EP2725145B1 - Method for automating the process of compacting cohesive and non-cohesive compressible material by tamping or vibrating - Google Patents

Description

The invention relates to a method for automating the process of Rütteldruck- and Rüttelstopfverdichtung of cohesive and non-binding Verdichtungsgut under the use of known rope excavators and / or rope cranes with attached vibrator.

In this case, known from the prior art, general methods, which are referred to by the term Rütteldruckverfahren (RDV). Such methods and devices are for example in the published patent application DE 196 28 769 A1 and in the company publication: Bauer, Schrobenhausen "foundation and soil compaction with deep vibrators" described. This is a process-controlled vibrator, such as in the DE 196 28 769 A1 is described, in the Verdichtungsgut with the addition of media (gas, liquid) retracted. The energy supply for the vibrator drive (electric, hydraulic) and for the supplied media is done separately. Furthermore, it is described how to optimize the operation of the vibrator, the energy input for the shaking is tuned to the desired degree of compaction of the compacted material to be compacted. A built-in frequency converter changes the shaker frequency to match a natural frequency of the continuum. The volume flow, the composition (gas, liquid) and the pressure of the supplied media are controlled during the shaking process.

Rigid pressure method (RDV) by means of rope excavator or rope crane are subdivided into two generations, which describe the current state of the art.

The first generation of Caterpillars / Rope Hoists for the purpose of a RDV have no automatic systems beyond the standard equipment of the Crawler Crane / Rope Crane manufacturer. The Rütteldruckverfahren is carried out purely manually, not directly documented and not mechanically monitored, which at the present time represents a significant disadvantage of the prior art, since an optimization of the Rütteldruckverfahrens can not take place, since only a subjective handling is given.

Second-generation equipment of rope-type dredgers / rope cranes for vibratory crushing operations is characterized by the fact that automatic single and sub-systems perform a pure operational and mass size consumption measurement. An automated, mechanical intervention in the actual Rütteldruckprozess is not available and is still made and monitored manually by the equipment operator. In principle, therefore, it must be stated that in this respect the disadvantage of the prior art is given, since no fully automatic procedure of the Rütteldruckverfahrens done via cable excavator or cable crane and thus an optimization of the process does not take place.

The object of the invention is to provide a method for automating the process of Rütteldruck- and Rüttelstopfverdichtung of cohesive and non-binding Verdichtungsgut, with a complex preparation planning, implementation and result documentation of Rütteldruckverdichtungsarbeiten to take place soil or ground improvement.

• Bergbaugesetzgebung,
• Baugesetzgebung,
• begrenzter Umfang öffentlicher Mittel für Bergbausicherungsmaßnahmen,
• begrenzter Umfang privatwirtschaftlicher Mittel für Bergbausicherungsmaßnahmen,
• Dokumentation der getätigten Tiefenverdichtungsarbeiten in der Tiefe,
• Georeferenzierung der getätigten Tiefenverdichtungsarbeiten in der Fläche,
• zeitnahe Beschaffung und effizienter Einsatz von kapitalintensiver Seilbagger-/Seilkrantechnik.

The following organizational parameters in particular influence the degree of complexity and the quality of work:

• Mining legislation,
• building legislation,
• limited amount of public funds for mining safety measures,
• limited amount of private funds for mining safety measures,
• Documentation of deep compaction work done in depth,
• Georeferencing of the performed deep compaction work in the area,
• timely procurement and efficient use of capital-intensive cable-operated / rope crane technology.

The defect, the problem lies in particular in the technically complex and costly implementation of Rüttelverdichtungsarbeiten means of rope / rope cranes. Since these compaction work to date still have a high degree of manual device or process operation, these compaction work can meet today's current high quality and time constraints of largely digital and georeferenced planning / planning only conditionally. In addition, there is currently a high risk of loss of work and accidents due to technical problems caused by human error and / or non-recognition of dangerous conditions in the use of cable dredgers / rope cranes for the purpose of a RDV.

The technical problem here is to reach the stage of the third fully autonomous device generation with brand new rope excavators / rope cranes or with the existing devices.

The object is achieved by the method for automating a process of Rütteldruck- and Rüttelstopfverdichtung of cohesive and non-binding Verdichtungsgut by the claim is realized.

• eine Georeferenzierung via GPS,
• weiterhin eine Porenwasserdrucküberwachung sowie
• eine Überwachung des Verfüllmaterials und
• ein kontrolliertes Abteufen via einem Inklinometer und einer Gewichtskontrolle zum Zwecke einer Lanzenstabilisierung und einer Schlafseilkontrolle,
• weiterhin eine Energiebegrenzung mittels Frequenzumrichter für den Rüttler und
• eine Steuerung einer Medienmischeinrichtung für Druckluft und Wasser,

im Zusammenhang mit einem zentralen Regelungsprozess für die Verfahrensabläufe und einer Einbindung einer Steuerungs- und Regelungstechnik eines Seilbaggers oder eines Seilkrans in einem automatisierten Vollprozess.In the process, the following process sequences are processed for automation via a process-controlled control system, which processes and evaluates actual and setpoint values and carries out individual process sequences signal-controlled.

