EP3536900B1 - Method and device for soil excavation - Google Patents

Method and device for soil excavation Download PDF

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Publication number
EP3536900B1
EP3536900B1 EP18160712.8A EP18160712A EP3536900B1 EP 3536900 B1 EP3536900 B1 EP 3536900B1 EP 18160712 A EP18160712 A EP 18160712A EP 3536900 B1 EP3536900 B1 EP 3536900B1
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Prior art keywords
ground
sound
working
evaluation unit
control
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German (de)
French (fr)
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EP3536900A1 (en
Inventor
Josef Haas
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Bauer Maschinen GmbH
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Bauer Maschinen GmbH
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D17/00—Excavations; Bordering of excavations; Making embankments
    • E02D17/13—Foundation slots or slits; Implements for making these slots or slits

Definitions

  • the invention relates to a method for tilling the soil using construction equipment, which has at least one rotary drive unit for rotating a tilling tool that is inserted into the soil, according to the preamble of claim 1.
  • the invention relates to construction equipment for soil cultivation with at least one rotary drive unit for rotating a soil cultivation tool that is inserted into the soil, according to the preamble of claim 8.
  • Construction equipment for tillage is, for example, drilling equipment for drilling piles or trench wall cutters for producing trench walls in the ground.
  • a drilling tool is driven in rotation via a drilling drive and is usually introduced vertically into the ground by means of a feed unit.
  • a feed unit For efficient creation of a borehole, it is of essential importance that the rotational speed and a feed rate are adjusted to one another. For example, a different speed and feed rate is required for working on rock than for working on a layer of clay.
  • the drill driver must still have appropriate experience.
  • the right program must first be selected. Even when choosing the right program, for example for sandy soil, it can happen that in the course of the borehole to be drilled, different layers of the soil have to be penetrated, which can have different strengths and cohesiveness.
  • a tunnel boring machine which is designed to detect geological structures.
  • an output signal is generated by a signal generator, with a response signal being picked up by the geological structure by means of a sensor element.
  • an evaluation unit can be used to draw conclusions about the rock structure worked by the tunnel boring machine.
  • the invention is based on the object of specifying a method and construction equipment for tilling the soil, with which efficient tilling of the soil is made possible in a particularly reliable manner.
  • the object is achieved by a method having the features of claim 1 or by a construction device having the features of claim 8 .
  • Preferred embodiments of the invention are specified in the respective dependent claims.
  • the method according to the invention provides that at least one sound measuring device is provided, with which a sound is recorded when working the soil and forwarded as a measured sound value, and that a control and evaluation unit is provided, which uses the measured sound values to determine the type of soil to be worked.
  • a basic idea of the invention can be seen in the fact that when working the soil with a rotary drive unit, an essentially continuous generation of vibrations is brought about on the existing soil.
  • the soil tillage tool is driven at a substantially constant speed when tilling a soil layer.
  • noise is generated during soil processing.
  • This sound generated in this way can be recorded by means of at least one sound measuring device and forwarded to a control and evaluation unit as a measured sound value.
  • This control and evaluation unit is designed in such a way that the type of soil to be processed can be determined on the basis of the measured sound values recorded.
  • a characteristic sound image is produced which differs significantly from a sound image which is produced when working on a sand, clay or gravel layer, for example.
  • the sound is recorded as structure-borne noise, with the at least one sound measuring device being arranged on the soil working tool or in the vicinity of the soil working tool.
  • the sound could also be detected as a sound in the air or in a supporting liquid, for example in a borehole.
  • structure-borne noise which occurs on the soil working tool, in particular a drilling tool or a milling wheel, is particularly characteristic and can be detected with particularly good reliability.
  • appropriate sound measuring devices are attached directly to the metal parts of the soil working tool or in the vicinity of the soil working tool.
  • control and evaluation unit has a database in which certain sound values be stored for soil types.
  • the database can already be specified when a piece of construction equipment is delivered or it can be uploaded from a control center during operation or provided with new or supplemented values or maintained.
  • the device driver or the control and evaluation unit itself to store preferred data sets, i.e. sound measurement values or sound images for given operating variables for specific soil types, which are created for the respective construction site or for the respective construction equipment or have been identified.
  • the database can thus represent an expert system, with automatic improvement and modification of the stored data records being able to be provided on the basis of a preferably self-learning logic of the control and evaluation unit.
  • the method according to the invention consists in recording and storing the sound values over time and/or the depth of the ground. If, for example, several boreholes or slits are to be drilled at a construction site, which are usually close together or not too far apart, the stored operating variables, which are recorded and stored over time or the driving distance/soil depth with the determined sound values, can be used to create a Repeat program are used. In particular, a profile with the respective soil layers or soil characteristics can be created over a driving distance, ie a drilling depth or a slot depth, and a data set with preferred operating parameters for the construction equipment setting can be stored for this.
  • a soil profile is determined and stored by the evaluation and control unit based on the soil types determined during soil cultivation over the driving section.
  • a specific type of soil or soil layer such as loam, sand, gravel, rock, etc., can be assigned to a soil treatment value or soil characteristic value corresponding to data stored in the database.
