AU2023251510A1 - Earth boring device and method for monitoring a region of an earth boring device - Google Patents

Abstract

The invention relates to an earth boring device for introducing in a rotating, pushing and/or pulling manner a boring string into the ground, with a operating part, in particular a remote control, for controlling functions of the earth boring device, and a monitoring 5 device for monitoring a presence and/or a movement, in particular of a person, in a region between an entry of the boring string into the ground and an exit of the boring string from the earth boring device, wherein the monitoring device has sensors, the signal of which is used to send a signal to a display and thus trigger an adjustment of the display in case of the presence and/or a movement, in particular of a person. 33 1/2 1 10 4 15 169 25 20 3 Fig. 1 12 6 15 55 11 20 Fig. 2

Description

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"Earth boring device and method for monitoring a region of an earth boring device"

The invention relates to an earth boring device for introducing in a rotating, pushing

and/or pulling manner a boring string into the ground and to a method for monitoring a

region of an earth boring device for introducing in a rotating, pushing and/or pulling

manner a boring string into the ground.

Earth boring devices are normally operated by several operators. In particular, an

operator in a driver's cab, which is usually designed as an operator's cabin, is required to

monitor the region of the earth boring device and the immediate surroundings around the

earth boring device, so that in particular the boring string can be monitored in the region

where it exits the earth boring device and enters the ground. It is necessary to monitor

this region because the boring string, which is moving with great force, can pose a danger

to anyone in its vicinity.

The object of the invention is therefore to create an earth boring device and a method

with which the effort for introducing an earth boring using the earth boring device can be

reduced, in particular the effort in the form of providing a smaller number of operating

and/or monitoring personnel, wherein alternatively or additionally the monitoring process

can be simplified for the operator.

The object is achieved by the subject matters of the independent claims.

Advantageous embodiments are the subject of the respective dependent claims and the

description.

According to an aspect of the invention, a first core idea of the invention is to provide

both a monitoring device which is designed to detect a presence and/or a movement, in

particular of a person, in the region of the earth boring device, as well as, when the

monitoring device responds to a possible danger due to the presence and/or a movement

in the region, to display to the operator or the machine operator on a display a

corresponding representation of the danger or the region representing a danger. The

operator carrying out the current monitoring does not have to be in or near the region in which the hazard can occur and/or has occurred. Using the display, the user can observe the region of the boring string from which a danger could arise and, for example, before restarting the earth boring device, make sure that there is no longer a danger without having to get to or into the monitored region. In particular, the operator who controls the earth boring device can stay at a distance from the earth boring device in order to be present at a location under which the earth boring passes or in the target pit. It can be provided that when the monitoring device reacts, the earth boring device is brought into a safe state, for example by switching the boring string off and an image of the boring string in the region is displayed on the display. By adapting the display, it is possible to provide a sufficiently large display for imaging the region, in which further information about the operation of the earth boring device is displayed in a reduced manner or not displayed.

Essentially the entire area of the display can be used to display the image of the region.

The earth boring can therefore be carried out more safely, quickly, with lower costs and/or

less effort. Additional benefits for the organization using the earth boring device are

possible.

There is a synergistic effect from the monitoring device and the display, which in

particular leads to easier and safer machine operation. The use of a monitoring device

and a display can mean that the operator is (initially) not distracted from the actual work

of monitoring the machine functions, but in the event of danger it can alert and stop

dangerous or risky movements (e.g. rotation, feed, clamping), in particular by means of a

safety control, and can enable a good, especially large, display of the region which is to

be monitored or which is at risk. A representation of the region to be monitored does not

therefore have to be shown constantly on the display, but only after/during a response by

the monitoring device.

According to a further aspect of the invention, a second core idea of the invention is

to provide a monitoring device on the earth boring device, which can be switched between

two ranges or between two opening angles with regard to a range to be monitored and/or a solid angle, for example in order to be able to meet different requirements. Although monitoring with regard to a risk to a person is possible by means of the monitoring device, which should be carried out as safely as possible, an adjustment is possible, which can be changed according to the respective configuration of the region to be monitored.

Despite the possibility of adaptation, safe use of the monitoring device may be possible

since, for example, adaptation is only possible through qualified authorization. For

example, the earth boring device can be used in different environments. It may be possible

to hide obstacles during monitoring. The possibility of adjustment means that the earth

boring can be created more safely and flexibly. This further aspect also results in

additional or alternative benefits for the company using the earth boring device.

The aspects mentioned can be combined with one another in an advantageous

manner - also in the embodiment described in the description - so that additional

advantages can arise.

The invention relates to an earth boring device for introducing in a rotating, pushing

and/or pulling manner a boring string into the ground, with an operating part, in particular

a remote control, for controlling functions of the earth boring device, and a monitoring

device for monitoring a presence and/or a movement, in particular of a person, in a region

between an entry of the boring string into the ground and an exit of the boring string from

the earth boring device, as well as in particular in the region of a clamping, wherein the

monitoring device has at least one sensor, the signal or signals of which is/are used to

send a signal to a display and thus trigger an adjustment of the display in case of the

presence and/or a movement, in particular of a person.

The region that can be monitored can include a region in which potentially dangerous

or risky movements (e.g. rotation, feed, clamping) can occur. A potentially dangerous

movement can be the movement of the boring string, so that a region between an entry

of the boring string into the ground and an exit of the boring string from the earth boring

device can be focused on. The region can also include a region of a clamping for the boring string, since the clamping can also potentially pose a risk to a person. A synergistic or simplifying effect was recognized in that potential dangers or sources of danger to be monitored can be meaningfully summarized. For example, in relation to a clamping of the boring string, a detection region, monitoring region or virtual protective fence can be established or defined on both sides along the longitudinal axis of the boring string or transversely to the clamping using the sensor or sensors. Since the boring string is necessarily guided through the clamping, an arrangement of one or more sensors in the region of the clamping can offer an advantage. For example, a first sensor oriented toward the boring string's entry into the ground can "shield" the boring string from potential hazard sources laterally in the region of the clamping, and another sensor oriented toward the earth boring device can "shield" the boring string from potential hazard sources laterally in the region of the clamping or detect a person entering into a defined detection region.