• a georeferencing via GPS,
• continue a pore water pressure monitoring as well
• a monitoring of the filling material and
• a controlled drainage via an inclinometer and a weight control for the purpose of a lance stabilization and a sleep rope control,
• continue to limit energy by means of frequency converter for the vibrator and
• a control of a media mixing device for compressed air and water,

in connection with a central regulatory process for the procedures and an integration of a control and Control technology of a crawler crane or a rope crane in an automated full process.

• automatische Betriebs- und Stoffgrößenverbrauchsmessung und Zuführung,
• automatische Georeferenzierung der Verdichtungsarbeit,
• automatische Durchführung von mindestens einem, maximal allen Teilprozessen, die für die RDV nötig sind,
• automatische Dokumentation der RDV bzw. gerätespezifischer Kenndaten des Seilbaggers/Seilkrans,
• automatische Gefahrenzustandserkennung für den Mensch, den Arbeitsprozess und das Gerät.

The following new properties were developed in the present invention of automated vibrating pressure compaction (ARDV) by means of cable excavators / rope cranes:

• automatic operating and material size consumption measurement and feed,
• automatic georeferencing of the compaction work,
• automatic execution of at least one, at most all sub-processes, which are necessary for the RDV,
• automatic documentation of the RDV or device-specific characteristics of the cable-operated / rope crane,
• automatic detection of dangerous conditions for the human being, the work process and the device.

There is a table schema for the technical solution of the automation technology for the ARDV. It can be seen that the technical realization of the invention for aforementioned sub-processes is connected to a digital automation device with sensors or actuators, and a higher-level operating software monitors and controls the process control device.

• Georeferenzierung der geleisteten RDV-Tätigkeit,
• Dokumentation der getätigten RDV-Arbeiten für jede Erdschichttiefe,
• höherer qualitativer Grad der RDV-Arbeit durch weitgehend automatische, vollautonome Arbeitsprozesse, die direkt in die Gerätesteuerung der Seilbagger/Seilkräne eingreifen und somit individuelle Verdichtungen für jeden Punkt und jede Erdschichttiefe garantieren,
• effizienterer, produktiverer Arbeitsablauf durch automatisieren Geräteeinsatz der Seilbagger/Seilkräne,
• Senkung des Geräteverschleißes bei den Rüttlern und den Seilbaggern/Seilkränen,
• weitgehende Eliminierung von subjektiven Fehleinschätzungen durch den Gerätebediener,
• rechtzeitige automatische Erkennung von Gefahrenzuständen für den Mensch und das Gerät,
• Minimierung von Energie-, Betriebs- und Prozessstoffverbräuchen.

The inventive solution provides the following advantages:

• Geo-referencing of the performed RDV activity,
• Documentation of the performed RDV work for each depth of soil,
• higher degree of quality of RDV work through largely automatic, fully autonomous work processes, which directly intervene in the device control of the crawler cranes / rope cranes and thus guarantee individual compaction for every point and every depth of soil,
• more efficient, more productive workflow by automating the use of the crawler / rope cranes,
• Reduction of equipment wear on vibrators and rope dredgers / rope cranes,
• extensive elimination of subjective misjudgments by the device operator,
• timely automatic detection of dangerous conditions for the person and the device,
• Minimization of energy, operating and process material consumption.

Furthermore, it is an improved way of performing the conventional vibratory compacting (RDV) process.

• die Arbeitsvorbereitung,
• die Arbeitsdurchführung,
• die Produktqualität,
• die Arbeitsdokumentation,
• die Geräte- und Arbeitssicherheit

der geleisteten Rütteldruckverdichtung (RDV) zum Zwecke einer Boden- oder Baugrundverbesserung. Damit verbunden verbessert und erhöht sich sekundär:

• die Geräteproduktivität,
• die Gerätepräzession,
• ein Geräteverschleiß wird verringert,
• die Geräteverfügbarkeit,
• eine Energieeinsparung,
• eine Reduktion der Produktionskosten

für die Durchführung der RDV.With the ARDV-automated vibration pressure method improves primarily:

• the work preparation,
• the work execution,
• the product quality,
• the working documentation,
• the equipment and work safety

the achieved Rütteldruckverdichtung (RDV) for the purpose of soil or ground improvement. Connected to it improves and increases secondarily:

• the device productivity,
• the device precession,
• Device wear is reduced
• the device availability,
• an energy saving,
• a reduction of production costs

for the implementation of the RDV.

