EP3819433B1 - Soil removal device and method for creating a hole in the ground - Google Patents

Description

The invention relates to a soil removal device for creating a hole in the ground by means of a removal tool, which is designed and can be driven to remove soil material, according to the preamble of claim 1.

The invention further relates to a method for making a hole in the ground, according to the preamble of claim 11.

Knowing the type of soil to be worked is essential for efficient soil removal. Each type of soil has a certain strength, for which the appropriate removal parameters, in particular with regard to cutting speed and feed, must be set on a soil removal device. In particular when drilling a hole in the ground vertically, there is a problem in that the ground is usually made up of different soil layers. If, for example, machine parameters are set for sand or clay soil, these parameters can be disadvantageous when removing rocky soil layers. In particular, excessive wear on the removal tool can occur if a cutting speed for removal teeth or a feed are set too high.

From the EP 3 536 900 A1 like that EP 3 081 737 A2 a method and a construction device for tillage are known, in which a tillage tool is driven in rotation. The noise produced when working the soil is recorded by means of a noise measuring device. The type of soil is determined by means of a control and evaluation unit based on the recorded sound values. This can be used to control the construction equipment.

Another method for soil processing and determination of the soil type by means of sound measurement with a tunnel boring machine are from the DE 10 2007 005 560 A1 famous.

A determination of the soil type based on the sound radiation of the soil when it is affected represents an indirect determination of the soil type. A prerequisite for determining the soil type is that previous measurements are carried out, on the basis of which a sound radiation behavior of the different soil types is determined. However, even small changes in the soil, for example with regard to the water content of soil layers, the depth of the soil layer or the processing parameters of a machine or even the removal elements themselves, can have an impact on the noise emitted by the soil. This makes it difficult to reliably and quickly detect the ground.

Furthermore, press-in probes with a sight glass are known, which can be pressed into a floor. The surrounding soil can be observed through the sight glass by means of a camera arrangement. The images recorded here can be used to make a statement about the structure of the soil.

From the KR 2015 0 139 108 A or the EP 3 428 388 A1 are tunnel bores, such as those used to build underground or road tunnels. These have a drilling plate with a large number of roller bits, with the drilling plates having a diameter of up to 10 meters and more. A camera unit can be provided on the drill shields.

The invention is based on the object of specifying a soil removal device and a method for creating a hole in the ground, which allow soil material to be removed particularly efficiently.

According to the invention, the object is achieved on the one hand by a soil removal device having the features of claim 1 and on the other hand by a method having the features of claim 11 . Preferred embodiments of the invention are specified in the respective dependent claims.

The soil excavation device according to the invention is characterized in that at least one image acquisition unit is arranged on the excavation tool, which is designed to create an image of the in-situ soil when the excavation tool is introduced into the soil while soil material is being removed.

A basic idea of the invention can be seen in a soil removal device for creating a hole in the ground while removing soil material, ie crushing and removing soil material, with at least one Image acquisition unit to be provided on the removal tool itself, with which one or more images, which can also form a film, are created when the removal tool is introduced into the ground and when the hole is dug. In this way, the in-situ soil can already be recorded during the removal of soil material. A direct, immediate recording of the in-situ soil is carried out. Images of the in-situ soil allow direct conclusions to be drawn, in particular about the type of soil, components in the soil and/or properties of the soil.

In principle, the image acquisition unit can acquire the excavated soil material. However, it is particularly preferred that the at least one image acquisition unit is arranged on the excavation tool at a point which is directly adjacent to the ground. A particularly accurate soil detection can be carried out by detecting the soil that is as uncultivated as possible. The image acquisition unit can be arranged on an outside of the removal tool, in particular in a lower or lateral area. The image capturing unit can have one or more electronic image capturing sensors, in particular CCD sensors, which enable electronic image capturing. The light-sensitive sensors can be arranged directly on the removal tool or at a distance therefrom, and in the latter case an image can be captured via optics and forwarded to the sensor with a light guide. In addition, an illumination element can be provided on the image acquisition unit. This can emit a natural light or a special light, such as a colored and/or polarized light, which is suitable for image acquisition and evaluation. The captured images can preferably be forwarded wirelessly or by means of a data line to a corresponding evaluation unit on the soil removal device.

