Press-in method, press-in system, and program

A press-in system comprising:

• a press-in machine;
• and
• a measurement management device disposed apart from the press-in machine and configured to perform communication with the press-in machine,
• wherein the press-in machine includes
• a chuck configured to grip a pile,
• a saddle to which a plurality of clamps configured to hold an existing pile to obtain a reaction force from the existing pile are attached,
• a turnable mast configured to move back and forth with respect to the saddle and supporting the chuck,
• a sensor configured to detect a position of the chuck, and
• a control unit configured to control operations of the chuck, the mast, and the saddle,
• the measurement management device is configured to measure a position of the pile gripped by the chuck to acquire first position information of the pile in an objective coordinate system,
• the sensor is configured to detect the position of the chuck to acquire second position information of the pile in a subjective coordinate system that is based on an advancing direction of the saddle,
• the control unit or the measurement management device is configured to generate a command related to an operation of the press-in machine for moving the pile to a target position by using the first position information and the second position information,
• the press-in machine is configured to operate based on the command, to move the pile gripped by the chuck to the target position, and to press the pile into a ground,
• the press-in machine and the measurement management device are configured to perform communication of at least the first position information, and
• an origin of the subjective coordinate system is a turning central axis of the mast at the time the mast is located farthest backward with respect to the saddle.

A non-transitory computer-readable storage medium storing a program causing a computer, the computer being included in a press-in system provided with a press-in machine and a measurement management device, the press-in machine including a chuck configured to grip a pile, a saddle to which a plurality of clamps configured to hold an existing pile to obtain a reaction force from the existing pile are attached, and a turnable mast configured to move back and forth with respect to the saddle and supporting the chuck, to execute:

• a process of measuring a position of the pile gripped by the chuck in an objective coordinate system by the measurement management device;
• a process of causing the measurement management device and the press-in machine to perform communication of at least first position information of the pile in the objective coordinate system;
• a process of generating a command related to an operation of the press-in machine for moving the pile to a target position by using the first position information and second position information on a position of the chuck in a subjective coordinate system that is based on an advancing direction of the saddle and whose origin is a turning central axis of the mast at the time the mast is located farthest backward with respect to the saddle;
• a process of operating the press-in machine based on the command to move the pile gripped by the chuck to the target position;
• and
• a process of pressing the pile into a ground at a position of the pile after movement.