Subsequently, the inventive method is documented on an embodiment and the corresponding drawings.

Figur 1

Systemkomponente eines Gerätes zur ARDV

Figur 2

Aufbauten als Systemkomponenten zur ARDV

Figur 3

Prinzipdarstellung des digitalen Regelalgorithmus für die ARDV

Figur 4

Georeferenzierung, automatisches Punktanfahren an die ARDV

Figur 5

Erreichen der maximal vorgegebenen Verdichtungstiefe - Abteufen

Figur 6

Kontrolle des Abteufvorgangs

Figur 7

Energiebegrenzung und Zieh-/Stopfschritte am Rüttler

Figur 8

Überwachung des Porenwasserdrucks und die Zufuhr von Luft und Wasser

Figur 9

Lanzenstabilisierung

Figur 10

Anordnung GPS-Antenne

Figur 11

Anordnung GPS-Antenne

Figur 12

Anordnung GPS-Antenne

Figur 13

schematische Arbeitsweise der Automatisierungstechnologie

Figur 14

Tabellen-Schema

Showing:

FIG. 1

System component of a device for ARDV

FIG. 2

Superstructures as system components for the ARDV

FIG. 3

Schematic representation of the digital control algorithm for the ARDV

FIG. 4

Georeferencing, automatic point approach to the ARDV

FIG. 5

Achieving the maximum specified compaction depth - sinking

FIG. 6

Control of the Abteufvorgangs

FIG. 7

Energy limitation and pulling / stuffing steps at the shaker

FIG. 8

Monitoring the pore water pressure and the supply of air and water

FIG. 9

Lanz stabilization

FIG. 10

Arrangement GPS antenna

FIG. 11

Arrangement GPS antenna

FIG. 12

Arrangement GPS antenna

FIG. 13

schematic operation of the automation technology

FIG. 14

Table scheme

The FIGS. 1 and 2 represent the system components of a device for ARDV. In this case, a crawler crane or cable crane as a device carrier for the RDV-total system 8 is given. This crane / rope crane 8 has in its constructions the following essential components for the ARDV: an ARDV process computer for system control / process data acquisition 13, a sensor for sleeping rope detection on the main winch 15, a tilt sensor on the boom 14, a compressed air generator (diesel or electric operated) 12 and a drive control for the vibrator (electric or hydraulic) 11. Furthermore, a boom with a winch on the rope / rope crane 8, whereupon a jib head 52 a vibrating lance RL is attached. Before the Rüttlerlanze RL and the cable a sensor for weight control in the crane hook 2 is given. On the boom head 52, a device for georeferencing 1 is present. The vibrating lance RL is in the ground 22 for compacting earth layers introduced. For this purpose, a Rüttler head RK is given, which is guided to the bottom of the compression shaft 6. On the ground 22, a pore water pressure monitoring 4 is still present according to the invention. A transformer station for optional external power supply via a power cable 9 is used to feed the cable excavator / rope crane 8. To control and control the addition of the filling material 7, a bead is preferably present. The general representations in the FIGS. 1 and 2 have the essential system components for the inventive embodiment on ARDV.

The FIG. 3 shows a schematic diagram of the digital control algorithm for the ARDV according to the invention. All work processes as well as the control of the cable excavator / rope crane 8 are electronically integrated in a central digital control device with the appropriate operating software. The technical implementation of the ARDV is thus performed, monitored, corrected and documented by the digital ARDV control RE. In the illustrated control algorithm according to FIG. 3 It is a simplified schematic representation of a control circuit REG and serves to define all necessary parameters of the ARDV or to locate it in the control circuit REG. It is determined in the control block SOLL the setpoint as manipulated variable y. Here, digital transmissions from higher-level systems, such as the in-feed or via remote data transmission as well as the manual one, are helpful On-site input and / or reading of existing data from the system memory. The setpoint manipulated variable y is then used as the minimum input for the ARDV.

• Position (Georeferenzierung),
• Verdichtungstiefe (Teufe),
• Verdichtungsschritte,
• Materialmengenzugabe zur Verdichtung,
• Wassermengenzugabe zur Verdichtung,
• Druckluftzugabe zur Verdichtung,
• Verdichtungsenergie für Rüttler,
• zeitliche Abfolgen in vertikaler Richtung.

The following setpoint values are given as manipulated variables y:

• Position (georeferencing),
• Compaction depth (depth),
• Compression steps,
• Material quantity addition for compaction,
• Adding water to the compression,
• Compressed air for compression,
• Compaction energy for shakers,
• temporal sequences in the vertical direction.

