contraction cylinder 13. The inclination angle of the inclined plate 11 b is adjusted to the inclination angle of the slope of the shoulder portion 2. The presser plate 11 is fixed by joining a horizontal plate 11 a to the rolling device 12.

  The rolling device 12 is supported at the tip of an arm 21 of a moving means 20 described later so as to be tiltable. The compaction device 12 vibrates by rotating an eccentric weight (not shown) by, for example, an electric motor (not shown). In addition, the structure of the compaction apparatus 12 is not limited to the said thing. For example, in the case of a large machine, rolling may be performed using a piston motion by a hydraulic cylinder.

  The moving means 20 supports the compaction means 10 and moves it to the compaction position. The moving means 20 of this embodiment uses what removed the bucket from the backhoe. The moving means 20 includes an arm 21 that holds the compacting means 10, a boom 22 that supports the arm 21 in a tiltable manner, a swivel portion 23 that supports the boom 22 in a tiltable manner, and the swivel portion 23 that travels. And a traveling unit 24. The traveling unit 24 employs an endless track system. The turning unit 23 includes a cab 23a, an engine (not shown), and the like, and is supported so as to be able to turn with respect to the traveling unit 24. The boom 22 is provided at the front end portion of the turning portion 23, and the boom 22 is connected to a rod 25 a of a boom cylinder 25 provided in the turning portion 23, and the boom 22 tilts by the expansion and contraction of the boom cylinder 25. . The arm 21 is provided at the tip of the boom 22 and extends downward. A rod 26 a of an arm cylinder 26 provided on the boom 22 is connected to the arm 21, and the arm 21 tilts as the arm cylinder 26 expands and contracts. The arm 21 is provided with a telescopic cylinder 27 for tilting the compacting means 10. The rod 27 a of the telescopic cylinder 27 is connected to the rolling compactor 12 via the link mechanism 28. As the telescopic cylinder 27 expands and contracts, the rolling device 12 tilts.

  The position measuring means 30 measures the position of the compacting means 10. As shown in FIG. 1, the position measuring means 30 includes a position detecting means 31 provided in the turning section 23, an inclinometer 32 provided in the boom 22, an inclinometer 33 provided in the arm 21, and a position calculator. 34.

  The position detection means 31 is a pair of receivers 35 and 35 for a global positioning system (hereinafter also referred to as “GPS (Global Positioning System)”) provided in the turning section. The GPS receiver 35 includes a receiving unit that receives signals (such as time data and satellite orbit information) transmitted from GPS satellites, and a measuring unit that measures position coordinates from the received signals. In the present embodiment, a GPS receiver 35 in which a receiving unit and a measuring unit are integrated is used. The pair of GPS receivers 35, 35 are arranged at a predetermined interval behind the cab 23 a of the turning unit 23. The relative positional relationship between the installation positions of the GPS receivers 35 and 35 and the turning center P1 of the turning unit 23 is input to the position calculator 34 in advance. The GPS receiver 35 is electrically connected to the position calculator 34, and transmits each position coordinate information to the position calculator 34. Note that the GPS receiver may be one in which the receiving unit and the measuring unit are configured separately. In this case, the receiving unit is disposed behind the cab 23 a of the turning unit 23, and the measuring unit is provided in the position calculator 34. The inclinometers 32 and 33 are electrically connected to the position calculator 34 and transmit the inclination angle information of the boom 22 and the arm 21 to the position calculator 34, respectively.

  The position calculator 34 is configured by a computer such as a personal computer or a workstation. The position calculator 34 calculates the position of the fastening means 10 at the tip of the arm 21 from the position of the turning unit 23 and the inclination angle of the boom 22 and the arm 21. Specifically, the position calculator 34 includes a turning unit position calculating unit 36 that calculates the position and orientation of the turning unit 23, and a compacting unit position calculating unit 37 that calculates the position of the compacting unit 10.