  • These values and thus also a soil profile can be queried from a control center via the control and evaluation unit via a remote data connection that is preferably present.
  • construction equipment can not only be used to work the ground, but it can also be used as a a probing or analysis tool can be used to explore a soil profile.
  • the operating parameters preferred for the soil profile are determined via the drilling depth by the control and evaluation unit and stored as a data set in the database.
  • the database can already be specified when the construction equipment is delivered, or it can be uploaded from a control center during operation, or it can be provided and maintained with new or supplemented values.
  • the device driver or the control and evaluation unit itself to store preferred data sets, i.e. preferred input variables, possibly with output variables for certain recorded sound values or soil tillage values, which are used for a particular construction site or for the respective construction equipment have been created or determined.
  • the database can thus represent an expert system, with automatic improvement and modification of the stored data records being able to be provided on the basis of a preferably self-learning logic of the control and evaluation unit. This can also include an automatic improvement in the assignment of sound values or sound images to specific soil types.
  • the control and evaluation unit compares a current soil type with soil types stored in the database and that, depending on the comparison, a current operating parameter for operating the construction equipment is changed or a change is recommended to an equipment operator . If, for example, the control and evaluation unit recognizes by comparing the recorded values that a soil layer with changed strength and thus with a different soil tillage value or soil characteristic value is penetrated, the control and evaluation unit can adjust the operating parameters or input variables, such as speed or feed, change. If a data set with the same or similar soil tillage value or soil characteristic value is determined in the database, the control or evaluation unit can change the operating parameters according to the preferred data set found, or to the implement driver, for example display on a monitor.
  • the previous operating parameters can be replaced by more suitable operating parameters for the soil type detected.
  • an applied torque would be changed depending on the type of soil determined after evaluation of the database and replaced by a more suitable value which, for example, enables improved propulsion with less tool wear.
  • the control and evaluation unit determines and stores various data sets for a soil profile, which are preferably determined and differentiated with regard to rapid propulsion or a low-wear rotational speed. It is taken into account that there is no general optimal parameter setting for the operating parameters in soil cultivation. Rather, the preferred operating parameters depend on certain aspects or objectives in tillage. For example, particularly rapid soil cultivation, ie rapid propulsion, may be desirable, so that higher speeds or higher feed forces are provided in contrast to soil cultivation that is as wear-resistant or energy-saving as possible. Other objectives can also be provided, such as low-noise work with the lowest possible sound emission. For a determined tillage value, different data sets can therefore be stored for different objectives, which are categorized as efficient propulsion, particularly low-wear, energy-saving or low-noise emissions.
  • the method according to the invention can be used in the various tillage methods.
  • a particularly preferred variant of the method consists in drilling with a drilling tool or milling with a trench wall cutter as soil processing.
  • the drilling can be continuous drilling, for example with an endless auger, or discontinuous drilling, for example with a drill bucket or a simple auger drill.
  • the method according to the invention can also be used in double-head drilling, in which at least two rotary drive units are provided.
  • a first rotary drive unit can be provided for an internal drilling tool, while a further rotary drive unit is arranged for an external drill pipe.
  • rock drilling which can be carried out, for example, in anchor or HDI drilling in a roughly vertical wall or even at the ceiling area in a tunnel.
  • a trench cutter with at least one pair, preferably two pairs of rotatably driven cutting wheels is preferably provided for tilling the soil by means of milling.
  • the milling of a milled trench can be carried out in a one-phase, two-phase or a CSM® method, in which a soil mortar mixture is produced in situ in the milled trench by the milling machine.
  • One or more cutting wheel drives can be provided.
  • control and evaluation unit can also take into account the supply of binding agent, rinsing and/or support suspension.
  • binding agent rinsing and/or support suspension.
  • the construction device according to the invention for working the soil is characterized in that at least one sound measuring device is provided, with which a sound is recorded when working the soil and forwarded as a measured sound value, and that a control and evaluation unit is provided which is designed to use the measured sound values to determine the type of the soil to be worked.
  • a particularly preferred construction device is a drilling device in which a drilling tool is driven in rotation by means of the at least one rotary drive unit.
  • the drilling tool can be a drill bucket or an auger, which can preferably be moved vertically along a mast or a leader.
  • the drilling device can also have a drilling carriage that can be adjusted in multiple axes in space, for example as is used in anchor drilling or in HDI drilling.
  • all drills can be used, for example for Double-head drilling or drilling devices with a casing machine, in which casing pipes can be inserted into the ground.
  • this is a trench wall cutter in which cutting wheels are driven by means of the at least one rotary drive unit.
  • the trench wall cutter has one or more pairs of cutting wheels at the lower end of a cutting frame.
  • the milling frame can be suspended from a cable and guided in the milling slot via corresponding guide plates on the milling frame.
  • the trench cutter can also be guided and moved on a guide rod, which is particularly advantageous for CSM® milling, in which a soil mortar mixture is created in situ in the milled trench with the milled soil material and the supplied setting support liquid.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Environmental & Geological Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Earth Drilling (AREA)