For the purposes of the description, the term "monitoring device" includes a device

that is designed to monitor a presence and/or a movement, in particular of a person, in a

region between an entry of the boring string into the ground and an exit of the boring string

from the earth boring device, wherein in particular an edge region along the boring string

can be monitored. In an embodiment, the region on both sides of the boring string can be

monitored using a substantially vertically oriented detection region of a sensor. It can also

be provided that the region with the boring string can be monitored by means of a

detection region designed as a screen above the boring string, wherein the detection

region can be aligned essentially horizontally. It can also be provided that a substantially

vertically oriented detection region can be combined with a substantially horizontally

oriented detection region. The region with the boring string can in particular be monitored

in such a way that an entry region into the region of the boring string to be monitored is

detected and a presence and/or movement in this region can be detected. The monitoring

device can specify one or more detection regions in which a presence and/or a movement,

in particular of a person, can be detected. By means of the monitoring device, it is possible to monitor access or intervention in the entry region and/or detection region, so that the elements of the earth boring device that endanger a person lie within the detection regions and/or entry regions. In particular, a person can be protected from elements of the earth boring device that potentially endanger the person's health if the person comes into contact with them. The elements of an earth boring device that potentially endanger a person's health can include the boring string (outside the ground) and a device that at least partially clamps the boring string (clamping), with which the boring string that has already been drilled into the ground can be clamped when changing the rod. The clamping can also be partially present within the earth boring device, wherein access to the clamping is potentially possible through the passage of the boring string from the earth boring device. It is therefore also interesting to monitor this region.

For the purposes of the description, the term "substantially vertically oriented"

comprises an orientation that has a greater extent in the vertical direction than in the

horizontal direction. For the purposes of the description, the term "substantially

horizontally oriented" comprises an orientation that has a greater extent in the horizontal

direction than in the vertical direction.

The detection region(s) specified by the monitoring device may include one or more

"virtual protective fences" around the region of the boring string and/or the clamping for

the boring string. The virtual protective fence(s) can be understood as an entry region to

the region to be monitored, and it can be detected if there is a presence and/or movement

at the protective fence or in the entry region. A detection region can be bound at the end

essentially by the earth boring device or by the sensor arranged on the earth boring

device. A detection region may extend substantially parallel to the boring string. It can be

provided that several detection regions complement each other in such a way that the

region to be monitored is essentially closed in one plane. It can be provided that the region

to be monitored is surrounded on the edge by detection regions and possibly generally

insurmountable obstacles, such as the earth boring device.

The detection region or detection regions can begin above the ground from a height

of 10 cm, preferably a height of 20 cm, most preferably at a height of 30 cm and extend

in height along the direction of gravitational acceleration.

The detection region or the detection regions can have an expansion so that the

detection region, in particular in a view from above when used as intended, is narrower in

the region of the sensor than at a distance from the sensor. The expansion can be

described by means of one or more opening angles of the sensor, wherein, when multiple

opening angles are specified, the opening angles specified relate to the extensions in the

plane or in different planes. It can be provided that an opening angle in the vertical plane

is in the range of 150 to 250, particularly preferably in the range of 170 to 230, most

preferably 200. Alternatively or additionally, the sensor can be aligned with the opening

angle inclined to the horizontal, in particular inclined upwards, so that the largest possible

detection region can be provided.

It is possible to align the detection regions by means of two sensors, which are

arranged on both sides along the boring string at the edge of the monitoring region and

have an expansion or an opening angle, in such a way that the expansion at a distance

from the earth boring device allows a closing in with a gap or even an overlap of the two

respective detection regions, so that a contiguous entry region essentially surrounding the

region or boring string can be created at least in a plane in which detection of a presence

or a movement, in particular of a person, can be provided.

The term "presence" in the sense of the description includes a response of the sensor

by it receiving a signal. A positive detection or response of the sensor is detected and a

sensor signal can indicate that "something" is present or has been detected in the

detection region. The procedure can be chosen so that when the monitoring device and

the earth boring device are switched on, the operator is convinced that the region to be

monitored and/or the detection region(s) are clear and the earth boring is then introduced.

The term "movement" in the sense of the description comprises a change in such a

way that the sensor or sensors can be designed for motion detection. For example, based

on a sequence of signals from the sensor or from sensors that detect detection regions

that are at a different distance from the boring string, an approach of a person to the

boring string can be detected if first a signal relating to a detection region further away

from the boring string and then a signal in a detection region arranged closer to the boring

string are detected.

For the purposes of description, the term "sensor" means a sensor that can be used

to monitor a region or (entry) and/or protection region. The sensor can be designed to

monitor a region, in particular a preset region, in such a way that the presence of a person

and/or an object in the region can be detected. For example, it may be possible to detect

a reflection of a primary or output signal at an interface (in particular between gaseous

and solid) in the region, wherein the detection of a reflection lets assume the presence of

a person and/or an object. The sensor can in particular detect electromagnetic or acoustic

radiation or waves that are reflected and/or emitted by a person or an object in the region.

For example, the sensor or sensors can be laser sensors, ultrasonic sensors or other, in

particular similar, optical or acoustic sensors, in particular imaging sensors, or mixed

forms thereof.

It is possible that (at least) one of the sensors can be designed as a radar sensor.

Radar sensors are usually well protected against external influences such as dust, dirt,

rain, light or vibrations (harsh environment) and are therefore suitable for use in

monitoring an earth boring device. Sensors designed for monitoring a (spatial) region or

detection region can usually define a region or (protected) space based on their structure.

The region or (protected) space can depend on the arrangement, height and inclination

of the sensor and/or how it sends and/or receives signals. A sensor in the sense of the

description can usually emit a so-called primary signal, in particular as a bundled

electromagnetic wave, and can receive the echo reflected from objects as a secondary signal. The presence of a secondary signal may be sufficient to detect presence in the detection region. Alternatively or in addition, a "controller" can evaluate a signal of the sensor, e.g. a controller can evaluate a primary and/or secondary signal according to various criteria.

By means of a sensor that is designed to detect the inclination of the earth boring

device, the sensor for detecting the protective space can be adjusted in terms of its

(detection) range and/or opening angle. In general, if a greater inclination of the earth

boring device is detected, a reduced range setting is applied. The sensor for detecting the

inclination of the earth boring device can assist the user in adjusting the range and/or the

opening angle by displaying the inclination of the earth boring device and/or a range

and/or opening angle that matches the inclination. Alternatively or additionally, provision

can be made for the range and/or opening angle to be adjusted automatically without the

user having to do anything. For the automatic adjustment of the range and/or the opening

angle - without user intervention - a control can determine an inclination of the earth boring

device using the sensor for detecting the inclination of the earth boring device, wherein

the sensor for detecting the inclination of the earth boring device can provide signals that

can correspond to the inclination of the earth boring device, and from specifications as to

how the range and/or the opening angle should be selected when an inclination is

detected, the control can adjust the range and/or the opening angle indirectly or directly.