• automatische Navigation (mit oder ohne Koordinaten-Korrektur) mit Bewegung auf Punkt in horizontaler x-z Richtung,
• automatisches Abteufen in vertikaler y-Richtung,
• automatische Kontrolle und Korrektur des Abteufens bei möglicher vertikaler Abweichung,
• automatische Energieversorgung und Begrenzung am Rüttler,
• automatische Bestimmung und Durchführung der Zieh-/Stopfschritte am Rüttler in vertikaler Richtung,
• automatische Wasser-/Luftmengenzufuhr am Rüttlerkopf,
• automatische Mischung / Einstellung von Luft- und Wasserdruck in Abhängigkeit zur Teufe,
• automatische Schlafseilkontrolle und Korrektur,
• automatische Lanzenstabilisierung und Gewichtskontrolle,
• automatische Überwachung der zeitlichen RDV-Abfolge in vertikaler Richtung,
• automatische Zufuhrkontrolle des Verfüllmaterials am Rüttler,
• automatische Überwachung des Porenwasserdruckes.

These manipulated variables y are fed into the digital ARDV control RE. After processing the actual and setpoint values, a further signal control in the process chain for action controlled system AR is realized. The following process steps are carried out as part of the control algorithm for the ARDV:

• automatic navigation (with or without coordinate correction) with movement on point in horizontal xz direction,
• automatic sinking in the vertical y-direction,
• automatic control and correction of drilling with possible vertical deviation,
• automatic power supply and limit at the shaker,
• automatic determination and execution of the drawing / stuffing steps on the vibrator in the vertical direction,
• automatic water / air supply at the vibrator head,
• automatic mixing / adjustment of air and water pressure depending on the depth,
• automatic sleep rope control and correction,
• automatic lance stabilization and weight control,
• automatic monitoring of the temporal RDV sequence in the vertical direction,
• automatic feed control of the filling material on the vibrator,
• automatic monitoring of pore water pressure.

• aktuell verwendete Position (horizontal Georeferenzierung),
• aktuell verwendete Position (vertikale Teufe),
• Druckwerte für Luft und Wasser,
• Mengen für Luft und Wasser,
• Messung Spannungsversorgung / Lastaufnahme Strom,
• Zeitzählung für Verdichtungsablauf,
• Messung Echtzeit und Datum,
• Systembetriebsstunden und Zählerstände,
• Gerätestatus des Seilbaggers/Seilkrans.

Actual values W, which define the following minimum requirements for the ARDV, are determined via the action controlled system AR:

• currently used position (horizontal georeferencing),
• currently used position (vertical depth),
• Pressure values for air and water,
• Quantities for air and water,
• Measurement of voltage supply / load consumption of electricity,
• Time counting for compaction process,
• Measuring real time and date,
• System operating hours and counter readings,
• Device status of the cable excavator / rope crane.

Actual value quantities IST are displayed locally in the process section Act, an output on storage media, a data transmission call by higher-level systems and the output to the ARDV control RE via the actual value transfer W1 realized. In principle, therefore, the process modules ARDV control RE, action controlled system AR, actual value IST as well as the desired value SET represent a control circuit REG. Between the ARDV control RE and the action controlled system AR, an alternative manual system control Ma can be performed.

Navigation in the horizontal xz direction according to FIG. 4 Georeferencing serves for the exact point of the compaction process. The crawler / rope crane 8 is thus able to independently determine the respective predetermined operating points in the field and to start with the compaction process according to the given coordinates from the planning of the work preparation. With the ability of your own navigation in horizontal xz direction eliminates the previous mark the compression point in the field. The advantages are a time and cost saving, a quality improvement of the documentation by georeferencing as well as a danger avoidance, since a movement on uncompacted soil always poses planting risks for the surveying personnel. In this case, a maximum working radius for the lane (x) 21 of the cable excavator / rope crane 8 is given. Furthermore, points are provided for the compression shaft 19 and an already compacted shaft 20 executed. In the FIG. 4 are an unconsolidated soil 18 and a compacted soil 17 can be seen. The georeferencing with the existing GPS antennas 50 on the boom head 52, the first lane of the rope excavator / rope crane X and a second lane X2 are specified. Furthermore, corresponding variables, such as working range indicator for the boom Z and working range indicator for the boom Z2, as part of georeferencing as automatic point approach for the ARDV available.

In the FIG. 5 is the achievement of the maximum predetermined compaction depth, the sinking, visible. Abteufen refers to the automatic reaching of the maximum predetermined compaction depth in the vertical direction. During this process, the vibrator is automatically lowered via the control system on the rope-operated excavator / rope crane 8 and shakes in the maximum predetermined compaction depth in order to then start the actual compaction process. The advantage of an automatic grading is a quality improvement of the work done. Through the soil 22, the vibrating lance RL is carried out with the Rüttler head RK as propulsion into the soil 23 as Abteufung. The propulsion into the soil 23 is realized by the weight of the vibrator and the introduced vibration force of Rüttlerkopfes RK.