Description

Die Erfindung betrifft ein Verfahren zur Bodenbearbeitung mit einem Baugerät, welches mindestens eine Drehantriebseinheit zum drehenden Antreiben eines Bodenbearbeitungswerkzeugs aufweist, welches in den Boden eingebracht wird, gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a method for tilling the soil using construction equipment, which has at least one rotary drive unit for rotating a tilling tool that is inserted into the soil, according to the preamble of claim 1.

Weiterhin betrifft die Erfindung ein Baugerät zur Bodenbearbeitung mit mindestens einer Drehantriebseinheit zum drehenden Antreiben eines Bodenbearbeitungswerkzeugs, welches in den Boden eingebracht wird, gemäß dem Oberbegriff des Anspruchs 8.Furthermore, the invention relates to construction equipment for soil cultivation with at least one rotary drive unit for rotating a soil cultivation tool that is inserted into the soil, according to the preamble of claim 8.

Baugeräte zur Bodenbearbeitung stellen beispielsweise Bohrgeräte zum Pfahlbohren oder Schlitzwandfräsen zum Herstellen von Schlitzwänden im Boden dar. Bei einem Bohrgerät wird ein Bohrwerkzeug über einen Bohrantrieb rotierend angetrieben und zumeist vertikal in einen Boden mittels einer Vorschubeinheit eingebracht. Für ein effizientes Erstellen eines Bohrloches ist es dabei von wesentlicher Bedeutung, dass die Drehzahl und eine Vorschubgeschwindigkeit aufeinander abgestimmt eingestellt sind. So wird beispielsweise für das Bearbeiten von Felsgestein eine andere Drehzahl und eine andere Vorschubgeschwindigkeit benötigt als für das Bearbeiten einer Tonschicht.Construction equipment for tillage is, for example, drilling equipment for drilling piles or trench wall cutters for producing trench walls in the ground. In a drilling equipment, a drilling tool is driven in rotation via a drilling drive and is usually introduced vertically into the ground by means of a feed unit. For efficient creation of a borehole, it is of essential importance that the rotational speed and a feed rate are adjusted to one another. For example, a different speed and feed rate is required for working on rock than for working on a layer of clay.

Bei einfachen Bohrgeräten werden die Drehzahl und eine Vorschubgeschwindigkeit manuell von einem Bohrgerätefahrer eingestellt. Die richtige Einstellung hängt somit stark von der Erfahrung des Bohrgerätefahrers ab, zumal die Einstellung auch von der Art des Bodens abhängt. Es ist bekannt, dass Bohrgeräte mit einer elektronischen [2]Steuerung versehen sind, in welcher vorausgewählte Programme vorgesehen sind, welche von einem Bohrgerätefahrer abhängig von der vorliegenden Bodenart ausgewählt werden können. Bei diesen Programmen können beispielsweise eine Drehzahl des Bohrwerkzeuges und eine Vorschubgeschwindigkeit für eine bestimmte Bodenart vorgegeben sein. Die Steuerung wird anhand dieser Sollwerte Drehmoment und Vorschubkraft an dem Bohrgerät einstellen und regeln. Die sich ergebenden Istwerte können dann gemessen und mit den Sollwerten verglichen werden, so dass eine herkömmliche Regelung gegeben ist.With simple drilling rigs, the rotational speed and a feed rate are set manually by a drilling rig operator. The correct setting therefore depends heavily on the experience of the drilling rig driver, especially since the setting also depends on the type of soil. It is known that drills with an electronic [2]Control are provided, in which preselected programs are provided, which can be selected by a drill driver depending on the type of soil present. In these programs, for example, a rotational speed of the drilling tool and a feed rate for a specific type of soil can be specified. The controller will use these target values to set and regulate the torque and feed force on the drill. The resulting actual values can then be measured and compared with the target values, so that conventional control is provided.

Jedoch ist auch bei derartigen Vorauswahlprogrammen weiter eine entsprechende Erfahrung des Bohrgerätefahrers notwendig. Es muss zunächst das richtige Programm ausgewählt werden. Selbst bei der Auswahl eines richtigen Programms, etwa für sandigen Boden, kann es vorkommen, dass im Verlauf der abzuteufenden Bohrung verschiedene Schichten des Bodens zu durchdringen sind, welche andere Festigkeiten und Bindigkeiten aufweisen können.However, even with such pre-selection programs, the drill driver must still have appropriate experience. The right program must first be selected. Even when choosing the right program, for example for sandy soil, it can happen that in the course of the borehole to be drilled, different layers of the soil have to be penetrated, which can have different strengths and cohesiveness.

Aus der DE 10 2007 005 560 B4 ist eine Tunnelbohrmaschine bekannt, die zum Erkennen von geologischen Strukturen ausgebildet ist. Hierbei wird durch einen Signalerzeuger ein Ausgangssignal erzeugt, wobei ein Antwortsignal von der geologischen Struktur mittels eines Sensorelementes aufgenommen wird. Durch Auswerten des Ausgangssignals und des hierauf erfolgen Antwortsignals kann über eine Auswerteeinheit ein Rückschluss auf die von der Tunnelbohrmaschine bearbeitete Gesteinsstruktur gezogen werden.From the DE 10 2007 005 560 B4 a tunnel boring machine is known which is designed to detect geological structures. In this case, an output signal is generated by a signal generator, with a response signal being picked up by the geological structure by means of a sensor element. By evaluating the output signal and the resulting response signal, an evaluation unit can be used to draw conclusions about the rock structure worked by the tunnel boring machine.

Aus der DE 10 2008 043 886 B4 ist ein Bagger zum Bearbeiten eines Lockergesteins bekannt. Durch einen Schallaufnehmer kann durch den Bagger erkannt werden, ob durch die Baggerschaufel eine Kiesschicht bearbeitet wird.From the DE 10 2008 043 886 B4 an excavator for working loose rock is known. A sound pickup can be used by the excavator to detect whether a layer of gravel is being processed by the excavator shovel.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren und ein Baugerät zur Bodenbearbeitung anzugeben, mit welchen in besonders zuverlässiger Weise eine effiziente Bodenbearbeitung ermöglicht werden.The invention is based on the object of specifying a method and construction equipment for tilling the soil, with which efficient tilling of the soil is made possible in a particularly reliable manner.

Die Aufgabe wird nach der Erfindung durch ein Verfahren mit den Merkmalen des Anspruchs 1 beziehungsweise mit einem Baugerät mit den Merkmalen des Anspruchs 8 gelöst. Bevorzugte Ausführungsformen der Erfindung sind in den jeweils abhängigen Ansprüchen angegeben.According to the invention, the object is achieved by a method having the features of claim 1 or by a construction device having the features of claim 8 . Preferred embodiments of the invention are specified in the respective dependent claims.