The control, which can be connected to the sensor for detecting the inclination, can, for

example, also be connected to the controller for the sensor or sensors and therefore

perform the settings.

It can be provided that the control is included in the controller for the sensor, ie the

control can be part of the controller. It is also possible that the sensor for the inclination of

the earth boring device is part of the controller or is integrated into it. It can also be

provided that the control is part of the control of the earth boring device and/or the sensor

for detecting the inclination of the earth boring device is present separately.

In the sense of the description, the term "sensor" also means a motion detector, which

detects movements in its vicinity as an electronic sensor and provides a signal in case of

detection. In this respect, a "sensor" means, alternatively or in addition, a sensor working

with electromagnetic waves (HF, microwaves or Doppler radar) or with ultrasound

(ultrasonic motion detector) (emitting and/or receiving sensor). Alternatively, or in addition,

the "sensor" designed as a motion detector may be realized as a Pyroelectric Infrared

Sensor (PIR sensor), which works passively on the basis of infrared radiation from a

person and the environment.

As mentioned above, the term sensor includes a radar sensor that can be designed to

be variable in terms of detection width and/or (detection) range. The sensor, in particular

designed as a radar sensor, can be designed to be intelligent, so that the sensor can be

designed to monitor an adjustable detection region.

In the sense of the description, the "monitoring device" can also have one or more

"controllers" that are functionally coupled to the sensor(s), which evaluate the signal from

the sensors and/or control the sensors. A possibly existing "controller" can be considered

as an evaluation unit and/or adjustment unit, e.g. for the setting of the detection region for

which the sensors are to be considered.

For the purposes of the description, the term "region between an entry of the boring

string into the ground and an exit of the boring string from the earth boring device" includes

the portion of the boring string that is present in the region of the earth boring device both

outside the earth boring device and outside the ground. The "region between an entry of

the boring string into the ground and an exit of the boring string from the earth boring

device" can be extended to a region of a clamping of the boring string, which is used, for

example, when changing the rods.

The earth boring device usually has a carriage and a drive element. The carriage

stabilizes the earth boring device. The term " carriage", in terms of the invention, includes

any kind of frame, truss or support, which is capable of stabilizing an earth boring device.

The earth boring device can be aligned more precisely using the carriage[ and if

necessary a recoil can be reduced.

A movement can be imposed on the boring string by means of the drive element. The

drive element can be part of a "drive". The drive can be designed as a linear drive. The

drive can also be designed as a rack and pinion drive. In particular, the drive can have

hydraulic cylinders as a drive source. Usually the boring string is essentially still

surrounded by the earth boring device in the region of the drive element and is not directly

accessible to a person. Along the boring string, it exits the earth boring device and enters

the ground. This region can be monitored for possible hazards. As stated in the

O description, the region itself can be monitored directly or indirectly via adjacent or

peripheral access or entry regions which at least partially surround the region with the

boring string.

If it is described that the signal or signals of the at least one sensor of the monitoring

device are used to send a signal to a display in the event of a presence and/or movement,

in particular of a person, and thus trigger an adjustment of the display, this means that

the signal from the sensor or sensors can be used directly (immediate forwarding of the

signal) to trigger the adjustment of the display and/or to achieve a safe state of the earth

boring device. Alternatively or in addition, the signal of the sensor or sensors can be

evaluated and/or changed, e.g. amplified, to use a different or modified signal (indirect

"forwarding" of the signal) to trigger the adjustment of the display and/or to achieve a safe

state of the earth boring device. An indirect "forwarding" of the signal of the sensor or

sensors can be achieved by means of a safety control.

For the purposes of the description, the term "safety control" comprises a control that

is functionally coupled to the earth boring device and the monitoring device, in particular

the controller(s), which when a sensor or the monitoring device performs a "response",

which can be indicated by a signal from the sensor and/or the controller, transfer the earth

boring device to a safe state, ie the earth boring device can be brought into an operating state in which the boring string is not driven by the drive. The safety control can be implemented by a controller that monitors the sensor(s) with regard to their response and/or their settings.

The "safe state" of the earth boring device can be a standby state, a rest state or a

switched off state (in which restarting is possible using the operating part) of the earth

boring device. The safety controller can be a mobile-compatible controller that can

perform safety-critical functions through an operating system. The safety control may be

present within the earth boring device. For example, an output of a radar controller can

be connected to an input of the safety control and as soon as an alarm is to be triggered,

electrical and hydraulic components of the earth boring device can be brought into a state

via the outputs of the safety control so that further danger to the earth boring device or

the boring string can be prevented.

It can be provided that, in addition to transferring the earth boring device to a safe

state, the safety control also sends a signal to the earth boring device, so that a haptically

perceptible feedback, an acoustic and/or visual display is sent out by the earth boring

device. For example, a horn and/or a rotating beacon can be switched on, on the earth

boring device. It is also possible for the haptically perceptible feedback to be output to the

operator on an input device. For example, an element that can be actuated by an operator,

in particular a control stick, can be subjected to a vibration and/or another haptically

perceptible movement or movement lock.

It can be provided that the monitoring device or the at least one sensor can be switched

off or deactivated, for example in order to carry out work directly on the earth boring device

and/or perform a tool change. Switching off the monitoring device or the at least one

sensor can be reduced to an operation in or on the driver's cab or the cabin of the earth

boring device in order to ensure that the operator who wishes to switch it off or deactivate

it is on site at the earth boring device and sees the region that is otherwise monitored by

the monitoring device.

The term "functionally coupled" in the sense of the description includes a connection,

in particular a unidirectional or bidirectional connection, in particular to exchange signals,

in particular to send and receive them mutually, whereby the term "mutually" also includes

simultaneous sending and receiving by a controller, a device or the like. The functional

coupling can take place directly or indirectly through the interposition of further elements

or devices.