  The turning unit position calculation unit 36 includes a storage unit, a reception unit, a calculation unit, and a transmission unit. The storage unit stores a relative positional relationship between the position coordinates of the pair of GPS receivers 35 and 35 and the position coordinate of the turning center P <b> 1 of the turning unit 23. The receiving unit receives position coordinate information from each GPS receiver 35. The calculation unit calculates the position coordinates of the turning center P1 of the turning unit 23 and the direction of the turning unit 23 (the direction in which the preceding unit 23 faces). Specifically, the calculation unit calculates the position coordinate of the turning center P1 by applying the received position coordinate information of the pair of GPS receivers 35 and 35 to the expression of the relative positional relationship extracted from the storage unit. Further, the calculation unit calculates the direction in which the turning unit 23 faces from the received position coordinate information of the pair of GPS receivers 35 and 35. The transmission unit transmits the position coordinate information of the turning center P1 calculated by the calculation unit and the orientation information of the turning unit 23 to the clamping means position calculation unit 37.

  The compaction means position calculation unit 37 includes a storage unit, a reception unit, a calculation unit, and a transmission unit. The storage unit stores the relative positional relationship between the position coordinate of the turning center P1 of the turning unit 23 and the position coordinate of the base end of the boom 22, the length of the boom 22 (the distance between the tilt center of the boom 22 and the tilt center of the arm 21). ), The length of the arm 21 (the distance between the tilting center of the arm 21 and the tilting center of the clamping means 10), and the relative position between the tilting center of the clamping means 10 and the pressing surface of the pressing plate 11 are stored. . Note that the coordinates of each tilt center are the coordinates of the intermediate portion of each support pin. The position of the pressing surface of the pressing plate 11 varies according to the amount of expansion / contraction of the expansion / contraction cylinder 27. The receiving unit receives the position coordinate information and direction information of the turning center P1 of the turning unit 23 transmitted from the turning unit position calculating unit 36, the inclination angle information of the boom 22 from the inclinometer 32, and the arm 21 from the inclinometer 33. And the tilt angle information of. The calculation unit applies the position coordinate information of the turning center P1 of the turning unit 23, the inclination angle information of the boom 22 and the inclination angle information of the arm 21 to each piece of information in the storage unit, and the position of the holding surface of the holding plate 11 (tightening). The fastening position) by the fastening means 10 is calculated.

  Specifically, first, the position coordinates of the base end of the boom 22 (boom) are applied by applying the position coordinates of the turning center P1 of the turning unit 23 and the direction of the turning unit 23 to the expression of the relative positional relationship extracted from the storage unit. The coordinates of the intermediate portion P2 of the support pin (not shown) that supports the base end portion of 22 to the swivel portion 23 so as to be tiltable are calculated. Then, from the length and inclination angle of the boom 22 and the direction in which the turning portion 23 faces, the position coordinates of the tilt center of the boom 22 and the position coordinates of the tilt center of the arm 21 (the base end of the arm 21 is tilted to the boom 22). By calculating the relative positional relationship with the support pin (not shown) of the support portion (not shown) and the coordinate position of the base end of the boom 22, the position coordinate of the tilt center of the arm 21 is calculated. To do. Thereafter, the coordinate position of the tilt center of the arm 21 and the coordinate position of the tilt center of the compacting means 10 (the tilting member 10 is tilted to the arm 21 from the length and tilt angle of the arm 21 and the direction in which the swivel unit 23 faces). The relative positional relationship between the support pin (not shown) and the support pin (not shown) that can be supported is determined and added to the position coordinate of the tilt center of the proximal end of the arm 21, whereby the tilt center of the compacting means 10. The position coordinates of are calculated. Further, the tilt angle of the compacting means 10 is detected from the amount of expansion / contraction of the telescopic cylinder 27, and the position coordinates and the compaction position coordinates of the center of tilting of the compacting means 10 (planar coordinates of the lower surface of the horizontal plate 11a of the presser plate 12). Is calculated and added to the position coordinates of the tilting center of the compaction means 10 to calculate the compaction position coordinates. The transmission unit transmits the tightening position calculated by the calculation unit to the management unit 40.

