EP3533933A1 - Method for power management in pile foundation comprising a holder machine and an implement mounted on same - Google Patents

Abstract

The present invention relates to a method for power management in the pile foundation with a carrier machine for excavating a wellbore and an attachment mounted on the carrier machine for simultaneously introducing a casing into the ground, wherein the power supply for the attachment is at least partially provided by the carrier machine, and a Control of the carrier machine dynamically regulates the energy flow from the carrier machine to the attachment.

Description

The invention relates to a method of power management during pile foundation comprising a carrier machine for excavating a wellbore and an implement mounted on the carrier machine for concurrently introducing casing into the ground, the power supply to the implement being at least partially provided by the carrier machine.

When gripper drilling with an attachment in the form of a casing / pipe lathe, two independent devices work together to create a pile. The carrier machine in the form of a cable excavator comprises a gripper for lifting a hole. A casing machine / pipe lathing machine, also attached to the cable excavator, is used to clamp the casing, which is to be introduced into the soil synchronously with the excavation by means of uniform rotational movements. The necessary energy for the casing machine is usually provided by the carrier machine.

The operator of the cable excavator / drill or the casing machine / pipe lathe, for example, via a controller to the energy flow Casing machine / tube lathe. The disadvantage of this method is that the energy flow is quasi static and can only be changed sporadically. Depending on the work step or work cycle, it may happen that the casing machine either too much or too little energy for the activity is provided, which not only the total energy consumption is unnecessarily increased, but also delays in the workflow must be taken into account ,

It is therefore sought after a solution that knows how to overcome the disadvantages explained above.

This object is achieved by a method according to the features of claim 1. Starting from the generic method, the invention proposes that a control of the carrier machine controls the energy flow from the carrier machine to the attachment dynamically. The carrier machine can be, for example, a cable excavator equipped with a corresponding grab drill for excavating a borehole or a drilling device such as a Kelly drill. The attachment is, for example, a casing machine or a pipe lathe for introducing a casing into the ground.

The control of the carrier machine according to the invention dynamically regulate the distribution of energy between the attachment and the carrier machine, thereby optimizing the utilization and effectiveness of the two machines. Primarily, this is about hydraulic or pneumatic energy, which is provided by the carrier machine to the attachment available. However, the method is not fixed to a particular type of energy and could also be used for the energy management of electrical energy.

It makes sense if the regulation of the energy flow takes place in consideration of the current power requirement of the carrier machine and / or of the attachment. It makes sense for the controller to know the process sequence or has this knowledge about future work steps of the carrier machine or of the attachment. In cyclic processes, this knowledge can also be learned from past cycles. If, for example, one of the two consumers energetically reaches its limits during the same subcycle, and at the same time the other consumer does not need all the energy, dynamic adaptation can be learned. On the basis of this information about subsequent work steps can be done by a dynamic control of the energy flow. Concretely, the total energy required to create the pile is derived from the power requirements of the borehole excavator lifting machine and the power requirement of the implement to introduce the casing. The respective cyclic working steps executed on the devices are characterized by a variable power requirement. Consequently, it makes sense to supply the attachment with the execution of less energy-intensive operations less energy to use the excess energy instead in the carrier machine can. If, instead, a process takes place in the high-power attachment and the carrier machine requires comparatively little power, then it is advisable to maximize the energy flow to the attachment. As a result, individual work steps can be carried out more quickly, which can optimize the entire process duration. This also makes it possible to optimize the entire power requirement during the pile-forming process, since the unnecessary provision of excess energy at the carrier machine or at the attachment is prevented or at least reduced.

For the dynamic control, it is conceivable to limit the energy flow to the attachment or possibly completely stop it. For example, a limitation can be stepped. However, it is also conceivable stepless limit to allow the finest possible adjustment of the energy flow.

As claimed, the control of the energy flow is through control of the carrier machine. However, it is also conceivable to at least partially outsource the execution of the method to an external control, for example to the control of the attachment. It makes sense to exist between the carrier machine and the attachment a communication interface to exchange process-relevant information for the dynamic control of the energy flow between the machines.

It is also possible to exchange a requirement for power reduction or increase in power between the machines via the communication interface. It is conceivable, for example, for the carrier machine or the controller of the carrier machine to request the attachment via the communication interface to reduce its energy consumption in order thereby to secure the carrier machine with a higher power component. Conversely, the attachment could also request an increase in the energy flow to the attachment via the communication interface of the carrier machine.