The term "earth boring device" in the sense of the description includes one (and thus

any) device which, in particular, moves a boring string having rod sections in a channel in

particular in the ground, which channel is already existing or has to be created, in order

to create or widen an earth boring, in particular a horizontal boring (HD), or pull pipelines

or other long bodies into the ground. The earth boring device can in particular be an HD

device. The term "HD" (horizontal boring) in the sense of the present description includes

in particular a boring or channel or pipeline to be introduced that is at least partially

horizontal. An earth boring device can therefore be a device that drives a boring string,

which works to displace the ground and introduces the boring string into the ground in a

translational and/or rotational manner in the longitudinal axial direction of the boring string.

An earth boring can be introduced into the ground by applying tension or pressure to the

boring string, wherein the boring string can also be rotated.

The term "boring string" as used in the description includes several interconnected rod

sections. An earth boring can be carried out by means of a boring string, which can have

a boring head at its front end and an optionally present boring head tip, which can be

designed as a boring tool (for example as an expansion head).

In the sense of the description, the term "rod section" does not exclusively include

rigid, individual force transmission elements that can be connected to one another

indirectly or directly and which can be used in an earth boring device.

For the purposes of the description, applying a rotation or a torque to the boring string

is understood to mean a rotation that only partially completes a full rotation of the boring string, so that a rotation is also included in which the boring string only rotates through an angular range around the longitudinal axis of the boring string that is smaller than 3600.

The rotation can occur continuously in one direction around the longitudinal axis. It is also

possible that the direction of rotation about the longitudinal axis can be reversed.

The term "operating part" in the sense of the description includes any electrical or

electronic device that is suitable for converting an input from an operator into an electrical

signal, which can be transmitted without being further processed or with the interposition

of processing of the signal, in particular processing in one or several circuits, for example

in an amplifier, to a control device of the earth boring device in order to serve as an input

or as an input signal of the control device. The operating part can be understood as an

interface between an operator and the control device. The operating part can have a

portable power supply, in particular in the form of one or more batteries, accumulators or

the like.

The operating part can in particular have a processor which is designed as a

computing unit with electronic circuits in order to execute commands. The processor can

be programmed and is designed to process commands. The operating part can have an

operating system which can be modified, for example, to improve and/or adapt to changes

in an earth boring device. In particular, a change to the operating system can only be

permitted if a password is provided and/or the operating part is connected to a computer

interface, a dongle or similar. In particular, the processor can recognize, query, process,

forward input from an operator in the form of parameters and/or process further

commands of a program. The processor can execute a program that queries or receives

input from an operator, processes the operator's input, sets settings for the operator's

input, transmits the input to the control device and/or receives, processes and/or

implements signals from the control device.

A "remote control" as described, in particular as an operating part of the earth boring

device, shall include an electrical or electronic handheld device suitable for controlling the operation of the earth boring device by entering a parameter at a distance from the earth boring device. For the purposes of the description, "at a distance from the earth boring device" is to be understood as meaning that direct input using a device attached to the earth boring device is not necessary. In particular, an operator outside the driver's cab of the earth boring device can control the operation of the earth boring device by entering a parameter for the operation of the earth boring device. It is preferred that the remote control is designed as a wireless remote control, namely without a cable between the operating part and the earth boring device during operation. However, it can also be provided that the operating part is designed as a wired remote control.

The term "control device" in the sense of the description comprises an embodiment of

a control by means of which a guided influence on the earth boring device during or for

operation, namely during the execution or for starting or stopping an earth boring, is

possible. The control device can in particular be designed electrically or electronically.

The parameters entered by the operator for controlling functions of the earth boring device

can be used by the control device - if necessary converted and/or processed into electrical

signals - as inputs for the operation of the earth boring device. The earth boring device

can thus be operated or controlled by entering a parameter, which may have been

converted into an electrical signal.

A "parameter" in the sense of the description is understood to be an input with which

a guided influence on the operation of the earth boring device is possible in order to be

able to control or execute a function of the earth boring device. The parameter can be

transmitted to the control device as an input signal, by means of which the control device

controls the operation of the earth boring device. A parameter can, for example, cause a

boring start or a boring stop by the earth boring device. For example, it is possible for an

operator to enter the "Start" parameter and to transmit an input signal linked to the input

to the control unit, which causes the boring to start. In an analogous manner, an operator

can enter the "Stop" parameter and a corresponding input signal associated therewith can be transmitted to the control device, which stops boring carried out with the earth boring device. Further parameters that influence or change the operation of the earth boring device or its functions are possible, these parameters being entered by an operator and converted into an input signal by the operating part and transmitted to the control device.

Entering the at least one parameter can involve (a) adjusting a torque and/or speed

applied to a boring string of the earth boring device, (b) adjusting a linear feed force and/or

linear feed speed applied to a boring string, (c) adjusting a percussion frequency of a

percussion piston, (d) adjusting a percussion amplitude of a percussion piston, (e)

adjusting a flow rate and/or pressurization of a flushing fluid, (f) executing a rod change,

(g) carrying out a rod lubrication and/or (h) a change of a boring head type. This can be

performed by taking into account the relevant rod. In particular in the case of a double

pipe rod, the torque and/or the speed can be selected independently for an inner pipe rod,

so that for a double pipe rod both the torque and/or speed can be set for the inner pipe

rod and/or the outer pipe rod. This allows essentially any input to be made that may be

relevant to the boring operation of the earth boring device. In addition to starting or

stopping boring by the earth boring device, the aforementioned parameters can be

transmitted to the control device.

In order to adjust a torque/speed applied to the boring rod in the earth boring direction,

the control device can transmit a signal to the drive of the earth boring device, which is

connected to the boring rod, depending on the parameter entered by the operator using

the operating part, so that the torque/speed selected by the operator can be adjusted. The

parameter can be a signal that corresponds to the magnitude of the torque/speed. By

setting a linear advance of the boring rod, both the force or the pressure and/or speed

with which the drive acts on the boring rod connected to the drive can be adjusted.