  The management means 40 manages the compacted state by the compacting means 10. The management unit 40 includes a ground contact determination unit (not shown) and a compaction time calculator 41. The ground contact determination means determines whether or not the presser plate 11 is in contact with the compacted surface of the shoulder portion 2 at the time of rolling (whether or not the rolling is performed). The ground contact determination means includes a vibration accelerometer (not shown) provided in the compaction device 12. When the compacting device 10 is lowered to the compacted surface while the compaction device 12 is being operated and the presser plate 11 is brought into close contact with the compacted surface, the amplitude (acceleration) of the presser plate 11 is changed from the state of vibration excitation to the ground state. Since it changes at the point of time (it may decrease and increase depending on the ground), by monitoring and detecting the change in amplitude obtained by the vibration accelerometer, the presser plate 11 contacts the compacted surface. Can be determined.

  Note that the ground contact determination means may use a hydraulic meter provided in the telescopic cylinder 27 instead of the vibration accelerometer. In this case, when the compacting means 10 is lowered to the compacted surface and the presser plate 11 comes into close contact with the compacted surface, the presser plate 11 is pushed back by the reaction force from the compacted surface, and the hydraulic pressure of the telescopic cylinder 27 increases. Therefore, it is possible to determine whether or not the presser plate 11 is in contact with the compacted surface by monitoring the change in the hydraulic pressure obtained by the hydraulic gauge. Further, a touch sensor may be provided on the arm 21 or the fastening means 10 to directly detect grounding. Further, a plurality of devices such as a vibration accelerometer, an oil pressure meter, and a touch sensor may be provided to determine installation from a plurality of information.

  The compaction time calculator 41 includes a compaction time accumulation unit 43 and a management display unit 44. The compaction time integration unit 43 includes a storage unit, a reception unit, a monitoring unit, an integration unit, and a transmission unit. In the storage unit, a threshold value of the amplitude (acceleration) of the presser plate 11 is input and stored in advance. The threshold value is a numerical value for determining that the presser plate 11 is in contact with the compacted surface when the amplitude (acceleration) becomes smaller than that value. The receiving unit receives the compaction position information from the compaction unit position calculation unit 37 and the acceleration information from the ground contact determination unit. The monitoring unit monitors acceleration information (monitors the amplitude), and sends a command to start integration of the compaction time to the integration unit when the amplitude (acceleration) of the presser plate 11 becomes smaller than the threshold value. The monitoring unit continues monitoring the acceleration information thereafter, and sends a command to stop the integration of the compaction time to the integration unit when the vibration amount (acceleration) of the presser plate 11 becomes smaller than the threshold value. The accumulating unit accumulates the compaction time for each place to be compacted according to a command from the monitoring unit. The transmission unit transmits the integrated value of the compaction time to the management display unit 44.

  The management display unit 44 includes a storage unit, a reception unit, a time comparison unit, and a display unit. In the storage unit, a coordinate value indicating the entire range of the shoulder portion 2 and a time required for compaction until the compaction is completed are input and stored in advance. The time required for compaction is a time required for completion of compaction, and is appropriately set according to the composition of the CSG and the thickness of the CSG layer. The receiving unit receives the integrated value of the compaction time transmitted from the compaction time integrating unit 43. The time comparison unit compares the accumulated time with the required compaction time, and when the accumulated time reaches the required compaction time, sends information to that effect to the display unit. The display unit displays the integrated value of the compaction time for each compaction location, and displays that when the integrated value of the compaction time reaches the required compaction time. The worker confirms this and finishes the compacting operation. Further, the time comparison unit may compare the accumulated time with the necessary time for compaction to calculate the ratio of the accumulated time to the necessary time for compaction, and display this as a numerical value on the display unit. In this way, the operator can estimate the compaction state of the place from the accumulated compaction time by looking at the display on the management display unit 44. That is, it is possible to manage the compaction state such as what percentage of the compaction work is completed. As a result, it is possible to perform an appropriate compacting operation without excess or deficiency.