A corresponding requirement for power reduction to the attachment may also include an instruction and specification of working steps of the attachment to be executed. In this context, it is conceivable that the carrier machine prescribes work steps to be carried out on the attachment or recommends one or more work steps. Such a recommendation is expediently based on the own power requirement of the carrier machine. If this requires comparatively much power, then the specification or recommendation contains energy-saving work steps; conversely, the execution of energy-hungry work steps is recommended / specified, if currently surplus energy is available from the carrier machine.

By means of the dynamic regulation of the energy flow, the duration of the process can be specifically influenced or controlled for individual work steps. This concerns both working steps of the attachment and the carrier machine. Specifically, by providing additional energy, for example, to accelerate the rotational movement of the attachment. Conversely, a reduction in performance leads to a delay or slowdown of the respective work steps.

For the pile foundation and especially for an optimal energy expenditure in the pile foundation, it is of particular importance that the casing process is synchronized with the simultaneous excavation of the borehole. If, for example, the excavation of the piping hastened, there is a risk of the piping becoming damaged, which can cause material damage and costs. However, if the piping rushes too far, the skin friction on the inside becomes too large, which can cause higher energy costs. Accordingly, the progress of both processes should be kept approximately the same or hurry the casing depth of the excavation depth with a constant distance slightly before.

This relationship makes it useful to monitor the difference between the depth of excavation and the depth of the casing, taking into account in the next step the determined difference in the dynamic regulation of the energy flow. In particular, the depth difference is kept above and / or below a lower or upper limit value by actively influencing the power distribution.

It is particularly advantageous if the energy flow to the attachment is throttled if the casing depth is greater by at least a limit amount than the excavation depth. Conversely, it may be useful to increase or even maximize the energy flow to the attachment if the excavation depth is greater by at least a limit amount than the current casing depth. Such a relationship between depth difference and power distribution can be particularly advantageously reflected by a cost function, which defines, for example, as a function of the depth difference to be delivered to the attachment medium power share.

As already indicated above, the working processes of the attachment and / or the carrier machine can be subdivided into cyclically occurring individual steps which also differ from one another with regard to the power requirement. To optimize the power management, it is particularly advantageous to carry out or future execution of the individual steps during a complete Duty cycle in the dynamic control of the energy flow to take into account. In this case, it makes sense for the energy flow to the carrier machine to be set dynamically on the basis of the average power component, taking further account of the cyclical grave process of the carrier machine. This may preferably be done by multiplying the average power value by a weighting parameter that identifies the current single step of a complete duty cycle. Concretely, it is possible that such a weighting parameter is smaller during digging and lifting of the trenching tool of the carrier machine than during lowering and emptying of the digging tool. The choice of the appropriate weight now ensures that the attachment during the digging and lifting of the carrier machine, a lesser power component is provided (for example, weighting factor less than 1), since the excavation and lifting process of the carrier machine is relatively energy consuming. Conversely, during the lowering and emptying of the trenching tool of the carrier machine, the power requirement is significantly lower, surplus energy can be made available to the attachment by choosing a higher weighting factor, for example, about 1.

Due to the geometry of the construction of a typical casing machine, optimum transmission efficiency results at a particular position of the two oscillating cylinders. For large deviations in both directions, the efficiency decreases. Especially with very large casing depths, the effective oscillation angle at the front of the casing is reduced due to twisting of the casing. Against this background, it makes sense to set this Oszilierwinkel also dynamically during operation or with progressive piping depths. It proves to be useful if the attachment dynamically adjusts the oscillation angle taking into account the current power consumption of the attachment and / or depending on the casing depth or the excavation depth. In this way, the working process or the effectiveness of the casing machine can be optimally optimized, because taking into account the aforementioned variables, an optimum, maximum oscillation angle can be set.

Of further importance is the soil strength at the current workplace. This factor can also be taken into account for the optimum setting of the attachment or carrier machine. In particular, with poor propulsion of the casing machine, a further piece of pipe can be mounted to increase the contact pressure. It is also conceivable that in such a case the casing machine specifically requests more energy for the casing process via the communication interface from the carrier machine. The current feed rate can determine the casing machine, for example, taking into account the temporal depth change of the casing.

In addition to the method according to the invention, the present invention also relates to a system consisting of a carrier machine, in particular a cable excavator or drill, and at least one attachment, preferably a casing or pipe lathe. The attachment or the carrier machine comprise at least one controller for carrying out the method according to the invention. In particular, the control of the method is taken over by a control of the carrier machine. Accordingly, the system is characterized by the same advantages and properties as have already been explained in detail above with reference to the method according to the invention. A repetitive description is omitted for this reason.