Adjusting the linear feed may also comprise whether the linear feed is a pulling or pushing

force, that is, whether the boring string is being pulled or pushed through the ground. In

this respect, the term feed includes both directions, both pulling and pushing of the boring string, so that a pulling or pushing force can be applied to the boring string. The parameter can therefore be a signal that corresponds to the tensile or compressive force. When introducing a boring in the ground, flushing liquid, especially in the form of bentonite, can be used. The flushing fluid can be passed through the boring rod and exits in the front region of the boring string. A flow rate/pressure of the flushing liquid can be set as a parameter, which can be adapted to the conditions in the ground. When boring with a boring rod, it is necessary to extend the boring string during the course of the earth boring, wherein in particular further rod sections are connected to the boring string that has already been drilled into the ground. For this purpose, an input may be required that carries out a rod change, namely connecting a further section of rod, in particular from a rod magazine, to the boring string that has already been drilled. The parameter can thus be an actuation corresponding to the command "change rod now". When changing the rod, the boring string that has already been drilled into the ground can be clamped in order to fix the axial and/or angular position of the boring string that has already been drilled.

Furthermore, entering the parameter can include changing the boring head type, which

may be necessary in particular if, after carrying out a pilot hole, namely a first hole that

was created, for example, by pushing in the ground, the boring head type is changed to

an expansion boring head, which is pulled through the previously created pilot boring to

expand it.

The operating part can have at least one mechanically actuated actuating element.

The mechanically actuated actuating element can be any mechanically or manually

actuated actuating element. A rotary switch, a control stick and/or a push button are

preferred embodiments of a mechanically actuated actuating element. Various types of

actuating elements are possible on the operating part. Multiple similar actuating elements

can be provided on the operating part.

In the sense of the description, a control stick is an actuating element for inputting, in

particular, two-dimensional signals. A control stick can have an element extending from a surface, which can usually be tilted in several directions. The element can in particular be designed in the shape of a rod, knob, stick or lever. The element can extend from a surface at a height that does not exceed 7 cm, preferably 6 cm, preferably 5 cm, preferably

4 cm, preferably 3 cm, preferably 2 cm, preferably 1 cm. The diameter of the element can

in particular be smaller than 5 cm, preferably 4 cm, preferably 3 cm, preferably 2 cm. A

control stick in the sense of the description can also be referred to as an analog stick or

joy stick and can be equivalent in function. The term control stick also includes a control

pad with which two-dimensional signals can be entered. With the control stick, a signal

can be generated that depends on the position of the element or the control pad in relation

to a standard or rest position of the element or the control pad. It can be provided that the

control stick delivers individual electrical signals when actuated and/or continuously

delivers an electrical signal in the form of voltages and/or currents, wherein a respective

potentiometer can be used for one of the dimensions in which the element or the control

pad can be tilted; for example, a potentiometer for the top/bottom position and a

potentiometer for the left/right position. By changing the position of the element or the

control pad of the control stick in relation to the rest or standard position, the tension can

change. The size and/or arrangement of the control stick on the operating part can be

designed in such a way that actuation using an operator's thumb and/or finger is possible;

in particular, actuation of the control stick is possible without gripping the control stick. If

it is stated that the control stick is designed to generate signals depending on a movement

in at least two dimensions, this also includes the possibility that an input for controlling the

operation of the earth boring device can be provided by means of a control stick, in which

the control stick does not generate any signals regarding the movement in one of the

dimensions and/or signals regarding the movement in one of the dimensions are not or

must not be taken into account by the control device.

A rotary control or rotary knob in the sense of the description can have a potentiometer

or be formed by it. The advantage of the rotary actuators is that they are essentially maintenance-free and insensitive to vibrations; furthermore, turning the rotary control may have no effect when the device is switched off.

A push button in the sense of the description is an actuating element which can be

designed as an assembly that creates or separates an electrically conductive connection.

The push button can be designed as a toggle switch or as a simple pressure switch. It

has been found that it is advantageous that an actuation stroke of a push button is at least

greater than 2 mm in order to consider it a "willful" actuation. Actuation strokes of more

than 2.3 mm are preferred, although with gloves it is also possible to provide actuation

strokes of more than 3 mm, preferably more than 5 mm, particularly preferably more than

6 mm, even more preferably more than 7 mm. For the diameter of a push button, it has

proven to be advantageous that the diameter of the push button should be more than 5

mm, in particular more than 7 mm, for actuation by an operator's finger. When actuated

by an operator's thumb, the diameter of a push button can advantageously be more than

15 mm, preferably more than 17.5 mm, in particular more than 20 mm.

A selection of mechanically actuated actuating elements can be provided on the

operating part. In particular, actuating elements that are common in the prior art can be

used to provide the operator with the otherwise usual input option for controlling the earth

boring device. The size and/or arrangement of the actuating elements can vary compared

to the prior art; in particular, a control stick on the operating part can be designed to be

smaller than a multi function joystick arranged in the driver's cab.

The term "display" in the sense of the description can be a display device for displaying

a status of the earth boring device. It is alternatively or additionally possible for the display

to show one or more of the above-mentioned parameters. It is also possible for the display

to show an input dialog by means of which the operator is prompted or supported in

entering one or more parameters, for example by visualizing the operator's input.

It is possible for the operating part and the display to be present as a unit so that the

operator can hold an operating part with an integrated display. It is also possible for the operating part and display to be two separable units or entities. The display can be received by the operating part in a recess in the operating part. The operating part can have a transmitter and the display can have a receiver. Furthermore, if the display also allows input, it is possible for the display to have a transmitter and the operating part to have a receiver. The display can be designed to process signals and/or to display the signals. The operating part can have transmission means that are designed to transmit signals to the display, the display being designed to process the signals in such a way that the signals can be displayed on the display for an operator. The transmission of the signal or signals between the operating part and the display can take place directly. It can also be provided that the display is provided with a signal that hides the signal from the operating part and enables something to be shown on the display that is not provided by the operating part.

In a preferred embodiment, essentially all, in particular all, of the aforementioned

parameters for the operation of the earth boring device can be called up and/or displayed

by means of the display device. The display can be designed in such a way that not all

parameters are displayed at the same time, but rather, depending on the operator's input,

one or more parameters are displayed, which the operator can select for the display or

which are considered important and/or necessary by a command sequence of the control

device for the implementation and/or input of a parameter.