In the FIG. 6 the control of the sinking process is shown. In the event of a deviation from the vertical or otherwise specified vertical ideal line, an alarm is issued, and the harvesting process for achieving the compaction depth is aborted and corrected by renewed sinking. The advantage of a controlled achievement of the compaction depth is primarily the improved equipment protection for the vibrators used, secondarily it also represents a quality improvement and time savings for the work done compaction dar FIG. 6 It can be seen that the introduced vibrating lance RL over the ground 22 may possibly encounter a layer of soil, for example rock 24. This results in a deviation from the ideal line 27, as can be seen in the left-hand illustration. In the middle illustration, the Abteufvorgang is stopped and the Rüttlerlanze RL pulled out by the prevention of the rock 24. In the right-hand illustration, a new sinking operation is performed in addition to the existing, non-executable drop-off. Here, the vibrating lance RL is introduced via the Rütler head RK in a new compaction shaft for soil compaction.

The FIG. 7 shows the energy limitation as well as pulling / stuffing steps on the vibrator. In the soil 22, the vibrating lance RL with the Rüttler head RK, which can perform certain vibrations, introduced to the maximum compaction depth. When pulling out the Rüttlerlanze RL, for example, in five minutes, a frequency of ten hertz on Rüttler head RK reached. In the process of pulling and stuffing the vibrating lance RL, a time of 25 minutes and a frequency of 50 Hertz are given. A third process step is pulling the vibrator lance RL in a period of ten minutes at a frequency of 25 hertz. During the entire drawing and stuffing process on the vibrator, the disinfestation times, the disinfestation energy as well as the drawing and stuffing steps in all soil layers up to the maximum compaction depth are determined and automatically carried out or monitored.

The energy limitation at the vibrator is a sub-process that automatically supplies the vibrator head RK with a defined drive energy and, in accordance with the specifications, ensures a different compaction power within the predetermined soil layers. The energy limitation at the Rüttler head RK improves the quality of compaction work, since the soil 22 is compacted in contrast to the previous purely homogeneous in all soil layers consistent compaction more effective, beyond that also improves the horizontal surface effect of compaction.

The from the FIG. 8 apparent device for monitoring the pore water pressure 30 is used to warn of landslides and landslide hazards. For this purpose, the pore water pressure in the compression area is permanently monitored and appropriate warnings are forwarded directly to the ARDV process control system as an automation process system. about the ARDV equipment carrier in the compression work 32 and the line 36, it is possible to initiate compressed air 37 and side water 33 and peak water 34. In this case, a regulation of the amount of water and air supplied to Rüttler head RK is performed in dependence on Teufe. The supply of side water 33, peak water 34 and compressed air 37 is realized via the Rüttler head RK, the corresponding lines lead 36 via the interior of Rüttlerlanze RL Rüttler head RK. Furthermore, a line 36 for the media supply to the vibrating lance RL is present on the ARDV device carrier 32.

There are two exit points, one on the Rüttler head tip RK and the other on the sides of the Rüttler head RK. The automatically controlled supply of water or compressed air 37 in the compression shaft improves the sinking and the compression effect when pulling and plugging the vibrator in less water-saturated soil layers.

For the adjustment or mixing of air and water pressure, peripheral devices regulate the provision of the water or the compressed air supply quantity and cause a continuous, uninterrupted compression process. There are superstructures on the crawler 8, which adjust the mixing ratio and transmitted via the line 36 in the vibrating lance RL.

The lance stabilization is in the FIG. 9 a sleep rope control and a weight control 40 on the crane hook for lance stabilization are useful. Here, a weight control 40 is mounted between the cable before the vibrating lance RL. This weight control measures and monitors the weight of the attached load, thereby controlling the draining process. The weight control 40 is in addition to the process control to a precautionary measure for device backup.

In order to perform the Abteufvorgang the vibrating lance RL controlled, is still an inclinometer in the weight control 40 or outside given as a separate sensor. With the inclinometer, the inclination angle is signaled when sinking the vibrating lance RL into the ground 22 and forwarded to the control or automation process. In conclusion, a new application of the vibrating lance RL can be regenerated for sinking in order to prevent an oblique insertion of the vibrating lance RL into the soil 22.

The sleep rope control serves as redundancy in the monitoring of the Abteufvorgangs. The sleep rope control is purely a device protection and prevents the risk of breakage of the Rüttlerlanze RL or the disorderly stranding of the traction cable by a controlled, supervised rappelling on the main winch. There is one Sensor for Schlafseilerkennung on the main cable winch known design available.