• Figur 1: eine Seitenansicht des erfindungsgemäßen Systems bestehend aus einer Trägermaschine sowie einer Verrohrungsmaschine;
• Figur 2: eine Seiten- und Draufsicht auf die Verrohrungsmaschine;
• Figur 3: eine Diagrammdarstellung zur Verdeutlichung der Kostenfunktion in Abhängigkeit der Tiefendifferenz zwischen Verrohrungstiefe und Aushubtiefe und
• Figuren 4a, 4b: zwei Diagrammdarstellungen der Aushub- bzw. Verrohrungstiefe gegenüber der Zeit.

Further advantages and features of the invention will be explained in more detail below with reference to an embodiment shown in the figures. Show it:

• FIG. 1 a side view of the system according to the invention consisting of a carrier machine and a casing machine;
• FIG. 2 a side and top view of the casing machine;
• FIG. 3 : a diagram to illustrate the cost function as a function of the depth difference between casing depth and excavation depth and
• FIGS. 4a, 4b Two graphs of excavation or casing depth versus time.

The preparation of piles by means of a casing machine (VRM) in combination with a crawler (grappling) or a drill (kelly drilling) should be optimized by an assistant in terms of energy (fuel consumption) and the time required. The assistant dynamically controls the distribution of energy between the VRM and the carrier machine to optimize the utilization and effectiveness of the two machines.

When gripper drilling with a VRM two independent devices, namely a crawler 1 and the attachment of the crawler in the form of the casing machine work together to create a pile. Like in the FIG. 1 is exemplified, takes over the crawler 1 with a rotatable superstructure, a boom 2 and a gripper 3 digging a hole. Attached to the cable shovel is a casing machine consisting of a bottom plate 201 and a table 301 that is adjustable with respect to the bottom plate 201. With this casing machine, a casing 100 can be driven into the ground as follows: the table 301 becomes, for example, a piping with the casing 100 locks. Subsequently, the bottom plate 201 is raised, whereby the weight of the casing 100, the table 301 and the bottom plate 201 acts downward. In order to overcome the static friction, the table 301 is set in motion in a further step, for example in horizontal oscillations (so-called casing machines) or in a continuous rotation (so-called tube lathes). Through this interaction, the casing 100 sinks into the ground while the crawler 1 dredges the soil within the casing 100.

With more details, the casing machine is in the FIGS. 2a, 2b showing the piping machine with casing 100 in a side and top view. The table 301 can be clamped to the tube 100, for example, by means of clamps. The bottom plate 201 can be lifted by lifting cylinders between the connection points 211/311 and 212/312. By synchronized movements of the two oscillator cylinders between the connection points 313/413 and 314/414, the table 301 can rotate relative to the base plate 201. A rigid handlebar is articulated on the one hand at point 321 on the table 301 and on the other hand at point 421 mounted on the element 401. By moving a steering cylinder which is articulated on the one hand at the point 415 with the handlebar and the other hand articulated at point 215 on the bottom plate 201, the inclination of the casing 100 can be adjusted about the y-axis, by different lifting height of the two lifting cylinder can the inclination the tubing 100 can be adjusted around the x-axis. The pivot points 413, 414 and 421 can be horizontally displaced by means of a guide 401 in relation to the structure 202 which is fixedly connected to the table 201. By means of the inclination sensor 501, the inclination of the table 301 can be detected, in particular in order to be able to align it for the desired pile inclination. The tilt or angle sensor 502 detects the position of the handlebar, in particular for determining the casing depth.

The energy required to create a pile is composed of the required power of the carrier machine (dredger, drill) for excavating the wellbore and the required power of the VRM to inject the casing 100. The casing 100 is screwed in by the VRM by means of the weight of the casing 100 and the VRM in conjunction with a rotary motion. Due to mantle and tip friction, the driving-in process of the VRM is quite energy-intensive. The peak friction is determined by the nature of the soil and the design of the casing 100. The skin friction is due to the relative movement of casing 100 to the bottom along the outer surfaces of the casing 100. The skin friction has two components, first the friction on the outside of the casing 100 and secondly the friction on the inside of the casing 100. The friction on the outside is due the increasing contact surface area between casing 100 and soil increases with increasing depth as the bore progresses. However, the friction on the inside of the casing 100 can be virtually eliminated by keeping the projection of the casing 100 low on the progress of the excavation.

The cuttings are removed from the tubing 100 by means of the crawler 1 (grave drills) or a drill. By far the largest power requirement of the cable dredge 1 or the drill falls when lifting the drilling tool 3. This energy and time expenditure increases with the depth of the borehole due to the increasing lifting height.