Das erfindungsgemäße Verfahren sieht vor, dass mindestens eine Schallmesseinrichtung vorgesehen ist, mit welcher ein Schall beim Bearbeiten des Bodens erfasst und als Schallmesswert weitergeleitet wird, und dass eine Steuer- und Auswerteeinheit vorgesehen ist, welche anhand der Schallmesswerte die Art des zu bearbeitenden Bodens ermittelt.The method according to the invention provides that at least one sound measuring device is provided, with which a sound is recorded when working the soil and forwarded as a measured sound value, and that a control and evaluation unit is provided, which uses the measured sound values to determine the type of soil to be worked.

Eine Grundidee der Erfindung kann darin gesehen werden, dass bei einer Bodenbearbeitung mit einer Drehantriebseinheit eine im Wesentlichen kontinuierliche Schwingungserzeugung am anstehenden Boden bewirkt wird. Hierfür ist vorzugsweise vorgesehen, dass das Bodenbearbeitungswerkzeug mit einer im Wesentlichen gleichbleibenden Drehzahl beim Bearbeiten einer Bodenschicht angetrieben wird. Abhängig von der zu bearbeitenden Bodenschicht erfolgt eine Schallerzeugung bei der Bodenbearbeitung. Dieser so erzeugte Schall kann mittels mindestens einer Schallmesseinrichtung erfasst und als ein Schallmesswert an eine Steuer- und Auswerteeinheit weitergeleitet werden. Diese Steuer- und Auswerteeinheit ist dabei so ausgebildet, dass anhand der erfassten Schallmesswerte die Art des zu bearbeitenden Bodens ermittelt werden kann. So wurde nach der Erfindung festgestellt, dass sich etwa bei der Bearbeitung von Felsgestein ein charakteristisches Schallbild ergibt, welches sich deutlich von einem Schallbild unterscheidet, das sich bei der Bearbeitung etwa einer Sand-, Ton- oder Kiesschicht ergibt.A basic idea of the invention can be seen in the fact that when working the soil with a rotary drive unit, an essentially continuous generation of vibrations is brought about on the existing soil. For this purpose, it is preferably provided that the soil tillage tool is driven at a substantially constant speed when tilling a soil layer. Depending on the soil layer to be processed, noise is generated during soil processing. This sound generated in this way can be recorded by means of at least one sound measuring device and forwarded to a control and evaluation unit as a measured sound value. This control and evaluation unit is designed in such a way that the type of soil to be processed can be determined on the basis of the measured sound values recorded. According to the invention, it was found that, for example, when working on rock, a characteristic sound image is produced which differs significantly from a sound image which is produced when working on a sand, clay or gravel layer, for example.

Besonders bevorzugt ist es nach einer Weiterbildung der Erfindung, dass der Schall als ein Körperschall erfasst wird, wobei die mindestens eine Schallmesseinrichtung an dem Bodenbearbeitungswerkzeug oder in der Nähe des Bodenbearbeitungswerkzeugs angeordnet ist. Grundsätzlich könnte der Schall auch als ein Schall in der Luft oder in einer Stützflüssigkeit, etwa in einem Bohrloch, erfasst werden. Allerdings ist ein Körperschall, welcher sich an dem Bodenbearbeitungswerkzeug, insbesondere einem Bohrwerkzeug oder einem Fräsrad, ergibt, besonders charakteristisch und kann mit besonders guter Zuverlässigkeit erfasst werden. Hierdurch sind unmittelbar an den Metallteilen des Bodenbearbeitungswerkzeugs oder in der Nähe des Bodenbearbeitungswerkzeugs entsprechende Schallmesseinrichtungen angebracht.According to a development of the invention, it is particularly preferred that the sound is recorded as structure-borne noise, with the at least one sound measuring device being arranged on the soil working tool or in the vicinity of the soil working tool. In principle, the sound could also be detected as a sound in the air or in a supporting liquid, for example in a borehole. However, structure-borne noise, which occurs on the soil working tool, in particular a drilling tool or a milling wheel, is particularly characteristic and can be detected with particularly good reliability. As a result, appropriate sound measuring devices are attached directly to the metal parts of the soil working tool or in the vicinity of the soil working tool.

Eine weitere bevorzugte Ausführungsform der Erfindung besteht darin, dass die Steuer- und Auswerteeinheit eine Datenbank aufweist, in welcher bestimmte Schallwerte für Bodenarten hinterlegt werden. Die Datenbank kann bereits bei der Auslieferung eines Baugerätes vorgegeben sein oder im Betrieb von einer Zentrale aufgespielt oder mit neuen oder ergänzten Werten versehen oder gepflegt werden. Weiterhin ist es nach einer Variante der Erfindung möglich, dass seitens des Gerätefahrers oder von der Steuer- und Auswerteeinheit selbst bevorzugte Datensätze, das heißt Schallmesswerte oder Schallbilder bei gegebenen Betriebsgrößen für bestimmte Bodenarten abgespeichert werden, welche für die jeweilige Baustelle oder für das jeweilige Baugerät erstellt oder ermittelt worden sind. Die Datenbank kann so ein Expertensystem darstellen, wobei auch eine automatische Verbesserung und Änderung der hinterlegten Datensätze aufgrund einer vorzugsweise selbstlernenden Logik der Steuer- und Auswerteeinheit vorgesehen sein können.A further preferred embodiment of the invention is that the control and evaluation unit has a database in which certain sound values be stored for soil types. The database can already be specified when a piece of construction equipment is delivered or it can be uploaded from a control center during operation or provided with new or supplemented values or maintained. Furthermore, according to a variant of the invention, it is possible for the device driver or the control and evaluation unit itself to store preferred data sets, i.e. sound measurement values or sound images for given operating variables for specific soil types, which are created for the respective construction site or for the respective construction equipment or have been identified. The database can thus represent an expert system, with automatic improvement and modification of the stored data records being able to be provided on the basis of a preferably self-learning logic of the control and evaluation unit.