Another process step is the supply control of the filling material via the vibrator. This feed control serves to control the weight and type of backfill material added to the compaction process and also increases the quality of the compaction work. For the transmission of known communication means are used, which are then included in the control or automation process.

The Figures 10 . 11 and 12 show the arrangement of the GPS antenna 50 for navigation in the horizontal xz direction by means of GPS signal.

The geo-referencing of the compaction sites is determined with two GPS antennas 50. The signal of the first GPS antenna is used to determine the position, the signal of the second GPS antenna is used to determine the direction / direction of movement of the cable shears / rope crane 8. For the positioning of the GPS antennas 50 there are two possibilities.

The first option is in the FIG. 10 illustrated variant with two GPS antennas 50 on the crawler / crane crane boom head 52, which are permanently held in a horizontal balance with a pendulum design to a deviation of the GPS signal to diminish. The point P is used for horizontal navigation.

A second variant results from the FIG. 11 with two GPS antennas 50 on the cable / crane 8, which are held with a simple support structure 54. The deviation of the GPS signal is corrected by additional software. It is irrelevant whether the GPS antennas 50 are installed on the boom of the rope / crane 8 or another point on the device. This possibility is in the FIG. 12 shown.

In order to determine the exact point for the ARDV process with a GPS signal, it is also necessary to correct the signal in the vertical direction in order to perform accurate geo-referencing on the earth's surface. In the present technical solution, this is determined technically with correction values from the current device geometry via inclinometer (clinometer) and the excavator control.

The schematic operation of the automation technology is in the FIG. 13 seen.

After a device start, a software update of the operating software takes place in the automation process. An existing error log is incorporated as output and the readiness of the control loops of the sub-processes is checked. Furthermore, a review of the Readiness of OEM excavator control instead. This check finds an error message or a ready message after a system check. After the ready message, a selection of the work program is performed from the system memory. There are manual options for changing the parameters in the work program. The following is a manual input of the parameters for the work program. Afterwards, the ARDV process and the documentation are started.

After the start of the ARDV process, a comparison of the geodata in the context of georeferencing for GPS takes place. From this comparison of the geodata is a match or a new geodatpezifische experience of the device process. Thereafter, the Abteufvorgang is controlled. Within this Abteufvorganges the maximum compaction depth can be achieved without deviation or a deviation from the ideal line or a fault can be reported. The subsequent correction achieves the maximum compaction depth.

Subsequently, a defined pulling / stuffing process begins. Here are two options, ie a pulling / stuffing without interference and a pulling / stuffing with failure, which is terminated after trouble shooting this process without interference. After completion of this process step, the termination of the ARDV process is given.

The FIG. 14 shows the schematic, four-stage structure of the process control device, as an automation process, for the ARDV.

In the following, the technical implementation of the four-stage, digital automation technology is discussed in more detail.

Stage 1 contains the ARDV control system with optional manual control and process visualization, the data archive for the setpoint specifications from work scheduling and for the work result documentation. Furthermore, level 1 includes all the necessary alerting devices for the monitoring device operator.

Level 2 includes the process computer with the ARDV operating software.

Level 3 is the level of communication. There, the process computer, all system components of the sub-processes as well as the cable-operated / cable crane control with their sensors and actuators are integrated. The communication level forwards its signals or data to the process computer of level 2 with the actual operating system and receives from the same the corresponding control signals for the various process processes.

In stage 4, the technical implementation for the digital integration of the analogue sub-processes and Processes performed so that signals can be received and sent.

1. 1. Navigation in horizontaler x-z-Richtung:
   • Die Georeferenzierung der Verdichtungsstellen wird mit zwei GPS-Antennen ermittelt. Das Signal der ersten GPS-Antenne wird benutzt, um die Position zu bestimmen, das Signal der zweiten GPS-Antenne wird benutzt, um die Ausrichtung / Bewegungsrichtung des Seilbagger-/Seilkrans zu ermitteln. Für die Positionierung der GPS-Antennen ergeben sich zwei Möglichkeiten:
     • mittels zwei GPS-Antennen am Seilbagger-/Seilkranauslegerkopf, die mit einer Pendelkonstruktion permanent in horizontaler Waage gehalten werden, um eine Abweichung des GPS-Signals zu vermindern
     • oder mittels zwei GPS-Antennen am Seilbagger/Seilkran, die mit einer einfachen Haltekonstruktion gehalten werden. Die Abweichung des GPS-Signals wird durch eine zusätzliche Software korrigiert. Hierbei ist es unerheblich, ob die Antennen am Ausleger oder einem anderen Punkt auf dem Gerät installiert sind.
     