A preferred embodiment of the invention is that the removal tool is designed as a drilling tool with a drilling axis about which the drilling tool can be driven in rotation and along which the drilling tool can be advanced. The drilling axis can be arranged essentially vertically, so that a drill hole can be drilled vertically downwards from the ground surface, for example to create a foundation pile in the ground. To power can a Rotary drive and optionally a feed drive can be provided. The drilling tool can be an auger, box drill or other drilling tool.

It is particularly advantageous that the drilling tool is designed with a pilot tip at a lower end and that the at least one image acquisition unit is arranged in the area of the pilot tip. A pilot point is also referred to as a centering point and is usually arranged at the lower end of the drilling tool in the center of the drilling axis. The pilot tip is the lowest or foremost area of the drilling tool, which penetrates into the largely uncultivated ground. With an image acquisition unit in the area of the pilot tip, images of the immediate ground can be created with high reliability.

A particularly expedient development of the invention can be seen in the fact that the pilot tip has a shank, at the lower end of which at least one removal element is arranged, and that the at least one image acquisition unit is arranged on the shank. This means that the image acquisition unit is not located in the front area of the pilot tip. This front area is formed by one or more removal elements, in particular removal cutters or removal tips. The at least one image acquisition unit is arranged on a preferably cylindrical shank of the pilot tip at the rear in a drilling advance direction. The image acquisition unit is preferably covered and protected by a transparent protective element. The transparent protective element can in particular be hardened mineral glass. In this case, the shaft has a corresponding receiving space for the entire image acquisition unit or a part thereof, with the image acquisition unit being held detachably on the pilot tip.

According to an alternative embodiment variant of the invention, it is provided that the removal tool has at least one cutting wheel and that the at least one image acquisition unit is arranged on the at least one cutting wheel and/or on a transmission plate on which the at least one cutting wheel is mounted so that it can be driven in rotation. At least part of the image acquisition unit can preferably be arranged on an outside of the cutting wheel in its hub area. Of the The hub area can be stationary or rotating with the rotary driven cutting wheel. Alternatively or in addition, an image acquisition unit can also be arranged on the gear plate of the soil removal device, in particular a trench wall cutter, on which the at least one cutting wheel is rotatably mounted. At least one pair of milling wheels on both sides of the gear plate or a total of two pairs are preferably rotatably mounted on a gear plate.

According to a further embodiment variant of the invention, it is provided that the removal tool comprises gripper shovels of a gripper. At least one image acquisition unit can preferably be arranged on an outer area of a gripper frame.

According to the invention, the soil removal device is designed as a drilling device, a trench wall cutter or a trench wall grab, each of which includes a mobile carrier device. The carrier device can in particular have a crawler chassis on which the drilling tool, the milling machine or the gripper are mounted, preferably so that they can be moved vertically along a mast.

A further preferred embodiment of the invention consists in that a computer unit is provided which is connected to the at least one image acquisition unit and is designed to evaluate images which have been recorded by the image acquisition unit and based on this a type of soil, components in the soil and/or or to determine properties of the soil. The computer unit is provided with appropriate evaluation software, which can record, for example, a color of the soil, the consistency, sizes of pores, grain sizes of components of the soil, and a distribution of components. In this way, for example, sand layers, gravel layers, clay layers or rocky soil layers can be detected directly. The proportions of sand or gravel and their grain sizes can also be easily recorded and determined by appropriate evaluation software. Based on this, it can also be determined whether layers contain water, are water-blocking or cohesive. Other physical and chemical properties of the soil can also be determined. The software can have a database with existing images and assigned soil types, components in the soil and/or properties of the soil, so that if necessary, a particularly precise determination of the soil is made possible by a comparison with stored data.

A particularly preferred further development is achieved according to the invention in that the computer unit is connected to a controller, by means of which at least one drive of the soil removal device can be controlled as a function of the evaluated images. If, for example, the computer unit determines that there is a transition from a sand layer in the ground to a rocky ground layer, the controller can use the evaluated images to change a drive of the soil removal device and adapt it to the new soil. In the case of a drilling device, for example, the rotational speed of the drilling tool can be reduced and a feed force on the drilling tool or feed rate can be reduced. Corresponding values are set by the controller, which are stored in a database for the respective soil type.