The power requirement can be optimized by dynamically controlling the energy flow between the carrier machine and the VRM. The control can be controlled, for example, by the carrier machine. It is possible that the carrier machine completely stops the energy flow, maximizes or steplessly regulates. Alternatively, the host machine may request a change in VRM power demand via a VRM communications interface or, for example, pretend that certain operations are not allowed or recommended (especially recommended when operating the VRM with additional power pack power source).

• Hoher Eigenbedarf
  ∘ Die Trägermaschine erkennt wann für beispielsweise das Heben des Bohrwerkzeuges 3 und des Bohrgutes viel Energie aufgewendet werden muss und reduziert den Energiefluss zur VRM oder stoppt diesen für die benötigte Zeitdauer (komplette Eliminierung von Verlusten in der VRM).
• Geringer Eigenbedarf
  ∘ Die Trägermaschine erkennt wann die Energieauslastung für die seitens der Trägermaschine auszuführenden Arbeiten gering ist und erhöht den Energiefluss zur VRM bzw. startet die VRM für die maximal mögliche Zeitdauer.
• Ungleicher Fortschritt
  • ∘ Eine mögliche Vorgabe aufgrund lokaler Gegebenheiten kann sein, dass etwa die Verrohrung 100 immer ein gewisses Mindestmaß vor der Aushebung des Bohrloches ist. Wenn beispielsweise die Aushebung der Verrohrung 100 vor eilt, so ist es möglich, dass etwa die Verrohrung 100 abstürzt und damit Schäden und Kosten verursacht. Wenn allerdings die Verrohrung 100 zu stark vor eilt, wird die Mantelreibung auf der Innenseite zu groß. Entsprechend sollte der Fortschritt in etwa gleich schnell stattfinden mit einer vorgegebenen Differenz.
  • ∘ Erkennt die Trägermaschine 1, dass der Fortschritt der Verrohrung 100 gegenüber dem Aushub zu groß ist, so wird der Energiefluss zur VRM reduziert oder gestoppt, bis der Fortschritt des Aushubes wieder in "Reichweite" der Verrohrung 100 kommt. In Folge steht der Trägermaschine 100 für diesen Zeitraum mehr Leistung zur Verfügung, wodurch der Aushub schneller vorankommt. Darüber hinaus wird der gesamte Leistungsbedarf für das Eindrehen der Verrohrung 100 reduziert, da es durch eine Reduktion des verringerten Vorsprunges der Verrohrung 100 zu einer Reduktion der Mantelreibung kommt.
• Ungünstiger Oszillationswinkel
  • ∘ Aufgrund der Geometrie einer typischen VRM ergibt sich ein optimaler Wirkungsgrad der Kraftübertragung bei einer bestimmen Stellung der beiden Oszillierzylinder. Bei großen Abweichungen in beide Richtungen nimmt der Wirkungsgrad ab.
  • ∘ Beim Wechsel der Drehrichtung kommt die Verrohrung 100 zum Stillstand. Nun müssen die beiden Oszillierzylinder die Haftreibung überwinden, erst dann kommt wieder die geringere Gleitreibung zum Tragen.
  • ∘ Ein weiterer Effekt, der hierbei eine Rolle spielt: bei sehr großen Tiefen reduziert sich der effektive Oszillationswinkel an der Front der Verrohrung 100 aufgrund von Verwindung der Verrohrung 100.
  • ∘ Aufgrund dieser drei Randbedingungen gibt es also eine Art optimalen, maximalen Oszilierwinkel, der von der Tiefe der Verrohrung 100 abhängt. Um also den Prozess zu optimieren, kann durch eine Messung der Tiefen der Verrohrung und des Aushubes sowie durch eine zusätzliche Messung der Leistungsaufnahme der VRM ein optimaler, maximaler Oszilierwinkel eingestellt werden.
• Hohe Bodenfestigkeit
  ∘ Bei schlechtem Vortrieb der VRM kann diese ein weiteres Rohrstück zur Erhöhung des Anpressdruckes bzw. die Bereitstellung von mehr Energie von der Trägermaschine anfordern.