Das erfindungsgemäße Verfahren besteht darin, dass die Schallwerte über die Zeit und/oder die Bodentiefe erfasst und gespeichert werden. Sind etwa an einer Baustelle mehrere Bohrungen oder Schlitze zu erstellen, welche üblicherweise nahe beieinander oder nicht allzu weit entfernt liegen, so können die abgespeicherten Betriebsgrößen, welche über die Zeit oder die Vortriebsstrecke/Bodentiefe mit den ermittelten Schallwerten erfasst und gespeichert werden, zur Erstellung eines Wiederholprogramms verwendet werden. Insbesondere kann über eine Vortriebsstrecke, also eine Bohrtiefe oder eine Schlitztiefe, ein Profil mit den jeweiligen Bodenschichten oder Bodenkennwerten erstellt und hierzu jeweils ein Datensatz mit bevorzugten Betriebsparametern für die Baugeräteeinstellung gespeichert werden.The method according to the invention consists in recording and storing the sound values over time and/or the depth of the ground. If, for example, several boreholes or slits are to be drilled at a construction site, which are usually close together or not too far apart, the stored operating variables, which are recorded and stored over time or the driving distance/soil depth with the determined sound values, can be used to create a Repeat program are used. In particular, a profile with the respective soil layers or soil characteristics can be created over a driving distance, ie a drilling depth or a slot depth, and a data set with preferred operating parameters for the construction equipment setting can be stored for this.

Insbesondere beim Durchörtern eines Bodens mit verschiedenen Bodenschichten ist es nach der Erfindung vorteilhaft, dass anhand der bei der Bodenbearbeitung über die Vortriebsstrecke ermittelten Bodenarten ein Bodenprofil durch die Auswerte- und Steuereinheit ermittelt und gespeichert wird. Dabei kann entsprechend hinterlegten Daten in der Datenbank einem Bodenbearbeitungswert oder Bodenkennwert eine bestimmte Bodenart oder Bodenschicht, etwa Lehm, Sand, Kies, Gestein etc. zugeordnet werden. Über eine vorzugsweise vorhandene Datenfernverbindung können diese Werte und damit auch ein Bodenprofil über die Steuer- und Auswerteeinheit von einer Zentrale aus abgefragt werden. Damit kann ein Baugerät nicht nur zum Bearbeiten des Bodens verwendet werden, sondern es kann auch als ein Sondierungs- oder Analysewerkzeug zum Erkunden eines Bodenprofils eingesetzt werden.In particular when penetrating a soil with different soil layers, it is advantageous according to the invention that a soil profile is determined and stored by the evaluation and control unit based on the soil types determined during soil cultivation over the driving section. A specific type of soil or soil layer, such as loam, sand, gravel, rock, etc., can be assigned to a soil treatment value or soil characteristic value corresponding to data stored in the database. These values and thus also a soil profile can be queried from a control center via the control and evaluation unit via a remote data connection that is preferably present. This means that construction equipment can not only be used to work the ground, but it can also be used as a a probing or analysis tool can be used to explore a soil profile.

Gemäß der Erfindung ist es vorgesehen, dass durch die Steuer- und Auswerteeinheit für das Bodenprofil bevorzugte Betriebsparameter über die Bohrtiefe ermittelt und als ein Datensatz in der Datenbank hinterlegt werden. Die Datenbank kann bereits bei der Auslieferung des Baugerätes vorgegeben sein oder im Betrieb von einer Zentrale aufgespielt oder mit neuen oder ergänzten Werten versehen und gepflegt werden. Weiterhin ist es nach einer Variante der Erfindung möglich, dass seitens des Gerätefahrers oder von der Steuer- und Auswerteeinheit selbst bevorzugte Datensätze, das heißt bevorzugte Eingangsgrößen gegebenenfalls mit Ausgangsgrößen für bestimmte erfasste Schallwerte oder Bodenbearbeitungswerte, abgespeichert werden, welche für eine jeweilige Baustelle oder für das jeweilige Baugerät erstellt oder ermittelt worden sind. Die Datenbank kann so ein Expertensystem darstellen, wobei auch eine automatische Verbesserung und Änderung der hinterlegten Datensätze aufgrund einer vorzugsweise selbstlernenden Logik der Steuer- und Auswerteeinheit vorgesehen sein können. Dies kann auch eine automatische Verbesserung der Zuordnung von Schallwerten oder Schallbildern zu bestimmten Bodenarten umfassen.According to the invention, it is provided that the operating parameters preferred for the soil profile are determined via the drilling depth by the control and evaluation unit and stored as a data set in the database. The database can already be specified when the construction equipment is delivered, or it can be uploaded from a control center during operation, or it can be provided and maintained with new or supplemented values. Furthermore, according to one variant of the invention, it is possible for the device driver or the control and evaluation unit itself to store preferred data sets, i.e. preferred input variables, possibly with output variables for certain recorded sound values or soil tillage values, which are used for a particular construction site or for the respective construction equipment have been created or determined. The database can thus represent an expert system, with automatic improvement and modification of the stored data records being able to be provided on the basis of a preferably self-learning logic of the control and evaluation unit. This can also include an automatic improvement in the assignment of sound values or sound images to specific soil types.