In a preferred embodiment, the display device has a control unit which can be

designed for a context-sensitive display of information on the display device. It is therefore

possible for the display device to be coupled to the operating part in such a way that - if

the operator wants to enter or enters a parameter using the operating part - parameters,

data, information and/or notes related to this parameter are represented on the display

device. For example, by means of the control unit, a value of a parameter for the operation

of the earth boring device, information in connection with the parameter and/or

instructions for the setting can be displayed if it is important for the operator and/or the operator wants to enter or change such a parameter. For example, if the operator enters a parameter using the operating part, the control unit can be used to display the parameter influenced or changed by the operator, even during the change or input. It is possible, for example, for a parameter to be continuously reduced or increased using the operating part, the value of which is displayed on the display device. It is also possible for the control device to communicate with the control unit and for at least one piece of information, a value for a parameter, a note and/or an error message to be displayed on the display or display device. For example, the control device of the earth boring device can inform the control unit by displaying on the display device, when a pipe section needs to be connected to the drilled boring string in order to further drill the earth boring. Furthermore, states of the earth boring device that require action by the operator can be displayed.

For the purposes of the description, a "display" is any device that can be used to

visualize a signal. The display can in particular be an electrical or electronic display, which

can in particular be designed as a liquid crystal display (LCD), light-emitting diode (LED)

matrix display, fluorescent display (VFD) or similar. The display can be used to display

images that are particularly intuitively understandable. The display can be designed as a

universal display device in the form of a screen, monitor, display, tablet, notepad, IPAD,

smart display, smartphone or similar. By means of the display, it may be possible to

visualize at least one parameter of the earth boring device during operation of the earth

boring device. The operator can carry the display with him.

The operating part can in particular have a processor which is designed as a

computing unit with electronic circuits in order to execute commands. The processor can

be programmed and is designed to process commands. The display may have an

operating system that can be modified, for example, to improve and/or adapt to changes

in communication with the operating part or a display. In particular, a change to the

operating system can only be permitted if a password is provided and/or the operating

part is connected to a computer interface, a dongle or similar. In particular, the processor can recognize, query, process, forward input from an operator in the form of a query as to which parameters should be represented, if necessary in which form of representation, and/or process further commands of a program. The processor can execute a program that queries or receives input from an operator, processes the operator's input, and then, if necessary, displays the parameters and/or signals after retrieving parameters from the control device and/or signals from the operating part. The operating part can have a portable power supply, in particular in the form of one or more batteries, accumulators or the like.

The display can enable input of parameters, functions and/or changes to the

representation on or at the display device, which - if the display device has a touch

sensitive display, for example - can occur as so-called inputs by touching, tapping, swiping

over or on the display(s) or similar. However, it is also alternatively or additionally possible

for inputs on the display to be made possible by means of an integrated device or an

additional device that can be coupled (for example by means of a cable connection and/or

wirelessly, for example by means of Bluetooth). The integrated or additional device can

be a mechanically actuated actuating element (for example a push button, a rocker

button), a keyboard, a mouse, a trackball, a graphics tablet, a microphone, a camera or a

similar input device, in particular in the form a peripheral device otherwise known in the

computer sector, with which key input or writing input, audio input (voice input) and/or

video input (gestures, movement or similar) are possible.

It can be provided that the operating part and the display have separate energy

supplies. This enables increased flexibility. The power supply for the individual devices

can be smaller than a power supply for the common power supply of the operating part

and display. In addition, the energy supply of a usual display can be used.

The term "adjustment" or "adjusting" of the display is defined as a change or changing

in the display content of the display. In particular, a change is made such that content

corresponding to the input on the operating part is no longer displayed, but rather an image of an imaging device which at least partially images the region between the entry of the boring string into the ground and the exit of the boring string from the earth boring device. The safety control may be designed to adjust the representation on the display, in addition to placing the boring device in "a safe state". In the event of danger - in the event of a presence and/or movement, in particular of a person - the display can be automatically adjusted by displaying an image of the aforementioned region.

It can be provided that an "adjustment" or "adjusting" of the display is designed in such

a way that the display is used to display a maximum of one image of the imaging device.

It can be provided that the display, in particular in a uniform region, only shows an image

of the imaging device during an "adjustment" or "adjusting".

By an adaptation or adapting of the display, the operator can be actively involved in

the process of recognizing a danger or a possible false triggering of the monitoring device.

In addition to adjusting the display, the safety control can be used to send a signal to

the operating part, which provides a further visual or acoustic indication to the operator at

the operating part that the monitoring device has detected a dangerous situation. For

example, an acoustic signal from a buzzer or a light can indicate the danger on the

operating part.

If the display has been adapted, an input by the operator on the operating part can be

reduced to acknowledging the danger and/or allowing the earth boring device to start up

again when there is no longer any danger. It can be provided that both the triggering of

the monitoring device or the safety control and an acknowledgment by the operator of the

triggering of the monitoring device or the safety control are logged.

In particular, the earth boring device can only be restarted if the monitoring device

does not respond or is not triggered for a minimum period of time, which can be

predetermined and in particular can be 4 seconds, if the operator additionally releases or

inputs the restart of the earth boring device on the operating part. The expiry of the

minimum period can be displayed on the operating part and/or the display so that the operator knows when a release can take place. If the operator has performed the release, the safety control, to which the release signal was transmitted, can restart in the earth boring direction and release again the display as well as the operating part for the operator with regard to the input and display of the parameters for operating the earth boring device.

For the purposes of the description, an "imaging device" includes any device that is

designed to record an image of a region that is to be captured. The region to be recorded

can be realized using one or more signals. It is possible for the imaging device to be

designed as a camera that generates an image of the region that is to be captured.

For the purposes of the description, a "camera" is any device that captures an image

of a region, which in particular can be shown on the display. For this purpose, the display

can show the signals or information from the camera at least on a portion of the display

device. The signals can be displayed directly or processed before display by the control

unit of the display device and/or by the control device of the earth boring device.

The invention also provides an earth boring device for introducing, in a rotating,

pushing and/or pulling manner, a boring string into the ground, the earth boring device

having a monitoring device for monitoring a presence and/or a movement, in particular of

a person, in a region between an entry of the boring string into the ground and an exit of

the boring string from the earth boring device and in particular in the region of a clamping,

wherein the monitoring device has at least one sensor, which can be designed as a radar

sensor, and the monitoring device is connected to a safety controller for evaluating a

signal from the sensor, and the at least one sensor can be switched between at least two

ranges and/or at least two opening angles.

It was recognized that although a safety function that monitors a risk is implemented,

an adaptation to the external circumstances is desirable to a certain extent. A definition

of different protective spaces for an earth boring device or a sensor on an earth boring

device was previously unknown and not wanted, as this runs counter to the intended monitoring, which is safety-oriented. Changing a range and/or an opening angle can in principle result in the security function being deliberately or unintentionally "undermined".

