EP2725145B1 - Méthode pour automatiser le processus de compactage de matériaux compressibles cohérents et non cohérents par damage ou vibration - Google Patents

Méthode pour automatiser le processus de compactage de matériaux compressibles cohérents et non cohérents par damage ou vibration Download PDF

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Publication number
EP2725145B1
EP2725145B1 EP13401116.2A EP13401116A EP2725145B1 EP 2725145 B1 EP2725145 B1 EP 2725145B1 EP 13401116 A EP13401116 A EP 13401116A EP 2725145 B1 EP2725145 B1 EP 2725145B1
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EP
European Patent Office
Prior art keywords
control
rope
compaction
ardv
und
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Not-in-force
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EP13401116.2A
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German (de)
English (en)
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EP2725145A3 (fr
EP2725145A2 (fr
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Tiefenbacher GmbH
Herzog Andre
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Tiefenbacher GmbH
Herzog Andre
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Application filed by Tiefenbacher GmbH, Herzog Andre filed Critical Tiefenbacher GmbH
Publication of EP2725145A2 publication Critical patent/EP2725145A2/fr
Publication of EP2725145A3 publication Critical patent/EP2725145A3/fr
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
    • E02D3/02—Improving by compacting
    • E02D3/046—Improving by compacting by tamping or vibrating, e.g. with auxiliary watering of the soil
    • E02D3/054—Improving by compacting by tamping or vibrating, e.g. with auxiliary watering of the soil involving penetration of the soil, e.g. vibroflotation

Definitions

  • the invention relates to a method for automating the process of Haittel réelle- and Haittelstopfverdichtung of cohesive and non-binding Verdichtungsgut under the use of known rope excavators and / or rope cranes with attached vibrator.
  • Rigid pressure method by means of rope excavator or rope crane are subdivided into two generations, which describe the current state of the art.
  • 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 Rüttel réellerea 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 Rüttel réellemaschines 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 Rüttel réelle- and Haittelstopfverdichtung of cohesive and non-binding Verdichtungsgut, with a complex preparation planning, implementation and result documentation of Rüttel réelleverdichtungsts to take place soil or ground improvement.
  • 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 Haittel réelle- and Haittelstopfverdichtung of cohesive and non-binding Verdichtungsgut by the claim is realized.
  • FIGS. 1 and 2 represent the system components of a device for ARDV.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 4 points are provided for the compression shaft 19 and an already compacted shaft 20 executed.
  • 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.
  • FIG. 6 the control of the sinking process is shown.
  • 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
  • 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.
  • the FIG. 7 shows the energy limitation as well as pulling / stuffing steps on the vibrator.
  • the vibrating lance RL with the Hinttler head RK which can perform certain vibrations, introduced to the maximum compaction depth.
  • a frequency of ten hertz on Rüttler head RK reached.
  • a third process step is pulling the vibrator lance RL in a period of ten minutes at a frequency of 25 hertz.
  • 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 Hinttler 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.
  • 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.
  • 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.
  • 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 Knittler head RK.
  • a line 36 for the media supply to the vibrating lance RL is present on the ARDV device carrier 32.
  • peripheral devices regulate the provision of the water or the compressed air supply quantity and cause a continuous, uninterrupted compression process.
  • peripheral devices regulate the provision of the water or the compressed air supply quantity and cause a continuous, uninterrupted compression process.
  • 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.
  • 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.
  • 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 Haittlerlanze RL or the disorderly stranding of the traction cable by a controlled, supervised rappelling on the main winch.
  • 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.
  • 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.
  • 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.
  • a defined pulling / stuffing process begins.
  • a pulling / stuffing without interference and a pulling / stuffing with failure, which is terminated after trouble shooting this process without interference.
  • the termination of the ARDV process is given.
  • FIG. 14 shows the schematic, four-stage structure of the process control device, as an automation process, for the ARDV.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Agronomy & Crop Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)

Claims (1)