Gemäß einer weiteren bevorzugten Verfahrensvariante der Erfindung ist es vorgesehen, dass durch die Steuer- und Auswerteeinheit eine aktuelle Bodenart mit in der Datenbank hinterlegten Bodenarten verglichen wird und dass abhängig von dem Vergleich ein aktueller Betriebsparameter zum Betrieb des Baugeräts geändert oder eine Änderung einem Gerätefahrer empfohlen wird. Erkennt beispielsweise die Steuer- und Auswerteeinheit durch einen Vergleich der erfassten Werte, dass eine Bodenschicht mit geänderter Festigkeit und damit mit einem anderen Bodenbearbeitungswert oder Bodenkennwert durchörtert wird, kann die Steuer- und Auswerteeinheit entsprechend der aktuell ermittelten Bodenart die Betriebsparameter oder Eingangsgrößen, etwa Drehzahl oder Vorschub, ändern. Wird dabei ein Datensatz mit einem gleichen oder ähnlichen Bodenbearbeitungswert oder Bodenkennwert in der Datenbank ermittelt, so kann die Steuer- oder Auswerteeinheit die Betriebsparameter entsprechend dem festgestellten bevorzugten Datensatz ändern, oder dem Gerätefahrer beispielsweise an einem Monitor anzeigen. In einem Automatikmodus können die bisherigen Betriebsparameter durch geeignetere Betriebsparameter für die festgestellte Bodenart ersetzt werden. In diesem Fall würde also beispielsweise ein anliegendes Drehmoment abhängig von der festgestellten Bodenart nach Auswertung der Datenbank geändert und durch einen geeigneteren Wert ersetzt werden, welcher etwa einen verbesserten Vortrieb bei einem geringeren Werkzeugverschleiß ermöglicht.According to a further preferred method variant of the invention, it is provided that the control and evaluation unit compares a current soil type with soil types stored in the database and that, depending on the comparison, a current operating parameter for operating the construction equipment is changed or a change is recommended to an equipment operator . If, for example, the control and evaluation unit recognizes by comparing the recorded values that a soil layer with changed strength and thus with a different soil tillage value or soil characteristic value is penetrated, the control and evaluation unit can adjust the operating parameters or input variables, such as speed or feed, change. If a data set with the same or similar soil tillage value or soil characteristic value is determined in the database, the control or evaluation unit can change the operating parameters according to the preferred data set found, or to the implement driver, for example display on a monitor. In an automatic mode, the previous operating parameters can be replaced by more suitable operating parameters for the soil type detected. In this case, for example, an applied torque would be changed depending on the type of soil determined after evaluation of the database and replaced by a more suitable value which, for example, enables improved propulsion with less tool wear.

Gemäß einer Weiterbildung des erfindungsgemäßen Verfahrens ist vorgesehen, dass die Steuer- und Auswerteeinheit für ein Bodenprofil verschiedene Datensätze ermittelt und speichert, welche vorzugsweise hinsichtlich einem schnellen Vortrieb oder einer verschleißschonenden Drehzahl ermittelt und unterschieden werden. Dabei ist berücksichtigt, dass es bei der Bodenbearbeitung keine allgemeine optimale Parametereinstellung für die Betriebsparameter gibt. Vielmehr hängen die bevorzugten Betriebsparameter von bestimmten Gesichtspunkten oder Zielsetzungen bei der Bodenbearbeitung ab. Es kann etwa eine besonders schnelle Bodenbearbeitung, also ein schneller Vortrieb, erwünscht sein, so dass höhere Drehzahlen oder höhere Vorschubkräfte vorgesehen sind im Gegensatz zu einer möglichst verschleißarmen oder energiesparenden Bodenbearbeitung. Es können auch andere Zielsetzungen vorgesehen sein, etwa ein lärmschonendes Arbeiten mit einer möglichst geringen Schallabstrahlung. Für einen festgestellten Bodenbearbeitungswert können also unterschiedliche Datensätze für unterschiedliche Zielsetzungen abgespeichert werden, welche etwa unter effizientem Vortrieb, besonders verschleißarm, energiesparend oder lärmemissionsarm kategorisiert sind.According to a development of the method according to the invention, it is provided that the control and evaluation unit determines and stores various data sets for a soil profile, which are preferably determined and differentiated with regard to rapid propulsion or a low-wear rotational speed. It is taken into account that there is no general optimal parameter setting for the operating parameters in soil cultivation. Rather, the preferred operating parameters depend on certain aspects or objectives in tillage. For example, particularly rapid soil cultivation, ie rapid propulsion, may be desirable, so that higher speeds or higher feed forces are provided in contrast to soil cultivation that is as wear-resistant or energy-saving as possible. Other objectives can also be provided, such as low-noise work with the lowest possible sound emission. For a determined tillage value, different data sets can therefore be stored for different objectives, which are categorized as efficient propulsion, particularly low-wear, energy-saving or low-noise emissions.