The method according to the invention is characterized in that the soil removal device according to the invention described above is used, with one or more images of the in-situ soil being captured by means of the at least one image acquisition unit on the excavation tool when the excavation tool is introduced into the soil and soil material is removed.

The in-situ soil is recorded immediately when soil material is removed. This enables control in real time, so that it is possible to react immediately to changes in soil layers when soil material is removed.

A preferred method variant of the invention is that the images captured by the at least one image capturing unit are forwarded to a computer unit which evaluates the captured images and based on the captured images determines a soil type, components in the soil and/or properties of the soil. The computer unit can preferably be arranged outside the hole in the ground on a carrier device.

For a direct control of the soil removal device, it is provided according to a further development of the invention that the computer unit is equipped with a controller is connected, which controls at least one drive of the soil removal device depending on the evaluated images.

A further advantageous variant of the method can be seen in the computer unit creating a soil profile over the excavation depth based on the evaluated images. The soil profile can be stored in the computer unit and taken into account when creating further holes in the vicinity. Such a stored soil profile simplifies in particular the recognition of a transition between soil layers during subsequent soil cultivation.

According to a development of the invention, a further improvement in the evaluation can be achieved in that the computer unit is previously calibrated by entering images with an associated type of soil, components in the soil and/or properties of the soil. Such a calibration can be achieved in particular by an existing and previously entered database. Furthermore, a first test hole can be created at a processing location, for which a soil profile is then created, in which images the respective soil type, component in the soil and/or properties of the soil are assigned.

According to the invention, the soil removal device can essentially be reduced to the removal tool, or it can comprise a device with drive units.

Fig. 1

eine perspektivische Ansicht einer erfindungsgemäßen Bodenabtragsvorrichtung;

Fig. 2

eine vergrößerte Ansicht des unteren Bereiches der Bodenabtragsvorrichtung von Fig. 1;

Fig. 3

eine Seitenansicht der Bodenabtragsvorrichtung von Fig. 1 in einem vergrößerten Maßstab;

Fig. 4

eine Querschnittsansicht der Bodenabtragsvorrichtung von Fig. 3.

The invention is further described below with reference to a preferred exemplary embodiment, which is shown schematically in the accompanying figures. In the figures show:

1

a perspective view of a soil removal device according to the invention;

2

an enlarged view of the lower area of the soil removal device from FIG 1 ;

3

a side view of the soil removal device from 1 on an enlarged scale;

4

a cross-sectional view of the soil removal device of FIG 3 .

A soil removal device 10 according to the invention is shown in the simplest form 1 formed as a removal tool 20, which is a drilling tool 21 in the illustrated embodiment. The excavation tool 20 has a connecting device 26 on its upper side, with which a connection to a drill rod, not shown, can be established, which can be driven by a rotary drive of a basically known drill. The drill rods (not shown) and the drilling device (not shown) can be part of the drilling device 10 according to the invention.

At a lower end of the removal tool 20, a base 40 is arranged with a downwardly projecting pilot tip 30, which is closer to the Figures 2 to 4 are shown.

The drilling tool 21 is designed as a fundamentally known box drill, which is also referred to as a drill bucket. This has a cylindrical receiving body 22 on the underside of which a base 40 is mounted via a swivel joint 44 so that it can be swung open.

In the representation according to the Figures 2 to 4 the floor 40 is in a closed or locked position. A locking device 46 is provided for locking, which can be released from the upper side of the removal tool 20 via a release device 48 which is only partially shown. In the released state, the base 40 can be pivoted downwards to empty the receiving body 22 of removed soil material.

The base 40 has a lockable base plate 41 on which a rotating base 42 is rotatably mounted, which can be rotated between a closed position and an open position. In the open position, an opening 43 is uncovered, so that soil material removed by excavation teeth 45 attached to the soil can pass through the opening 43 into the inner cavity of the receiving body 22 . When a certain degree of filling is reached, the rotating base 42 can be rotated and the opening 43 can be closed in this way. In this closed condition, the filled drilling tool 21 can be pulled out of a wellbore and moved to a dump location. The receiving body 22 is closed at its top with a cover plate 24 to which the connecting device 26 is attached.