  1. Procédé d'automatisation d'un processus de vibro-densification et de renforcement du sol par colonnes ballastées au moyen de matériaux de compactage cohésif et non-cohésif, le procédé se caractérisant par l'exécution de processus distincts, sous pilotage par signal et par processus, et au moyen d'un système de guidage également piloté par processus, traitant et évaluant les valeurs prescrites et les valeurs réelles. Le procédé décrit traite les processus suivants de manière automatisée :
    - code géographique via GPS ;
    - surveillance de la pression de l'eau dans les pores (4) ;
    - surveillance du matériau de remplissage ;
    - creusage contrôlé au moyen d'un inclinomètre et un contrôle du poids (40) en vue de stabiliser la lance et de contrôler le câble mou,
    - limitation de l'énergie au moyen d'un convertisseur de fréquence pour le vibreur;
    - guidage d'un mélangeur de fluide pour l'air comprimé (37) et l'eau ;
    le tout étant lié à une régulation centrale des processus et à l'intégration d'une technique de régulation et de guidage d'une pelle excavatrice à câble ou d'un câble grue (8) dans le cadre d'un processus complet automatisé.
EP13401116.2A 2012-10-25 2013-10-23 Méthode pour automatiser le processus de compactage de matériaux compressibles cohérents et non cohérents par damage ou vibration Not-in-force EP2725145B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201210110194 DE102012110194B3 (de) 2012-10-25 2012-10-25 Verfahren zur Automatisierung des Prozesses der Rütteldruck- und Rüttelstopfverdichtung von bindigem und nichtbindigem Verdichtungsgut

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EP2725145A2 EP2725145A2 (fr) 2014-04-30
EP2725145A3 EP2725145A3 (fr) 2015-09-09
EP2725145B1 true EP2725145B1 (fr) 2016-10-12

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021122140A1 (de) 2021-08-26 2023-03-02 Tauber-Herklotz-Consult Geowissenschaftler & Ingenieure GmbH Verfahren zur Lagebestimmung von Kampfmitteln, sowie Vorrichtung und Bohrgerät zur Durchführung des Verfahrens

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105043445B (zh) * 2015-07-07 2017-03-08 山东大学 一种强夯质量远程监测系统及其工作方法
DE102016120382A1 (de) * 2016-10-26 2018-04-26 Gmb Gmbh Methode, Prinzip, Steuerung und Ausrüstung zur Durchführung der selbsttätigen Verdichtung von mehrphasigen Korngemischen
EP3978724A1 (fr) * 2020-10-01 2022-04-06 fielddata.io GmbH Procédé de mise en uvre d'une opération de construction et dispositif de construction
CN114645535A (zh) * 2022-03-21 2022-06-21 同济大学 一种强夯机控制系统和强夯机

Citations (1)

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Publication number Priority date Publication date Assignee Title
DE19628769C2 (de) 1996-07-17 1998-06-10 Bul Sachsen Gmbh Verfahren und Einrichtung zur Tiefenverdichtung von bindigem und nichtbindigem Verdichtungsgut

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DE4130339C2 (de) * 1991-09-12 2000-12-14 Keller Grundbau Gmbh Verfahren zur Verbesserung eines Baugrundes
DE10314368A1 (de) * 2003-03-28 2005-03-10 Michael Lersow Verfahren und Einrichtung zur Herstellung von Rüttelsäulen, insbesondere von Rütteldruck-, Rüttelstopf- oder Fertigmörtel Rüttelstopfsäulen
DE102010022802B4 (de) * 2010-06-05 2016-06-09 Ecosoil Ost Gmbh Verfahren und Vorrichtung zur Verbesserung der bodenmechanischen Eigenschaften von Böden im amphibischen Wasser-Land-Übergangsbereich von Gewässern, Bodensenken und Baugrundsanierungsgebieten

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"Neuer Kran zur Rütteldruckverdichtung mit Tagebaukippen in Jänschwalde", B4B BERLIN BRANDENBURG, 5 April 2012 (2012-04-05), pages 1 - 2, XP055386718
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Publication number Priority date Publication date Assignee Title
DE102021122140A1 (de) 2021-08-26 2023-03-02 Tauber-Herklotz-Consult Geowissenschaftler & Ingenieure GmbH Verfahren zur Lagebestimmung von Kampfmitteln, sowie Vorrichtung und Bohrgerät zur Durchführung des Verfahrens

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DE102012110194B3 (de) 2014-06-26
EP2725145A3 (fr) 2015-09-09
EP2725145A2 (fr) 2014-04-30

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