Grundsätzlich ist das erfindungsgemäße Verfahren bei den verschiedenen Bodenbearbeitungsverfahren einsetzbar. Eine besonders bevorzugte Verfahrensvariante besteht darin, dass als Bodenbearbeitung ein Bohren mit einem Bohrwerkzeug oder ein Fräsen mit einer Schlitzwandfräse durchgeführt wird. Das Bohren kann dabei ein kontinuierliches Bohren, etwa mit einer Endlosschnecke, oder diskontinuierliches Bohren, etwa mit einem Bohreimer oder einer einfachen Bohrschnecke sein. Das erfindungsgemäße Verfahren ist auch beim Doppelkopfbohren einsetzbar, bei welchem mindestens zwei Drehantriebseinheiten vorgesehen sind. Dabei kann eine erste Drehantriebseinheit für ein innenliegendes Bohrwerkzeug vorgesehen sein, während eine weitere Drehantriebseinheit für ein außenliegendes Bohrrohr angeordnet ist. Bei einem Bohren in den Boden ist auch ein Gesteinsbohren mit umfasst, welches etwa bei einem Anker- oder HDI-Bohren in eine etwa vertikale Wand oder sogar am Deckenbereich in einem Tunnel durchgeführt werden kann.In principle, the method according to the invention can be used in the various tillage methods. A particularly preferred variant of the method consists in drilling with a drilling tool or milling with a trench wall cutter as soil processing. The drilling can be continuous drilling, for example with an endless auger, or discontinuous drilling, for example with a drill bucket or a simple auger drill. The method according to the invention can also be used in double-head drilling, in which at least two rotary drive units are provided. A first rotary drive unit can be provided for an internal drilling tool, while a further rotary drive unit is arranged for an external drill pipe. At a Drilling in the ground also includes rock drilling, which can be carried out, for example, in anchor or HDI drilling in a roughly vertical wall or even at the ceiling area in a tunnel.

Für eine Bodenbearbeitung mittels Fräsen ist vorzugsweise eine Schlitzwandfräse mit mindestens einem Paar, vorzugsweise zwei Paaren von drehend angetriebenen Fräsrädern vorgesehen. Das Fräsen eines Frässchlitzes kann dabei in einem Einphasen-, Zweiphasen- oder einem CSM®-Verfahren durchgeführt werden, bei welchen insitu in dem Frässchlitz durch die Fräse eine Bodenmörtelmischung hergestellt wird. Es können ein oder mehrere Fräsradantriebe vorgesehen sein.A trench cutter with at least one pair, preferably two pairs of rotatably driven cutting wheels is preferably provided for tilling the soil by means of milling. The milling of a milled trench can be carried out in a one-phase, two-phase or a CSM® method, in which a soil mortar mixture is produced in situ in the milled trench by the milling machine. One or more cutting wheel drives can be provided.

Beim Bohren oder Fräsen kann bei der erfindungsgemäßen Steuer- und Auswerteeinheit auch eine Zuführung von Bindemittel, Spül- und/oder Stützsuspension mitberücksichtigt sein. Insbesondere bei einem CSM®-Fräsverfahren kann bei einer Änderung der Drehzahl und der Vorschubgeschwindigkeit eine Anpassung der Zuführungen von Stütz- und Bindemittelsuspension zweckmäßig sein.When drilling or milling, the control and evaluation unit according to the invention can also take into account the supply of binding agent, rinsing and/or support suspension. In the case of a CSM ® milling process in particular, it may be expedient to adapt the supply of support and binding agent suspension when the rotational speed and feed rate change.

Das erfindungsgemäße Baugerät zur Bodenbearbeitung ist dadurch gekennzeichnet, dass mindestens eine Schallmesseinrichtung vorgesehen ist, mit welcher ein Schall beim Bearbeiten des Bodens erfasst und als Schallmesswert weitergeleitet wird, und dass eine Steuer- und Auswerteeinheit vorgesehen ist, welche ausgebildet ist, anhand der Schallmesswerte die Art des zu bearbeitenden Bodens zu ermitteln.The construction device according to the invention for working the soil is characterized in that at least one sound measuring device is provided, with which a sound is recorded when working the soil and forwarded as a measured sound value, and that a control and evaluation unit is provided which is designed to use the measured sound values to determine the type of the soil to be worked.

Mit dem erfindungsgemäßen Baugerät kann insbesondere das zuvor beschriebene Verfahren zur Bodenbearbeitung durchgeführt werden. Es können dabei die zuvor beschriebenen Vorteile erzielt werden.In particular, the above-described method for soil cultivation can be carried out with the construction device according to the invention. The advantages described above can be achieved in this way.

Es können die verschiedensten Baugeräte zur Bodenbearbeitung und insbesondere zum Bodenabtrag mit Drehantriebseinheiten eingesetzt werden. Ein besonders bevorzugtes Baugerät ist es nach einer Weiterbildung der Erfindung, dass dieses ein Bohrgerät ist, bei welchem ein Bohrwerkzeug mittels der mindestens einen Drehantriebseinheit drehend angetrieben ist. Das Bohrwerkzeug kann dabei ein Bohreimer oder eine Bohrschnecke sein, welche vorzugsweise vertikal entlang eines Mastes oder eines Mäklers verfahrbar sind. Das Bohrgerät kann auch eine im Raum mehrachsig verstellbare Bohrlafette aufweisen, etwa wie es beim Ankerbohren oder beim HDI-Bohren zur Anwendung kommt. Grundsätzlich sind alle Bohrgeräte anwendbar, etwa zum Doppelkopfbohren oder Bohrgeräte mit Verrohrungsmaschine, bei welcher Bohrrohre in den Boden einbringbar sind.A wide variety of construction equipment can be used for soil cultivation and in particular for soil removal with rotary drive units. According to a further development of the invention, a particularly preferred construction device is a drilling device in which a drilling tool is driven in rotation by means of the at least one rotary drive unit. The drilling tool can be a drill bucket or an auger, which can preferably be moved vertically along a mast or a leader. The drilling device can also have a drilling carriage that can be adjusted in multiple axes in space, for example as is used in anchor drilling or in HDI drilling. In principle, all drills can be used, for example for Double-head drilling or drilling devices with a casing machine, in which casing pipes can be inserted into the ground.