     Um den exakten Punkt für den RDV-Prozess mit einem GPS-Signal zu ermitteln ist es ferner notwendig, dass Signal in der vertikalen "y" Richtung zu korrigieren, um eine genaue Georeferenzierung auf der Erdoberfläche vorzunehmen. Bei der vorliegenden Erfindung wird dies technisch mit Korrekturwerten aus der aktuellen Gerätegeometrie über Neigungswinkelmesser (Klinometer) und Baggersteuerung bestimmt.
2. 2. Abteufen:
   • Das automatische Erreichen der maximalen vorgegebenen Verdichtungstiefe (Abteufen) in vertikaler z-Richtung wird über die Hauptwinde mittels der Seilbaggersteuerung realisiert und von der Prozesssteuerung vorgegeben bzw. überwacht. Wichtig und neu dabei ist, dass die Seilbaggersteuerung über eine Schnittstelle, zum Beispiel CAN-Bus, in die digitale Prozessregeleinrichtung der ARDV mit eingebunden ist.
3. 3. Kontrolle des Abteufvorgangs: wird technisch über die Gewichtskontrolle am Haken mittels Sensor überwacht. Redundant dazu überwacht ein Sensor zur Schlafseilkontrolle an der Hauptseilwinde den Abteufvorgang. Die Lanzenstabilität beim Abteufen wird darüber hinaus zusätzlich über ein Inklinometer in der Rüttlerlanze ermittelt, um die lotrechte Ausrichtung zu überprüfen und damit eine Abweichung in x-y-z-Richtung zu erkennen, gegebenenfalls zu korrigieren und zu dokumentieren.
4. 4. Energiebegrenzung am Rüttler (elektrisch oder hydraulisch) wird über eine Frequenzumrichterschaltung in der Energieversorgungszentrale für den Rüttler gelöst, welche in die digitale Prozessregeleinrichtung mit eingebunden ist. Dabei steuert der Frequenzumrichter entweder direkt den elektrischen Rüttlermotor, oder es wird der elektrische Motor der Hydraulikpumpe angesteuert.
5. 5. Zieh-/Stopfschritte am Rüttler, werden ebenfalls über die Hauptwinde mittels der Seilbaggersteuerung realisiert.
6. 6. Regelung zur Wasser- und Luftzufuhrmenge am Rüttlerkopf in Abhängigkeit zur Teufe: Die Zuführung von Seiten- und Spitzenwasser bzw. Druckluft über den Rüttlerkopf wird über die Betriebssoftware ermittelt und über die Medienmischanlage eingeleitet. Der Prozess ist rein virtuell und hat keine Hardwarekomponenten, da es sich nur um eine Start-/Stopp-Funktion für die Komponenten des nachfolgenden Regelkreises sieben handelt.
7. 7. Einstellung / Mischung von Luft- und Wasserdruck, wird mit einem Druckluftversorger, einem Wasserpumpenkreislauf, einem Wasserbehälter und einer Medienmischanlage für Wasser / Luft realisiert. Die Steuerung des Prozesses erfolgt über die Medienmischeinrichtung, welche in die digitale Prozessregeleinrichtung mit eingebunden ist.
8. 8. Einrichtung zur Überwachung des Porenwasserdruckes, besteht aus einem Bohrloch, einer Porenwasserdruckprüfeinrichtung mit einer an den ARDV angeschlossenen Warneinrichtung.
9. 9. Koordination der zeitlichen Abfolge der ARDV, ist ein virtueller Prozess innerhalb der Betriebssoftware auf dem Prozessrechner und hat keine eigenen Hardwarekomponenten.
10. 10. Zufuhrkontrolle des Verfüllmaterials am Rüttler, wird mit einem Gewichtsmessungssensor und der manuellen Eingabe zur Art des Verfüllmaterials am Verfüllgerät, zum Beispiel Radlader, realisiert.

The technical solution of the process steps is solved for the individual control devices of the sub-processes as follows:

1. 1. Navigation in horizontal xz-direction:
   • The georeferencing of the compaction sites is determined with two GPS antennas. The signal of the first GPS antenna is used to determine the position, the signal of the second GPS antenna is used to determine the direction / direction of movement of the Crawler / Rope Crane. There are two options for positioning the GPS antennas:
     • by means of two GPS antennas on the cable-operated / cable crane boom head, which are permanently held in a horizontal balance with a pendulum construction in order to reduce a deviation of the GPS signal
     • or by means of two GPS antennas on the Crawler / Rope Crane, which are held with a simple support structure. The deviation of the GPS signal is corrected by additional software. It is irrelevant whether the antennas are installed on the boom or another point on the device.
     