An optimization of the process results in the following cases:

• High personal consumption
  ∘ The carrier machine detects when, for example, the lifting of the drilling tool 3 and the cuttings has to be spent a lot of energy and reduces the flow of energy to the VRM or stops it for the required time (complete elimination of losses in the VRM).
• Low personal needs
  ∘ The carrier machine detects when the energy utilization for the work to be performed by the carrier machine is low and increases the energy flow to the VRM or starts the VRM for the maximum possible duration.
• Unequal progress
  • ∘ A possible specification based on local conditions may be that, for example, the casing 100 is always a certain minimum prior to excavation of the borehole. For example, if the excavation of the piping 100 rushes forward, it is possible that the piping 100 crashes, for example, and thus causes damage and costs. However, if the piping 100 rushes too much forward, the skin friction on the inside becomes too large. Accordingly, the progress should take place approximately equally fast with a given difference.
  • ∘ If the carrier machine 1 recognizes that the progress of the casing 100 is too large compared to the excavation, the energy flow to the VRM is reduced or stopped until the progress of the excavation comes back into "reach" of the casing 100. As a result, the carrier machine 100 will have more power available for that time, making the excavation faster. In addition, the total power requirement for screwing the casing 100 is reduced, since reduction of the casing friction by reduction of the reduced projection of the casing 100 results.
• Unfavorable oscillation angle
  • ∘ Due to the geometry of a typical VRM, optimum transmission efficiency results in a given position of the two oscillating cylinders. For large deviations in both directions, the efficiency decreases.
  • ∘ When changing the direction of rotation, the piping 100 comes to a standstill. Now the two oscillating cylinders have to overcome the static friction, only then comes the lower sliding friction to bear.
  • ∘ Another effect that plays a role here: at very great depths, the effective oscillation angle at the front of the casing 100 is reduced due to distortion of the casing 100.
  • ∘ Due to these three boundary conditions, there is thus a kind of optimum, maximum oscillation angle, which depends on the depth of the casing 100. In order to optimize the process, an optimal maximum oscillation angle can be set by measuring the depth of the casing and the excavation and by additionally measuring the power consumption of the VRM.
• High soil strength
  ∘ In the case of poor propulsion of the VRM, this can request another pipe section to increase the contact pressure or to provide more energy from the carrier machine.

• Für die Optimierung bei ungleichem Fortschritt: Tiefenmessung der Verrohrung und Tiefenmessung des Aushubes
• Für die Optimierung des Oszillationswinkels: Messung Oszillationswinkel (Drehwinkelsensor in einem der Gelenke der Lenkstange bzw. weniger ideal in einem der Gelenke der Oszillierzylinder)

requirements

• For optimization in uneven progress: depth measurement of the casing and depth measurement of the excavation
• For the optimization of the oscillation angle: Measurement oscillation angle (rotation angle sensor in one of the joints of the handlebar or less ideal in one of the joints of the oscillating cylinder)

• Mehr Energie für die zu priorisierende Tätigkeit → Zeitoptimierung
• Durch Zeitgewinn weniger Verbrauch (Stichwort Grundlast / Verluste)
• Durch Zeitgewinn weniger Betriebsstunden

Advantages:

• More energy for the activity to be prioritized → time optimization
• Save time by saving time (keyword base load / losses)
• By saving time less hours of operation

Application examples:

• Die Verrohrungsmaschine hat gemessen, dass eine Verrohrung 100 eine bestimme Anzahl von Metern unter der Erde ist. Durch die Seillängenmessung des Seilbaggers 1 ist auch die Tiefe des Aushubes bekannt sowie durch einen Abgleich der Seillänge mit der Rohroberkante lässt sich auf die verbleibende Höhe der Verrohrung oberhalb der Verrohrungsmaschine schliessen. Die Verrohrung 100 ist nun beispielsweise 20 Meter unter der Erde, der Aushub 19 Meter, es stehen noch 4 Meter Rohr zum Eindrehen zur Verfügung. Aufgrund der lokalen Begebenheiten muss die Verrohung mindestens einen Meter dem Aushub vor eilen. Entsprechend sollte nun der Prozess des Eindrehens durch die VRM schneller werden, wohingegen der Aushubprozess des Seilbaggers 1 langsamer erfolgen kann. Um nun die Zeit effizient zu nutzen, einigen sich die beiden Maschinensteuerungen darauf, dass der Seilbagger 1 ein weiteres Rohr aufsetzt bzw. dies dem Bediener vorschlägt. In diesem Fall benötigt der Seilbagger 1 wenig Energie, durch die freigewordene Energie kann die VRM schneller vorankommen. Als zusätzlicher positiver Effekt erhöht sich durch das zusätzliche Teilstück das Eigengewicht der Verrohrung und das Eintreiben wird auch hierdurch beschleunigt.

