EP4033032B1 - Procédés et appareil de génie civil destiné au traitement du sol - Google Patents

Procédés et appareil de génie civil destiné au traitement du sol Download PDF

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Publication number
EP4033032B1
EP4033032B1 EP21152819.5A EP21152819A EP4033032B1 EP 4033032 B1 EP4033032 B1 EP 4033032B1 EP 21152819 A EP21152819 A EP 21152819A EP 4033032 B1 EP4033032 B1 EP 4033032B1
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EP
European Patent Office
Prior art keywords
calibration
setting parameters
ground working
evaluation unit
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP21152819.5A
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German (de)
English (en)
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EP4033032A1 (fr
EP4033032C0 (fr
Inventor
Ulli Wiedenmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bauer Spezialtiefbau GmbH
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Bauer Spezialtiefbau GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bauer Spezialtiefbau GmbH filed Critical Bauer Spezialtiefbau GmbH
Priority to EP21152819.5A priority Critical patent/EP4033032B1/fr
Priority to PCT/EP2021/084320 priority patent/WO2022156948A1/fr
Priority to CN202180090176.9A priority patent/CN116964276A/zh
Priority to US18/259,963 priority patent/US20240068352A1/en
Publication of EP4033032A1 publication Critical patent/EP4033032A1/fr
Application granted granted Critical
Publication of EP4033032C0 publication Critical patent/EP4033032C0/fr
Publication of EP4033032B1 publication Critical patent/EP4033032B1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E21B44/02—Automatic control of the tool feed
    • E21B44/04—Automatic control of the tool feed in response to the torque of the drive ; Measuring drilling torque
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
    • E02D3/12—Consolidating by placing solidifying or pore-filling substances in the soil
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D5/00—Bulkheads, piles, or other structural elements specially adapted to foundation engineering
    • E02D5/22—Piles
    • E02D5/34—Concrete or concrete-like piles cast in position ; Apparatus for making same
    • E02D5/36—Concrete or concrete-like piles cast in position ; Apparatus for making same making without use of mouldpipes or other moulds
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
    • E02F5/08—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with digging wheels turning round an axis
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
    • E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
    • E02F5/145—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids control and indicating devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B3/00—Rotary drilling
    • E21B3/02—Surface drives for rotary drilling
    • E21B3/022—Top drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/06—Dredgers; Soil-shifting machines mechanically-driven with digging screws
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool

Definitions

  • the invention relates to a method for soil cultivation with a civil engineering device, which has at least one rotary drive unit for driving a soil cultivation tool in rotation and at least one feed unit, with which the soil cultivation tool is introduced to create a hole in the ground, with a control and evaluation unit being provided which setting parameters are recorded and stored during tillage, at least one condition value resulting from tillage is detected and stored and the setting parameters are changed and set by the control and evaluation unit depending on the at least one detected condition value, according to the preamble of claim 1.
  • the invention further relates to a civil engineering device for tilling soil according to such a method according to claim 12.
  • a generic method for tillage is from the EP 3 299 523 A1 out.
  • This known method is carried out by a construction device with a control and evaluation unit, by means of which at least one setting parameter as an input variable is related to a detected state value as the resulting output variable.
  • a tillage value is determined and saved.
  • a statement can be made about the strength of the soil and thus a statement about the type and structure of the soil by the control and evaluation unit whether there is sand, gravel, clay or rocky ground.
  • a soil profile are determined and stored, which can also be used for further control of tillage.
  • Prerequisite for the implementation of this method is the storage of the corresponding soil data in a database, so that, depending on the setting parameters and the resulting output variables, a concrete and correct statement can be made about the soil worked.
  • This known method is particularly advantageous when the soil is tilled with a defined soil profile, in which a uniform soil or a soil stratification with uniform soil layers is given.
  • the invention is based on the object of specifying a method and a civil engineering device for soil cultivation with which efficient soil cultivation can be reliably carried out independently of knowledge or determination of a soil value and independently of the experience of a machine operator.
  • the method according to the invention is characterized in that an automatic calibration program is run by the control and evaluation unit at least at the start of tillage, with tillage in a first calibration section using a first calibration program specified by a calibration program set of setting parameters and is carried out at least in a further second calibration section with a second set of setting parameters specified by the calibration program, the resulting sets of setting parameters differing from one another, and that the control and evaluation unit then, depending on the state variables detected in the calibration sections, Setting parameters for further tillage sets.
  • a basic idea of the invention is to move away from determining a soil tillage value for the setting of the method parameters and to carry out, so to speak, an automatic calibration of the setting parameters largely independently of the soil type, preferably at the start of soil tillage.
  • soil tillage is first carried out with a fixed, predetermined set of setting parameters. This results in condition values or output variables during tillage.
  • At least one further calibration section is then carried out with a predetermined second set of setting parameters, with the predetermined sets of setting parameters of the individual calibration sections clearly differing from one another.
  • Second state variables or output variables then result in the second calibration section, which typically differ from the resulting first state variables or output variables of the first calibration section.
  • control and evaluation unit can make a decision about suitable setting parameters for further tillage.
  • the sets of setting parameters in the individual calibration sections are preferably selected in such a way that they are clearly apart. For example, a relatively low speed of a soil working tool can be provided in a first calibration section, while a relatively high speed is set in the further calibration section.
  • the control and evaluation unit can estimate whether the rotational speed of the soil cultivation tool is rather low or high useful for further tillage.
  • the feed force can be set as a setting parameter accordingly.
  • the feed unit can have hydraulic cylinders or a cable winch, with which a downward pressure force and/or an upward countertraction force can be brought about, for example when a desired feed force is smaller than a weight force acting on the soil cultivation tool.
  • a preferred embodiment variant of the method according to the invention consists in that more than two calibration sections with different sets of setting parameters are provided by the calibration program.
  • a calibration section can be a processing of up to a few minutes and preferably a processing depth of up to 1 meter and more. The more calibration sections are provided, the shorter the processing time can be in a calibration section. Calibration is preferably provided when drilling a hole up to a depth of 5 meters.
  • two calibration sections can be provided with two opposing extreme setting parameters, such as a relatively low speed and a relatively high speed.
  • An average speed can then be provided in the third calibration section, which lies between the two extreme speeds in the two other calibration sections.
  • the control and evaluation unit can determine whether the speed for suitable processing is higher or lower than the average speed and by what speed amount the value to be set differs from the average speed during calibration should.
  • one of the sets of setting parameters from the calibration section is selected for the soil cultivation that follows the calibration.
  • the set of setting parameters can be selected that has achieved the best result compared to the other calibration sections, such as the greatest removal rate or the fastest processing progress.
  • the setting parameters for the soil tillage that follows the calibration are freely determined by the control and evaluation unit.
  • An algorithm can be stored in the control and evaluation unit, by means of which setting parameters which deviate from the setting parameters in the calibration sections are freely selected depending on the resulting state values.
  • the differences between the individual setting parameters in the calibration sections can be related to the differences between the resulting state values in the associated calibration sections.
  • the calibration process according to the invention can be carried out at any time during tillage. According to a development of the invention, it is particularly advantageous that the calibration is carried out at the beginning of the creation of a hole, with the calibration being provided up to a depth of 5 meters, preferably from 1 meter to 4 meters.
  • the resulting preferred setting parameters can be stored and retrieved, for example, when working the soil in adjacent areas.
  • the at least one setting parameter and/or the at least one state value are recorded and stored over time and/or the driving distance. In this way, in principle, over time or over the Working depth changed setting parameters for further tillage are provided.
  • any suitable setting parameter on a civil engineering device can be used to control the process.
  • a torque of the rotary drive unit, a feed force of the feed unit and/or a pressure or a volume in a hydraulic system for driving the rotary drive unit and/or the feed unit is selected as the setting parameter.