     In order to determine the exact point for the RDV process with a GPS signal, it is also necessary to correct the signal in the vertical "y" direction to make accurate geo-referencing on the earth's surface. In the present invention, this is determined technically with correction values from the current device geometry via inclinometer (clinometer) and excavator control.
2. 2nd sinking:
   • The automatic achievement of the maximum predetermined compaction depth (sinking) in the vertical z-direction is realized via the main winch by means of the cable excavator control and specified or monitored by the process control. It is important and new that the cable excavator control is integrated into the digital process control device of the ARDV via an interface, for example CAN bus.
3. 3. Control of the Abteufvorgangs: is technically monitored by the weight control on the hook by means of a sensor. Redundant, a sensor for sleeping rope control on the main winch monitors the Abteufvorgang. In addition, the lance stability during drilling is additionally determined by an inclinometer in the vibrating lance in order to check the vertical alignment and thus a Detecting deviation in the xyz direction, correcting it if necessary and documenting it.
4. 4. Energy limitation on the vibrator (electric or hydraulic) is achieved via a frequency converter circuit in the power supply center for the vibrator, which is involved in the digital process control device. The frequency converter either directly controls the electric vibrator motor or the electric motor of the hydraulic pump is activated.
5. 5. Pulling / Stopfschritte the vibrator are also realized on the main winch by means of the cable excavator control.
6. 6. Regulating the amount of water and air supplied to the vibrator head in relation to the depth: The supply of side and tip water or compressed air via the vibrator head is determined by the operating software and introduced via the media mixing system. The process is purely virtual and has no hardware components, since it is only a start / stop function for the components of the following control loop seven.
7. 7. Adjustment / mixing of air and water pressure, using a compressed air supplier, realized a water pump circuit, a water tank and a media mixing plant for water / air. The control of the process via the media mixing device, which is involved in the digital process control device.
8. 8. Device for monitoring the pore water pressure, consists of a borehole, a Porenwasserdruckprüfeinrichtung with a connected to the ARDV warning device.
9. 9. Coordination of the time sequence of ARDV, is a virtual process within the operating software on the process computer and has no own hardware components.
10. 10. Supply control of the filling material on the vibrator, is realized with a weight measurement sensor and the manual input to the type of backfill material on the backfill device, for example wheel loader.

reference numeral

1

Device for georeferencing

2

Sensor for weight control in the crane hook

4

Pore water pressure monitoring

6

Bottom of the compression shaft

7

Control / control of the addition of the filling material

8th

Crawler crane or cable crane as equipment carrier for the RDV complete system

9

Transformer station for optional external power supply via a power cable

10

water tank

11

Drive control for the vibrator (electric or hydraulic)

12

Compressed air generator (diesel or electric)

13

ARDV process computer for system control / process data acquisition

14

Tilt sensor on the boom

15

Sensor for sleeping rope detection on the main winch

16

Media mixing plant

17

compacted soil

18

uncompacted soil

19

Point provided for compression shaft

20

already compacted shaft

21

maximum working radius on the lane (x)

22

soil

23

Propulsion into the soil

24

rock

25

abandoned compaction shaft

26

Abteufvorgang is restarted

27

Deviation from the ideal line

30

Monitoring device for pore water pressure with warning

31

uncompacted earth layers

32

ADRV implement carrier during compaction work

33

page water

34

top water

35

Settlement-prone, water-supersaturated earth layers

36

management

37

compressed air

40

weight control

50

GPS antenna

51

pendulum frame

52

boom head

53

axis of rotation

54

support structure

55

rigid frame

RL

Rüttlerlanze

RK

Rüttler head with rubber coupling and facilities for side and top water

P

Point

X

first lane of the rope excavator / rope crane

X2

second lane

Z

Working range indicator for the boom

Z2

Working range indicator for the boom

SHOULD

setpoint

IS

Istwertgröße

W

actual value

W1

Istwertübergabe

Y

manipulated variable

RE

ARdV control

AR

Action controlled system

REG

loop

Ma

manually

Claims (1)

1. A method for the automation of a Vibro flotation and Vibro displacement process compaction system for cohesive and non-cohesive compaction material, whereby:

   individual processes are carried out, process- and signal-controlled, using a process-controlled control system which processes and evaluates actual values and target values in which the following process sequences are processed for automation,

   - a geo-referencing system using GPS,

   - a pore water-pressure monitoring system (4),

   - a filling material monitor,

   - controlled drilling using an inclinometer and a weight monitor (40) for the purpose of stabilizing the lance and a sleep-rope monitor,

   - a power limiter using a frequency converter for the vibrator and

   - a media mixer controller for compressed air (37) and water,

   in association with a central control process for the process sequences and integrating the control and regulation technology of a crawler crane or a rope crane (8) in a fully automated process.

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