A pilot tip 30 is arranged on the underside of the floor 40 . The pilot tip 30 has an essentially cylindrical shank 32, at the lower end of which removal elements 34 are formed, which in the illustrated exemplary embodiment, like the removal teeth 45, are designed as removal chisels.

At least part of an image acquisition unit 50 is arranged in the area of the shaft 32 of the pilot tip 30 . Image acquisition unit 50 is directed essentially radially in order to create preferably colored images of the in-situ soil and to transmit these to a computer unit (not shown), which is at a distance from excavation tool 20, in order to determine a soil type, components in the soil and/or properties of the soil to record and determine soil.

Claims (15)

1. Ground removal device for producing a hole in the ground by means of a removal tool (20) which is designed and can be driven for the removal of ground material, wherein the ground removal device (10) is designed as a drilling apparatus, a diaphragm wall cutter or a diaphragm wall grab which each comprise a mobile carrier implement,
   characterized in that
   on the removal tool (20) at least one image capturing unit (50) is arranged which is designed to produce an image of the in-situ ground when introducing the removal tool (20) into the ground while ground material is being removed.
2. Ground removal device according to claim 1,
   characterized in that
   the at least one image capturing unit (50) is arranged on the removal tool (20) in a position bordering directly onto the ground.
3. Ground removal device according to claim 1 or 2,
   characterized in that
   the removal tool (20) is designed as a drilling tool (21) with a drilling axis (28), about which the drilling tool (21) can be driven in a rotating manner and along which the drilling tool (21) can be advanced.
4. Ground removal device according to claim 3,

   characterized in that

   the drilling tool (21) is designed with a pilot bit (30) on a lower end and

   in that the at least one image capturing unit (50) is arranged in the region of the pilot bit (30).
5. Ground removal device according to any one of claims 3 or 4,

   characterized in that

   the pilot bit (30) has a shaft (32), on the lower end of which at least one removal element (34) is arranged, and

   in that the at least one image capturing unit (50) is arranged on the shaft (50).
6. Ground removal device according to any one of claims 1 or 2,

   characterized in that

   the removal tool (20) has at least one cutting wheel and

   in that the at least one image capturing unit (50) is arranged on the at least one cutting wheel and/or on a gear shield, on which the at least one cutting wheel is supported such that it can be driven in a rotating manner.
7. Ground removal device according to any one of claims 1 or 2,
   characterized in that
   the removal tool (20) comprises grab shovels of a grab.
8. Ground removal device according to any one of claims 1 or 7,
   characterized in that
   the drilling apparatus, the diaphragm wall cutter or the diaphragm wall grab have a drilling tool, a cutter or a grab which are supported by being vertically displaceable along a mast.
9. Ground removal device according to any one of claims 1 or 8,
   characterized in that
   a computer unit is provided which is connected to the at least one image capturing unit (50) and designed to evaluate images taken by the image capturing unit (50) and, based thereon, to determine a ground type, constituents in the ground and/or properties of the ground.
10. Ground removal device according to claim 9,
    characterized in that
    the computer unit is connected to a control, through which at least one drive of the ground removal device (10) can be controlled depending on the evaluated images.
11. Method for producing a hole in the ground,

    characterized in that

    a ground removal device (10) according to any one of claims 1 to 10 is used,

    wherein when introducing the removal tool (20) into the ground and removing ground material one image or several images of the in-situ ground are captured by means of the at least one image capturing unit (50) on the removal tool (20).
12. Method according to claim 11,
    characterized in that
    the images captured by the at least one image capturing unit (50) are forwarded to a computer unit which evaluates the captured images and, based on the captured images, determines a ground type, constituents in the ground and/or properties of the ground.
13. Method according to claim 12,
    characterized in that
    the computer unit is connected to a control which controls at least one drive of the ground removal device (10) depending on the evaluated images.
14. Method according to claim 12 or 13,
    characterized in that
    by the computer unit a ground profile across the removal depth is produced on the basis of the evaluated images.
15. Method according to any one of claims 12 to 13,
    characterized in that
    the computer unit is calibrated beforehand by inputting images with an assigned ground type, constituents in the ground and/or properties of the ground.

Images