  • any suitable status value that results from tilling the soil can be recorded and used as an output variable for controlling the method.
  • the control and evaluation unit it is particularly expedient for the control and evaluation unit to select the setting parameters for the soil cultivation that follows the calibration as a function of the lowest possible energy consumption, the lowest possible wear and tear and/or the lowest possible vibration/noise emissions. Therefore, not only a propulsion speed during tillage, but also an energy consumption and/or other values, such as the device vibration or noise emission, can be used and taken into account as a status value.
  • a vibration of the device that occurs during processing can be viewed as a measure of the wear and tear that the soil cultivation tool and the civil engineering device are exposed to, with a favorable ratio between high propulsion and low vibration being selected.
  • a target variable can therefore be the largest possible or fastest advance with a predetermined amount of vibration for the selection and definition of the setting parameters for the subsequent processing.
  • the method can be provided for any tillage with a civil engineering device.
  • it is particularly expedient for drilling to be carried out with a drilling tool as the tillage of the soil.
  • the drilling tool can be an auger, a rock drill, a displacement drill or a drill bucket.
  • milling with a trench wall cutter is carried out as soil processing.
  • the trench cutter preferably has two pairs of cutter wheels with horizontally directed axes of rotation, which remove soil material when a trench cutter is sunk into the ground.
  • the power of a feed pump can also be provided as a state variable or setting parameter, with which removed soil material is conveyed out of the hole.
  • the invention also includes a civil engineering device for soil cultivation for the method described above, with a rotary drive device for driving a soil cultivation tool in rotation and a feed unit with which the soil cultivation tool can be introduced into the ground in a forward direction, and with a control and evaluation unit which is designed carry out automatic calibration at least at the beginning of the tillage, carry out tillage in a first calibration section with a first predetermined set of setting parameters and at least in a further second calibration section with a predetermined set of setting parameters, the sets of setting parameters differing from one another, and depending on set the setting parameters for the soil tillage that follows the calibration using the condition values recorded during the calibration.
  • the civil engineering 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 may be an auger, rock drill, drill bucket, displacement auger or other earth boring tool.
  • the civil engineering device is a trench cutter, in which cutter wheels are driven by means of the at least one rotary drive unit.
  • a first embodiment of a civil engineering device 10 according to the invention for creating a hole 60 with a borehole wall 62 is shown in 1 shown.
  • the civil engineering device 10 is designed as a drilling device 12 with a carrier unit.
  • the carrier unit comprises an undercarriage 16 and an uppercarriage 18 which is mounted on the undercarriage 16 so that it can rotate about a vertical axis of rotation and on which a mast 20 is attached.
  • the mast 20 is mounted pivotably on the superstructure 18 .
  • Guide rails 24 are provided along a mast axis 22 , on which a carriage 34 is movably guided to form a feed unit 30 .
  • a rotary drive device 32 is mounted on the carriage 34 .
  • a drill rod 36 at the lower end of which a drilling tool 39 is arranged as a soil working tool 40, can be driven in rotation by the rotary drive device 32.
  • a control and evaluation unit 28 is provided on the superstructure 18 in a driver's cab 14, with which the feed unit 30 and the rotary drive device 32 can be controlled. Furthermore, the control and evaluation unit 28 is connected to various measuring devices, such as a measuring device 26 on the rotary drive device 32, the feed unit 30 and other units and components of the civil engineering device 10.
  • a process sequence can be carried out with the control and evaluation unit 28, which is shown schematically in 3 is shown.
  • a calibration program stored in the control and evaluation unit 28 initially executes a first calibration section K1, with first setting parameters E1, for example for the feed unit 30 and/or the rotary drive device 32, being specified.
  • a first section of the hole 60 is created in the ground, with status values or output variables A1 being received by the control and evaluation unit 28 via the measuring devices.
  • the hole 60 is drilled further in a second calibration section K2, with the control and evaluation unit 28 specifying a set of second setting parameters E2 that differs from the set of first setting parameters E1. This results in second state values or output variables A2, which are fed back to the control and evaluation unit 28 by the corresponding measuring devices.
  • any specified number of further calibration sections K N can be carried out with further different setting parameters E N , corresponding state values or output variables A N being fed back to the control and evaluation unit 28 .
  • control and evaluation unit 28 specifies a suitable set of setting parameters E B for further tillage B by the control and evaluation unit 28, depending on the calibration sections carried out in each case based on the respective setting parameters and the status values obtained in the process, where certain state values as Target values are expected.
  • the tillage can be carried out up to the intended final depth with these setting parameters E B .
  • the state values or output variables A B that result can be fed back to the control and evaluation unit 28 as actual values.
  • these actual values can be compared with the target values to be expected, on which the selection of the setting parameters E B for the selected optimized tillage was based.
  • control and evaluation unit 28 can change the setting parameters or, if necessary, carry out another automatic calibration, as has been described above.
  • the trench wall cutter 50 has an approximately cuboid cutter frame 52 on the underside of which two pairs of cutter wheels 54 are rotatably driven. Soil material is removed and a hole 60 is created in the soil by the cutting wheels 54, which are driven by a rotary drive device that is not shown.
  • a support cable 56 Arranged at the upper end of the cutter frame 52 is a support cable 56 with which the trench wall cutter 50 is suspended in a vertically movable manner on a carrier unit (not shown).
  • the previously described method for tilling the soil can be carried out in the same way, with a control and evaluation unit in the carrier unit applying different speeds for the cutting wheels 54 for the individual calibration steps and/or different loads by changing an upwardly directed tensile force the suspension cable 56 can be adjusted.
  • suitable final setting parameters for further milling of the hole 60 can then be determined by the control and evaluation unit.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Structural Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Paleontology (AREA)
  • Mechanical Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Soil Sciences (AREA)
  • Agronomy & Crop Science (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Soil Working Implements (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Operation Control Of Excavators (AREA)