Gemäß einer anderen bevorzugten Ausführungsform der Erfindung ist es vorgesehen, dass dieses eine Schlitzwandfräse ist, bei welcher Fräsräder mittels der mindestens einen Drehantriebseinheit angetrieben sind. Die Schlitzwandfräse weist dabei ein oder mehrere Fräsradpaare am unteren Ende eines Fräsrahmens auf. Der Fräsrahmen kann dabei an einem Seil aufgehängt und über entsprechende Führungsplatten am Fräsrahmen im Frässchlitz geführt sein. Alternativ kann die Schlitzwandfräse auch an einer Führungsstange geführt und bewegbar sein, was insbesondere für ein CSM®-Fräsen vorteilhaft ist, bei welchem mit dem abgefrästen Bodenmaterial und der zugeführten abbindenden Stützflüssigkeit im Frässchlitz insitu eine Bodenmörtelmischung erstellt wird.According to another preferred embodiment of the invention, it is provided that this is a trench wall cutter in which cutting wheels are driven by means of the at least one rotary drive unit. The trench wall cutter has one or more pairs of cutting wheels at the lower end of a cutting frame. The milling frame can be suspended from a cable and guided in the milling slot via corresponding guide plates on the milling frame. Alternatively, the trench cutter can also be guided and moved on a guide rod, which is particularly advantageous for CSM® milling, in which a soil mortar mixture is created in situ in the milled trench with the milled soil material and the supplied setting support liquid.

Claims (10)

  1. Method for working the ground with a construction apparatus which has at least one rotary drive unit for rotationally driving a ground working tool,
    - wherein the ground working tool is introduced into a ground having different ground layers across a ground depth, which are cut through,
    - wherein at least one sound measuring means is provided, with which a sound generated when working the ground with the rotationally driven ground working tool is recorded and forwarded as measured sound value, and
    - wherein a control and evaluation unit is provided which determines the type of the worked ground layer based on the measured sound values,
    characterized in that
    the measured sound values are recorded and saved across the ground depth,
    in that based on the ground types determined across the ground depth when working the ground a ground profile is determined and saved by the control and evaluation unit and
    in that by the control and evaluation unit preferred operating parameters are determined for the ground profile across the ground depth and stored as a dataset in a database.
  2. Method according to claim 1,
    characterized in that
    the sound is recorded as a structure-borne sound, wherein the at least one sound measuring means is arranged on the ground working tool or in proximity to the ground working tool.
  3. Method according to claim 1 or 2,
    characterized in that
    the control and evaluation unit has a database in which specific sound values for ground types are stored.
  4. Method according to any one of claims 1 to 3,
    characterized in that
    the measured sound values are recorded and saved over time.
  5. Method according to any one of claims 1 to 4,
    characterized in that
    by the control and evaluation unit a current ground type is compared with ground types stored in the database and
    in that depending on the comparison a current operating parameter for operation of the construction apparatus is changed or a change is recommended to an operator of the apparatus.
  6. Method according to any one of claims 1 to 5,
    characterized in that
    by the control and evaluation unit different datasets are determined and saved for the ground profile, which are preferably determined and differentiated with regard to a rapid advancement or a wear-reduced rotational speed.
  7. Method according to any one of claims 1 to 6,
    characterized in that
    as ground working, drilling with a drilling tool or cutting with a diaphragm wall cutter is carried out.
  8. Construction apparatus for working the ground, according to any one of claims 1 to 7, having at least one rotary drive unit for rotationally driving a ground working tool which is introduced into the ground which has different ground layers across its ground depth,
    - wherein at least one sound measuring means is provided which is designed to record a sound generated when working the ground with the rotationally driven ground working tool and to forward this as measured sound value, and
    - wherein a control and evaluation unit is provided which is designed to determine the type of the worked ground layer based on the measured sound values,
    characterized in that
    means for recording the ground depth are provided,
    in that the measured sound values can be recorded and saved across the ground depth,
    in that based on the ground types determined across the ground depth when working the ground the control and evaluation unit is configured to determine and save a ground profile and
    in that the control and evaluation unit is configured to determine preferred operating parameters for the ground profile across the ground depth and to store these as a dataset in a database.
  9. Construction apparatus according to claim 8,
    characterized in that
    this is a drilling apparatus, in which a drilling tool is rotationally driven by means of the at least one rotary drive unit.
  10. Construction apparatus according to claim 8,
    characterized in that
    this is a diaphragm wall cutter, in which cutting wheels are driven by means of the at least one rotary drive unit.
EP18160712.8A 2018-03-08 2018-03-08 Method and device for soil excavation Active EP3536900B1 (en)

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EP3819433B1 (en) 2019-11-06 2022-12-28 BAUER Spezialtiefbau GmbH Soil removal device and method for creating a hole in the ground
CN111101953A (en) * 2020-02-19 2020-05-05 中国建筑第四工程局有限公司 Plate rock tunnel overbreak and underexcavation control construction method based on BIM5D technology
EP4015766B1 (en) 2020-12-21 2023-07-12 BAUER Spezialtiefbau GmbH Excavation equipment and method

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DE102007005560A1 (en) * 2007-01-24 2008-07-31 Sänger, Bernhard Method for operating drilling device for geological structures, particularly for operating tunnel boring machine, involves detecting operating state of element or group of elements of drilling device by evaluation device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007005560A1 (en) * 2007-01-24 2008-07-31 Sänger, Bernhard Method for operating drilling device for geological structures, particularly for operating tunnel boring machine, involves detecting operating state of element or group of elements of drilling device by evaluation device

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