Switching between the ranges and/or opening angles can only be done with a key

switch, which preferably generates logs.

It may also be envisaged that switching between the ranges and/or opening angles

may be possible alternatively or additionally by entering an authorization code which the

user knows (example of a "knowledge" of the user).

It can also be provided that the switching between the ranges and/or opening angles

can be carried out alternatively or additionally by presenting and/or inserting a chip card

given to the user or another electromagnetically readable element (e.g. RFID chip) in front

of or into a reading device, which can interact with the chip card or with the other

electromagnetically readable element, contactless or with contact. Reading by means of

a reader is another example of an "ownership" by the user.

It can also be provided that switching between the ranges and/or opening angles can

alternatively or additionally be made possible by inputting or reading out a characteristic

feature of the user, wherein the characteristic property can be, for example, a fingerprint.

Entering or reading out a characteristic feature of the user can be another example of

"ownership" by the user.

In a preferred embodiment, an optical imaging device, in particular a camera, is

present, which is arranged in such a way as to capture the region between the entry of

the boring string into the ground and the exit of the boring string from the earth boring

device, the imaging device also being functionally coupled to the display to display an

image captured by the optical imaging device on the display. This allows the operator to

operate the earth boring device particularly effectively and monitor it for danger to a

person from the exposed boring string.

In a preferred embodiment, the operating part with the display is combined to form a

portable unit. The display and operating part can be handled as a single unit by the

operator.

In a preferred embodiment, the display enables a display on a surface of at least 50

cm . It is further preferred that a representation can be displayed on a surface of at least 2

60 cm or that such a display can be provided. A representation can further preferably be 2

displayed on a surface of at least 70cm 2 , in particular at least 75cm 2 , particularly

preferably at least 80 cm , or such a display can be correspondingly provided. This allows 2

the region to be monitored to be displayed in a sufficient size. The size of the display

enables a detailed display that provides sufficient contrast and/or resolution.

In a preferred embodiment, the display and the operating part are designed such that

the display can be arranged in a receptacle of the operating part. This allows the display

to be protected in the operating part.

In a preferred embodiment, when the earth boring device is switched on or started, the

safety control is designed to set the largest range and/or the largest opening angle of the

sensors. In this way, incorrect adjustment, which results in an insufficient protective

function against the danger posed by the boring string, can be counteracted. A response

by the monitoring device when it is switched on can be accepted in order to reduce the

risk of an incorrect setting.

In a preferred embodiment, a switch that can be actuated by an actuator is provided

for switching the range and/or the opening angle, and the control device is designed to

accept a request for an acknowledgment. It can be prevented that the range or opening

angle is inadvertently adjusted. Other options for switching mentioned in the description

are possible.

In a preferred embodiment, the at least one sensor is arranged on a support of the

boring device. As a result, the sensor can be arranged on a component of the earth boring

device, but due to its function it remains stable and as vibration-free as possible during operation of the earth boring device. For example, it can be provided that the sensor or sensors are arranged on a support that is arranged in the front region of the earth boring device. If multiple sensors are provided, two sensors can be present on a support, with both sensors having a detection region that has a component or portion that extends along the boring string and runs laterally next to it. One of the sensors can be arranged in such a way that it has a detection region facing the earth boring device. Another of the sensors can be arranged in such a way that it has a detection region facing the entry of the boring string into the ground.

The support can preferably be arranged in the region of an anchor trough, which is

used to both stabilize the earth boring device and to collect boring fluid.

In a preferred embodiment, the safety control has a multi-channel, in particular two

channel, input which is designed to carry a response signal from the sensors. A high

security function or classification can be achieved.

In a preferred embodiment, a safety controller is designed to forward signals from the

monitoring device to the control device. The safety control can transfer the earth boring

device to a safe state in which the boring string poses a reduced risk to people on the

boring string.

The invention also provides a method for monitoring a region of an earth boring device

for introducing, in a rotating, pushing and/or pulling manner, a boring string into the

ground, the boring string running in a region in which the boring string exits the earth

boring device and enters the ground and in particular in the region of a clamping, and

wherein a presence or a movement, in particular of a person, in the region is monitored,

wherein a operating part, in particular a remote control, is used to control functions of the

earth boring device, wherein a monitoring device is used for monitoring, which at least

has a sensor, wherein the safety control is connected to the monitoring device and when

a presence and/or a movement, in particular of a person, is detected, a signal is sent to a

display in order to trigger an adjustment of the display on the display.

The invention also provides a method for introducing, in a rotating, pushing and/or

pulling manner, a boring string into the ground by means of an earth boring device,

wherein the earth boring device has a monitoring device by means of which a presence

and/or a movement, in particular of a person, is monitored in a region, which lies between

the entry of the boring string into the ground and a portion of the earth boring device from

which the boring string emerges, and in particular comprises a region of a clamping for

the boring string, wherein the monitoring device has at least one sensor, which is

switched, if necessary, in terms of its range and/or its opening angle.

The invention is described in relation to an earth boring device and a method. The

statements to the individual aspects or embodiments of the earth boring device and

method complement each other, so that the explanations for the earth boring device are

also to be understood as explanations of the description for the method. With the

description of the earth boring device, actions in the sense of the method or method steps

relating to the method are also disclosed.

In the sense of the description, the mention of a numerical value, in particular a length

or an angle, includes not only the actual numerical value, but also - in order to take into

account manufacturing tolerances in particular - a range around the specific numerical

value, which can be +/- 15%, preferably +/ - 10%, of the specified numerical value.

The above statements, like the following description of exemplary embodiments, do

not represent a waiver of certain embodiments or features.

In the following, the invention will be explained in greater detail with reference to an

exemplary embodiment illustrated in the drawings.

In the drawings:

Eig. 1 shows a schematic representation of an earth boring device and an operator

operating the earth boring device in a side view;

Eig. 2 shows an enlarged side view in the region of a support of the earth boring

device of Fig. 1; and

Fig. 3 shows an enlarged view of the region of a support of the earth boring device

of Fig. 1 in a top view.

Fig. 1 shows a schematic representation of an earth boring device 1, with which an

earth boring into the ground 3 can be carried out. The earth boring device 1 has a carriage

16 and/or is arranged on the carriage 16.