Claims (14)

  1. Procédé pour le travail du sol avec un appareil de travaux publics (10), lequel présente au moins une unité d'entraînement en rotation (32) pour l'entraînement en rotation d'un outil de travail du sol (40) et au moins une unité d'avance (30), avec laquelle l'outil de travail du sol est introduit dans le sol pour créer un trou (60),
    dans lequel une unité de commande et d'évaluation (28) est prévue, avec laquelle
    - pour le travail du sol des paramètres de réglage sont acquis et mis en mémoire,
    - au moins une valeur d'état résultante lors du travail du sol est acquise et mise en mémoire et
    - les paramètres de réglage sont modifiés et réglés par l'unité de commande et d'évaluation (28) en fonction de la au moins une valeur d'état acquise,
    caractérisé en ce
    - qu'un étalonnage automatique est effectué par l'unité de commande et d'évaluation (28) au moins au début d'un travail du sol, dans lequel un travail du sol est mis en oeuvre dans une première étape d'étalonnage avec un premier jeu de paramètres de réglage prédéfini par un programme d'étalonnage et au moins dans une autre deuxième étape d'étalonnage avec un deuxième jeu de paramètres de réglage prédéfini par le programme d'étalonnage, dans lequel les jeux de paramètres de réglage prédéfinis se distinguent les uns des autres, et
    - qu'ensuite l'unité de commande et d'évaluation (28) règle les paramètres de réglage pour un autre travail du sol en fonction des grandeurs d'état acquises dans les étapes d'étalonnage.
  2. Procédé selon la revendication 1,
    caractérisé en ce
    que plus de deux étapes d'étalonnage sont pourvues de différents jeux de paramètres de réglage par le programme d'étalonnage.
  3. Procédé selon la revendication 1 ou 2,
    caractérisé en ce
    que pour le travail du sol faisant suite à l'étalonnage l'un des jeux de paramètres de réglage provenant d'une étape d'étalonnage est sélectionné.
  4. Procédé selon la revendication 1 ou 2,
    caractérisé en ce
    que les paramètres de réglage pour le travail du sol faisant suite à l'étalonnage sont déterminés librement par l'unité de commande et d'évaluation (28).
  5. Procédé selon l'une quelconque des revendications 1 à 4,
    caractérisé en ce
    que l'étalonnage est mis en oeuvre au début de la création du trou (60), dans lequel l'étalonnage est prévu jusqu'à une profondeur de 5 m, de préférence de 1 m à 4 m.
  6. Procédé selon l'une quelconque des revendications 1 à 5,
    caractérisé en ce
    que le au moins un paramètre de réglage et/ou la au moins une valeur d'état sont acquis et mis en mémoire dans le temps et/ou pendant le parcours d'avance.
  7. Procédé selon l'une quelconque des revendications 1 à 6,
    caractérisé en ce
    qu'un couple de l'unité d'entraînement en rotation (32), une force d'avance de l'unité d'avance (30) et/ou une pression ou un volume dans un système hydraulique pour l'entraînement de l'unité d'entraînement en rotation (32) et/ou de l'unité d'avance (30) est sélectionné(e) comme paramètre de réglage.
  8. Procédé selon l'une quelconque des revendications 1 à 7,
    caractérisé en ce
    que pour le travail du sol faisant suite à l'étalonnage les paramètres de réglage sont sélectionnés par l'unité de commande et d'évaluation (28) en fonction d'une consommation d'énergie la plus faible possible, d'une usure la plus faible possible et/ou d'une oscillation/émission acoustique la plus faible possible.
  9. Procédé selon l'une quelconque des revendications 1 à 8,
    caractérisé en ce
    qu'un étalonnage est effectué à plusieurs reprises pendant le creusement du trou (60) dans le sol.