The placement of another pipe section on the casing 100 by the carrier machine 1 is a tedious process, in which the carrier machine 1, however, requires very little energy. The digging tool 3 is set aside, a piece of pipe 100 is attached to the rope, placed on the existing casing and then locked with the rest of the tubing. Especially during the first part This process gives the casing machine a lot of energy. The following examples can be derived from this:

• The casing machine has measured that a casing 100 is a certain number of meters underground. By the rope length measurement of the cable shovel 1 and the depth of the excavation is known and by adjusting the rope length with the pipe top edge can be concluded on the remaining height of the casing above the casing. The piping 100 is now for example 20 meters underground, the excavation 19 meters, there are still 4 meters of pipe available for screwing. Due to local circumstances, the threat must be at least one meter from the excavation. Accordingly, the process of screwing in by the VRM should now be faster, whereas the excavation process of the cable shovel 1 can be slower. In order to use the time efficiently, the two machine controls agree that the Crawler 1 sets up another pipe or suggests this to the operator. In this case, the Crawler 1 requires little energy, the released energy allows the VRM to move faster. As an additional positive effect increases by the additional section, the weight of the tubing and the driving is thereby accelerated.

• Der Seilbagger 1 fährt mit dem Werkzeug 3 in die Verrohrung 100 und gräbt sich unten Material frei. Als nächstes muss der Seilbagger 1 das mit Aushub gefüllte Werkzeug 3 anheben. Dieser Umstand kann im Vorhinein bereits der VRM mitgeteilt werden. Sobald der Seilbagger 1 das Werkzeug 3 anhebt kann die Energiezufuhr zur VRM reduziert werden. Die VRM nutzt diese Zeit für eine energetisch günstigere Arbeit, wie etwa das Anheben der Bodenplatte 201. Sobald das Werkzeug 3 die Rohroberkante erreicht hat, meldet der Seilbagger 1 der VRM, dass der Hub vorbei ist und erhöht entsprechend den Energiefluss zur VRM, wodurch diese nun wieder mit voller Energie die eingespannte Verrohrung drehen kann.
• Bei ungünstiger Verteilung der Tiefen (wenn etwa die VRM viel tiefer ist als der Aushub und entsprechend die Mantelreibung an der Innenseite der Verrohrung recht hoch ist) kann im Extremfall die Energiezufuhr zur VRM für die Dauer des Aushubs komplett gestoppt werden.

During the lifting of the digging tool 3, the carrier machine needs a lot of energy, the oscillation of the VRM also requires a lot of energy. Another application example can be derived from this:

• The crawler 1 moves with the tool 3 in the casing 100 and digs down material free. Next, the crawler 1 must lift the excavated tool 3. This circumstance can already be communicated in advance to the VRM. As soon as the crawler 1 lifts the tool 3, the power supply to the VRM can be reduced. The VRM uses this time for a more energetically favorable work, such as lifting the bottom plate 201. As soon as the tool 3 has reached the pipe top edge, the VRM Crawler 1 signals that the stroke is over and increases accordingly Energy flow to the VRM, which allows them to turn the clamped piping with full energy again.
• With unfavorable distribution of the depths (if, for example, the VRM is much deeper than the excavation and, accordingly, the skin friction on the inside of the casing is quite high), in extreme cases the energy supply to the VRM can be completely stopped for the duration of the excavation.

• Der Seilbagger 1 kommt mit größer werdender Tiefe nur mehr langsam mit dem Aushub voran. Der Vorsprung der Verrohrung 100 steigt dadurch kontinuierlich an. Aufgrund dessen kann der Seilbagger 1 die Energiezufuhr zur VRM drosseln, um mehr Energie für die eigene Tätigkeit zur Verfügung zu haben.
• Bei ungünstiger Verteilung der Tiefen (wenn etwa die VRM viel tiefer ist als der Aushub und entsprechend die Mantelreibung an der Innenseite der Verrohrung recht hoch ist) kann im Extremfall die Energiezufuhr zur VRM zeitweise komplett gestoppt werden (siehe Beispiel in Figur 4b).

The time required for lifting the digging tool 3 increases steadily with depth. This results in an increased expenditure of time for removing a certain amount of cuttings at great depths. As a result, the work of the carrier machine 1 progresses more slowly at great depths. However, the time needed for the VRM to load per meter of tubing does not increase with depth to the same extent. From this it can be deduced:

• The Crawler 1 is progressing with increasing depth only more slowly with the excavation. The projection of the casing 100 thereby increases continuously. Due to this, the crawler 1 can throttle the power supply to the VRM to have more power available for its own activity.
• In case of unfavorable distribution of the depths (if, for example, the VRM is much deeper than the excavation and the mantle friction on the inside of the casing is quite high), in extreme cases the energy supply to the VRM can be completely stopped temporarily (see example in FIG. 4b ).