A boring string 2 is inserted into the ground 3 and moved therein. The earth boring

device 1 is designed for introducing, in a rotating, pushing and/or pulling manner, the

boring string 2 into the ground 3. To extend the boring string 2, the already drilled boring

string 2 can be clamped by means of a clamping 15, which is shown schematically solely

for the purpose of illustrating the region.

To operate the earth boring device, an operating part 4 is provided, which is designed

as a remote control for controlling functions of the earth boring device 1.

Fig. 2, which shows an enlarged view in the region of a support 5 with an anchor trough

20, shows sensors 6, 7 of a monitoring device 8 for monitoring a presence and/or a

movement, in particular of a person, in a region between an entry of the boring string 2

into the ground 3 and an exit of the boring string 2 from the earth boring device 1 as well

as the clamping for the boring string 2, in particular for use during a rod change. The

signal from the sensors 6, 7 is used to send a signal to a display 9 in the event of a

presence and/or a movement, in particular of a person, and thus to trigger an adjustment

of the display 9.

In Fig. 2, the opening angles 11, 12 of the sensors 6, 7 with respect to the vertical

plane are shown with dashed lines. The sensors 6, 7 can be switchable with regard to

their range and/or the opening angle 11, 12, 13, 14 schematically sketched in Fig. 2 (and

Fig. 3).

In the exemplary embodiment shown, the display 9 is part of the remote control 4. The

display 9 can alternatively and/or additionally be designed as a separate element relative

to the remote control 4.

In a preferred embodiment, an optical imaging device, in particular a camera, is

present, which is arranged in such a way as to capture the region between the entry of

the boring string into the ground and the exit of the boring string from the earth boring

device, the imaging device also being functionally coupled to the display to display an

image captured by the optical imaging device on the display.

Fig. 3 shows the representation of Fig. 2 in a top view. To the left and right of the

boring string 2, the sensors 6, 7 arranged on the two supports 5, the opening angle 13,

14 of which extend in the horizontal plane, are shown with dashed lines.

Claims (13)

1. An earth boring device (1) for introducing, in a rotating, pushing and/or pulling

manner, a boring string (2) into the ground (3), with an operating part (4), in particular a

remote control, for controlling functions of the earth boring device (1), and a monitoring

device (8) for monitoring a presence and/or a movement, in particular of a person, in a

region between an entry of the boring string (2) into the ground (3) and an exit of the

boring string (2) from the earth boring device (1), wherein the monitoring device has

sensors (6, 7), the signal of which is used to send a signal to a display (9) and thus trigger

an adjustment of the display (9) in case of a presence and/or a movement, in particular of

a person.

2. The earth boring device (1) for introducing, in a rotating, pushing and/or pulling

manner, of a boring string (2) into the ground (3), in particular according to claim 1,

wherein the earth boring device (1) has a monitoring device (8) for monitoring a presence

and/or a movement, in particular of a person, in a region between an entry of the boring

string (2) into the ground (3) and an exit of the boring string (2) from the earth boring

device (1), wherein the monitoring device (8) has at least one sensor (6, 7), which can be

designed as a radar sensor, and the monitoring device (8) is connected to a safety control

and/or a controller, and the sensor (6, 7) can be switched between at least two ranges

and/or at least two opening angles.

3. The earth boring device (1) according to claim 1 or 2, wherein an optical imaging

device (10), in particular a camera, is present, which is arranged in such a way as to

detect the region between the entry of the boring string (2) into the ground (3) and the exit

of the boring string (2) from the earth boring device (1), wherein the imaging device (10)

is also functionally coupled to the display (9) to display an image captured by the optical

imaging device (10) on the display (9).

4. The earth boring device (1) according to any one of claims 1 to 3, wherein the

operating part (4) is combined with the display (9) to form a portable unit.

5. The earth boring device (1) according to any one of claims 1 to 4, wherein the

display (9) enables a display on an area of at least 50 cm2

.

6. The earth boring device (1) according to any one of claims 1 to 5, wherein the

display (9) and the operating part (4) are designed such that the display (9) is arranged in

a receptacle of the operating part (4).

7. The earth boring device (1) according to any one of claims 1 to 6, wherein, when

the earth boring device (1) is switched on or started, a safety control, a monitoring device

(8) and/or a controller are designed in such a way that the largest range and/or the largest

opening angle of the sensors (6, 7) are adjusted.

8. The earth boring device (1) according to any one of claims 1 to 7, wherein a switch

which can be actuated by an actuator is provided for switching the range and/or the

opening angle, and the safety control, monitoring device (8) and/or a controller are

designed such that a request for an acknowledgment is received and/or an automatic

switch-over depending on the inclination of the carriage (16) of the earth boring device (1)

is provided.

9. The earth boring device (1) according to any one of claims 1 to 8, wherein the at

least one sensor (6, 7) is arranged on a support (5) of the earth boring device (1).

10.The earth boring device (1) according to any one of claims 1 to 9, wherein the

safety control has a multi-channel, in particular two-channel, input which is designed to

carry a signal of a response of the sensors (6, 7).

11.The earth boring device (1) according to any one of claims 1 to 10, wherein a safety

control and/or a controller are designed to forward signals from the monitoring device (8)

to the control device.

12.A method for monitoring a region in an earth boring device (1) for introducing, in a

rotating, pushing and/or pulling manner, a boring string (2) into the ground (3), wherein

the boring string (2) extends in a region in which the boring string (2) exits the earth boring

device (1) and enters the ground (3), and a presence or a movement, in particular of a person, is monitored in the region, wherein an operating part (4), in particular a remote control, is used to control functions of the earth boring device (1), wherein a monitoring device (8) is used for monitoring, which device has sensors (6, 7), and when a presence and/or a movement, in particular of a person, is detected, a signal is sent to a display (9), in order to trigger an adjustment of the display (9) on the display (9).

13.A method for introducing, in a rotating, pushing and/or pulling manner, a boring

string (2) into the ground (3) by means of an earth boring device (1), in particular according

to claim 12, wherein the earth boring device (1) has a monitoring device (8), by means of

which a presence and/or a movement, in particular of a person, is monitored in a region,

O which lies between the entry of the boring string into the ground and a portion of the earth

boring device from which the boring string emerges, wherein the monitoring device (8)

has at least one sensor (6, 7), which can be switched if necessary in terms of its range

and/or its opening angle.