  In the compaction process of the present embodiment, the continuous compaction time at one compaction place is limited, and the work is performed so as to perform compaction while sequentially changing the compaction place. The continuous compaction possible time is a compaction time that does not cause a large step between adjacent compaction surfaces. This is to prevent a large level difference from an adjacent shoulder portion before compaction when continuously compacted for a long time at one compaction place. The continuous compaction possible time is appropriately determined according to the compaction performance of the compaction means 10 in consideration of the softness of the CSG layer.

  That is, the management display unit 44 sets and stores the continuous compaction time at one compaction place, and the time comparison unit compares the continuous compaction time with the continuous compaction time, and continuously When the compacted time reaches the continuous compactable time, a message to that effect is displayed. In this way, it is possible to prevent the worker who sees the display from changing a tightening place to generate a large step in the shoulder portion 2. Furthermore, it is possible to prevent the surrounding ground from collapsing by continuously rolling one place for a long time.

  Next, the process of compacting the shoulder part 2 using the shoulder compaction management apparatus 1 having the above configuration will be described.

  When the shoulder portion 2 is compacted, the moving means 20 is caused to travel to a side position at a certain distance from the shoulder portion 2 and the turning portion 23 is turned toward the shoulder portion 2, and the boom 22 and the arm 21 is appropriately inclined so that the compacting means 10 is positioned on the shoulder portion 2. At this time, the telescopic cylinder 13 is expanded and contracted so that the inclined plate 11 b of the presser plate 11 follows the inclined surface of the shoulder portion 2.

  At this time, the position computer 34 calculates the position coordinates of the turning center P1 of the turning unit 23 and the orientation of the turning unit based on the position information from the GPS receiver 35, and further, the information and the inclination of the boom 22 and the arm 21. The coordinates of the compaction position by the compaction means 10 are calculated from information such as the angle. As described above, the position detection means 31 (GPS receiver 35) is disposed at a position away from the fastening means 10, and the tip of the boom is detected from the detection values of the inclinometers 32 and 33 provided on the boom 22 and the arm 21, respectively. Therefore, the position coordinates of the compacting means 10 can be calculated while the position detecting means 31, which is a precision machine, is arranged at a position away from the compaction device 12 where the vibration is large. Therefore, since the vibration of the rolling device 12 is not easily transmitted to the position detection means 31 that is a precision machine, the use environment of the position detection means 31 is improved and the service life can be extended.

  Thereafter, the compaction means 10 is lowered while being operated, and the change in acceleration obtained by the vibration accelerometer is monitored (monitoring the amplitude) by the monitoring unit of the compaction time calculator 41, and the presser plate 11 is placed on the compacted surface. Determine if you are grounded. Then, the integration unit starts integration of the compaction time from the time when the compacting means 10 comes into close contact with the compacted surface. In the compaction time calculator 41, the compaction time is accumulated for each compaction position transmitted from the position calculator 34.

  In this embodiment, in order to approximate the compaction state with the adjacent compaction sites, the compaction is not performed continuously for a long time, but the continuous compaction time is limited and the compaction is performed. Do the solid work in several steps. Therefore, when the continuous compaction time reaches the preset continuous compaction time, the management display unit 44 of the compaction time calculator 41 displays that fact on the display unit. The worker who has confirmed this operates the moving means 20 to move the compacting means 10 to the adjacent compaction place 3 (indicated by the one-dot chain line in FIG. 1). By repeating the above operations sequentially, the entire shoulder portion 2 is compacted. At this time, the compacting operation is performed in a plurality of times and gradually performed while moving to the adjacent compaction place, so that it is possible to prevent a large step from occurring in the adjacent shoulder portion 2 before compaction. .

  Eventually, when the integrated value of the compaction time at each compaction location reaches the compaction required time, that fact is displayed on the management display unit 44 of the compaction time calculator 41. This is confirmed by the worker, and the compaction work at the compaction site is completed.