Concrete method

• Prozessoptimierung:
  • ∘ Der Bediener der VRM stellt eine minimale Tiefendifferenz D_min ein. Beim gleichzeitigen Verrohren und Ausgraben mittels Greifer 3 darf der Greifer 3 diese minimale Tiefendifferenz nicht unterschreiten (bsp: D_min=40 cm, also muss die Verrohrung 100 immer mindestens 40cm dem Greifer 3 vor eilen). Es gibt kein D_max, die Verrohrung 100 darf dem Greifer 3 beliebig weit voreilen.
  • ∘ Es wird nun eine Kostenfunktion U als Funktion der Tiefendifferenz D formuliert mit einem Minimum D₀ > D_min. Siehe hierzu Figur 3. Bei D₀ ist die Energieverteilung R ideal.
  • ∘ Ist nun D kleiner als D₀, dann steigt der Leistungsanteil R, den der Seilbagger 1 der VRM zur Verfügung stellt. Das hat zwei Effekte: die VRM bekommt mehr Leistung, dreht damit schneller und vergrößert dadurch D, andererseits hat der Seilbagger 1 weniger Leistung, verringert damit seine Grabgeschwindigkeit, was auch eine Vergrößerung von D zur Folge hat. Sollte D kleiner als D₀ sein und die an die VRM bereitgestellte Energie bereits maximal sein, so muss das Gewicht der Verrohrung zur Erhöhung des Anpressdruckes vergrößert werden, so bspw. durch Aufsetzen eines weiteren Teilrohres.
  • ∘ Ist D größer als D₀, dann wird der Leistungsanteil R, den der Seilbagger 1 der VRM zur Verfügung stellt, verringert. Der Leistungsanteil R berechnet sich folglich nach der Formel R = PVRM / P, wobei PVRM der Anteil an der Gesamtleistung P ist, die der VRM zur Verfügung steht aufgrund der Prozessoptimierung.
  • ∘ Wenn sich D nahe an D_min annähert, sollte die VRM gestoppt werden.
• Optimierung der Maschinenauslastung:
  • ∘ Von der obigen Prozessoptimierung wird eingestellt, wie groß der mittlere Anteil der Leistung ist, den der Seilbagger 1 der VRM zur Verfügung stellt. In weiterer Folge wird nun dieser Parameter R mit einem weiteren Parameter R_cyc multipliziert, der den zyklischen Grabprozess des Seilbaggers 1 berücksichtigt. Die Leistungsaufteilung ergibt sich beispielsweise als Q = R x R_cyc. Rcyc ist demzufolge ein Korrektur- bzw. Gewichtungsfaktor des Leistungsanteil der VRM aufgrund der Auslastung des Seilbaggers 1, der üblicherweise im Werteintervall zwischen 0 bis 1 liegt
  • ∘ Der Seilbagger 1 benötigt am meisten Leistung während des Grabens und während des Hebens. In dieser Zeit sollte der Seilbagger viel Leistung bekommen, die VRM bekommt während diesem Zeitraum eine geringere Leistung. R_cyc wird also < 1 sein, bis zu einem extremen Fall R_cyc = 0 (VRM bekommt gar keine Leistung mehr).
  • ∘ Der Seilbagger 1 benötigt eine geringe Leistung während des Entleerens des Greifers 3 und während dem Absenken des Greifers 3 in das Bohrloch. In dieser Zeit kann die VRM einen größeren Leistungsanteil erhalten ohne den Prozess zu verlangsamen, entsprechend wird ein R_cyc ∼ 1 gewählt.
  • ∘ Ein energetisch optimaler Zustand liegt dann vor, wenn der Abstand zwischen den Linien der Figuren 4a, 4b minimal ist.

Two different procedures are carried out in parallel:

• Process optimization:
  • ∘ The operator of the VRM sets a minimum depth difference D _min . When simultaneous piping and digging by means of gripper 3 of the gripper 3 may not fall below this minimum depth difference (eg: D _min = 40 cm, so the casing 100 must always at least 40cm rush the rapier 3). There is no D _max , the piping 100 may advance the gripper 3 arbitrarily far.
  • ∘ A cost function U is formulated as a function of the depth difference D with a minimum D ₀ > D _min . See also FIG. 3 , At D ₀ , the energy distribution R is ideal.
  • ∘ If D is smaller than D ₀ , then the power component R, which the Crawler Excavator 1 supplies to the VRM, increases. This has two effects: the VRM gets more power, turns faster and thereby increases D, on the other hand, the Crawler 1 has less power, thus reducing its grave speed, which also has an increase of D result. If D is less than D ₀ and the energy supplied to the VRM is already at its maximum, then the weight of the piping must be increased to increase the contact pressure, for example by placing another partial pipe.
  • ∘ If D is greater than D ₀ , then the power component R that the Crawler Excavator 1 supplies to the VRM is reduced. The power component R is thus calculated according to the formula R = PVRM / P, where PVRM is the proportion of the total power P available to the VRM due to the process optimization.
  • ∘ When D approaches near D _min , the VRM should be stopped.
• Optimization of machine utilization:
  • ∘ The above process optimization determines the average proportion of the power that the Crawler Excavator 1 supplies to the VRM. Subsequently, this parameter R is now multiplied by a further parameter R _cyc , which takes into account the cyclic excavation process of the cable shovel 1. The power distribution results, for example, as Q = R x R _cyc . Rcyc is therefore a correction or weighting factor of the power component of the VRM due to the load of the cable shovel 1, which is usually in the value interval between 0 to 1
  • Seil The Crawler 1 requires the most power during digging and lifting. At this time, the Crawler should be a lot Get power, the VRM gets during this period, a lower performance. _So R _cyc will be <1, up to an extreme case R _cyc = 0 (VRM gets no more power).
  • Seil The Crawler 1 requires little power during the emptying of the gripper 3 and during the lowering of the gripper 3 in the borehole. During this time, the VRM can get a larger _{amount of} power without slowing down the process, accordingly an R _cyc ~ 1 is chosen.
  • Energ An energetically optimal state exists when the distance between the lines of the FIGS. 4a, 4b is minimal.

Claims (14)

Method for power management in pile foundation with a carrier machine for excavating a borehole and an attachment mounted on the carrier machine for simultaneous introduction of a casing into the ground, wherein the power supply for the attachment is at least partially provided by the carrier machine,
characterized,
that control of the carrier machine regulates the flow of energy from the carrier machine for attachment dynamically. A method according to claim 1, characterized in that the regulation of the energy flow taking into account the current power requirement of the carrier machine and / or the attachment takes place. Method according to one of the preceding claims, characterized in that the energy flow to the attachment is limited or stopped completely, wherein a limitation can be stepwise or continuously. Method according to one of the preceding claims, characterized in that the control of the carrier machine transmits a request for Lesitungsreduzierung to the attachment via a communication interface. A method according to claim 4, characterized in that the request contains an instruction to be executed operations of the attachment, in particular a specification and / or recommendation regarding to be performed and / or not to be executed steps. Method according to one of the preceding claims, characterized in that by means of the dynamic control of the energy flow, the process duration for operations of the attachment and / or the carrier machine is actively controlled. Method according to one of the preceding claims, characterized in that the depth difference between the depth of Erdaushubes and the Verschrohungstiefe for the dynamic control is taken into account, wherein by the dynamic control of the energy flow preferably the depth difference above and / or below a lower and / or upper limit is held. A method according to claim 7, characterized in that the energy flow is throttled to the attachment, if the casing depth is greater by at least a limit amount than the excavation depth and / or energy flow to the attachment is increased or maximized, if the excavation depth is greater by at least one limit amount as the casing depth. Method according to one of the preceding claims 7 or 8, characterized in that a cost function U is defined as a function of the depth difference, which defines the function of the depth difference to be delivered to the attachment average power component. A method according to claim 9, characterized in that the energy flow to the attachment based on the average power component, taking into account the cyclic grave process of the carrier machine is set dynamically, in particular by multiplying the average power value with a weighting parameter that identifies the current process step during a cyclic grave process. A method according to claim 10, characterized in that the weighting parameter is smaller during the digging and lifting of the digging tool and larger during the lowering and emptying of the digging tool. Method according to one of the preceding claims, characterized in that the attachment sets, taking into account the current power consumption of the attachment and / or depending on the casing depth and / or excavation depth, the oscillation angle of the implement running as a casing. Method according to one of the preceding claims, characterized in that the attachment detects the feed rate of the casing, in particular taking into account the temporal depth change of the casing, and based on an increase in the energy flow from the carrier machine to the attachment via the communication interface requests and / or a working process for Placing a further tube on the piping initiates. System consisting of a carrier machine, in particular a cable excavator or drill, and at least one attachment, preferably one Casing or tube lathe, with at least one controller for carrying out the method according to one of the preceding claims.

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