  As described above, the compaction state of the shoulder portion 2 is obtained by adding up the compaction time for each place to be compacted by the compaction time calculator 41 and estimating the compaction state at that place from the accumulated compaction time. Therefore, this management can be quantitatively managed numerically without depending on the monitoring of the worker. Therefore, the same result can be obtained regardless of who performs management, and high-accuracy management that is mechanical and has few errors can be performed. Furthermore, by managing by the compaction time, it is possible to confirm whether the compaction construction as designed is performed reliably.

  Moreover, in this embodiment, since the position detection means 31 is a pair of GPS receivers 35 and 35, the position information can be obtained accurately and easily. As a result, the direction facing the position coordinate of the swivel unit 23 and the position coordinate of the clamping means 10 at the tip of the arm 21 can be accurately calculated.

  Furthermore, since the presser plate 11 is configured to be tiltable along the tip of the shoulder portion 2, the presser plate 11 can be brought into close contact with the surface of the shoulder portion having various inclination angles. The entire surface of the shoulder portion 2 can be uniformly rolled.

  Further, by providing the ground contact determination means, the compaction time can be counted from the state in which the compaction means 10 is reliably grounded to the shoulder portion 2. Therefore, an accurate compaction time can be grasped, and the management accuracy of the compacted state is further improved.

  Further, since the fastening means 10 is detachably attached to the arm 21, another device can be attached to the tip of the arm 21. For example, if a concrete compaction vibrator is attached to the tip of the arm 21, it can be applied to concrete compaction by managing the vibration time of the vibrator.

  As mentioned above, although the form for implementing this invention was demonstrated, this invention is not the meaning limited to the said embodiment, A design change is possible suitably in the range which does not deviate from the meaning of this invention. For example, in the present embodiment, two GPS receivers 35 are used as the position detection means 31, but the present invention is not limited to this. For example, an automatic tracking type total station (TS) may be separately provided and two target mirrors may be provided in the turning unit, or one GPS receiver and a gyrocompass may be provided.

  Further, the moving means 20 is not limited to the one obtained by removing the bucket from the backhoe, and may be another device.

DESCRIPTION OF SYMBOLS 1 Shoulder compaction management apparatus 2 Shoulder part 10 Clamping means 11 Plate 12 Rolling device 20 Moving means 21 Arm 22 Boom 23 Turning part 24 Traveling part 30 Position measuring means 31 Position detecting means 32 Inclinometer 33 Inclinometer 34 Position Calculator 35 GPS receiver (global positioning system receiver)
40 management means 41 compaction time calculator

Claims (5)

The compaction means for compacting the shoulder portion of the embankment, the moving means for supporting and moving the compaction means, the position measuring means for measuring the position of the compaction means, and the compaction status by the compaction means Management means to manage,
The compaction means includes a pressing plate that covers the shoulder portion, and a rolling device that presses the pressing plate against the shoulder portion,
The moving means includes: an arm that holds the compacting means at a tip; a boom that supports the arm so that the arm can tilt; a turning unit that supports the boom so that the boom can tilt; and a traveling unit that runs the turning part. Configured with
The position measuring means includes a position detecting means provided in the turning portion, an inclinometer provided in the boom, an inclinometer provided in the arm, a position of the turning portion, and an inclination of the boom and the arm. A position calculator for calculating the position of the clamping means at the tip of the arm from an angle,
The management means comprises a compaction time calculator that accumulates compaction time for each compaction location. The method according to claim 1, wherein the position detection unit is a pair of receivers for a global positioning system provided in the turning unit. The said shoulder plate is comprised so that it can incline along the front-end | tip of the said shoulder part. The shoulder stabilization management apparatus of Claim 1 or Claim 2 characterized by the above-mentioned. The said shoulder compaction means is detachably attached to the said arm. The legal shoulder compaction management apparatus of any one of Claim 1 thru | or 3 characterized by the above-mentioned. 5. The shoulder stabilization management according to any one of claims 1 to 4, further comprising a ground contact determination unit that determines whether or not the tightening unit is in contact with the shoulder portion. apparatus.

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