  10. Procédé selon l'une quelconque des revendications 1 à 9,
    caractérisé en ce
    qu'un forage avec un outil de forage (39) est mis en oeuvre en tant que travail du sol.
  11. Procédé selon l'une quelconque des revendications 1 à 9,
    caractérisé en ce
    qu'un fraisage avec une fraise pour creuser des tranchées (50) est mis en oeuvre en tant que travail du sol.
  12. Appareil de travaux publics pour le travail du sol d'après un procédé selon l'une quelconque des revendications 1 à 11,
    avec un dispositif d'entraînement en rotation (32) pour l'entraînement en rotation d'un outil de travail du sol (40) et d'une unité d'avance (30), avec laquelle l'outil de travail du sol (40) peut être introduit dans le sol dans une direction d'avance, et avec une unité de commande et d'évaluation (28), laquelle est réalisée
    - pour effectuer un étalonnage automatique au moins au début du travail du sol,
    - pour mettre en oeuvre un travail du sol dans une première étape d'étalonnage avec un premier jeu de paramètres de réglage prédéfini et au moins dans une autre deuxième étape d'étalonnage avec un deuxième jeu de paramètres de réglage prédéfini, dans lequel les jeux de paramètres de réglage se distinguent les uns des autres, et
    - pour régler les paramètres de réglage pour le travail du sol faisant suite à l'étalonnage en fonction des valeurs d'état acquises lors de l'étalonnage.
  13. Appareil de travaux publics selon la revendication 12,
    caractérisé en ce
    que celui-ci est un appareil de forage (12), pour lequel un outil de forage (39) est entraîné en rotation au moyen de la au moins une unité d'entraînement en rotation (28).
  14. Appareil de travaux publics selon la revendication 12,
    caractérisé en ce
    que celui-ci est une fraise pour creuser des tranchées (50), pour laquelle des roues de fraise (54) sont entraînées au moyen de la au moins une unité d'entraînement en rotation (28).
EP21152819.5A 2021-01-21 2021-01-21 Procédés et appareil de génie civil destiné au traitement du sol Active EP4033032B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP21152819.5A EP4033032B1 (fr) 2021-01-21 2021-01-21 Procédés et appareil de génie civil destiné au traitement du sol
PCT/EP2021/084320 WO2022156948A1 (fr) 2021-01-21 2021-12-06 Procédé et machine de génie civil pour travaux de sol
CN202180090176.9A CN116964276A (zh) 2021-01-21 2021-12-06 用于进行地面处理的方法和地下工程器械
US18/259,963 US20240068352A1 (en) 2021-01-21 2021-12-06 Method and underground construction device for ground working

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Application Number Priority Date Filing Date Title
EP21152819.5A EP4033032B1 (fr) 2021-01-21 2021-01-21 Procédés et appareil de génie civil destiné au traitement du sol

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EP4033032A1 EP4033032A1 (fr) 2022-07-27
EP4033032C0 EP4033032C0 (fr) 2023-06-14
EP4033032B1 true EP4033032B1 (fr) 2023-06-14

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US (1) US20240068352A1 (fr)
EP (1) EP4033032B1 (fr)
CN (1) CN116964276A (fr)
WO (1) WO2022156948A1 (fr)

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Publication number Priority date Publication date Assignee Title
ATE420249T1 (de) * 2005-11-24 2009-01-15 Bauer Maschinen Gmbh Schlitzwandgerät und verfahren zum erstellen eines schlitzes im boden
HUE054961T2 (hu) 2016-09-21 2021-10-28 Bauer Spezialtiefbau Eljárás és építõipari gép építési talaj megmunkálására
US20200149383A1 (en) * 2018-11-12 2020-05-14 Caterpillar Global Mining Equipment Llc Down-the-hole drilling control system for mobile drilling machines

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WO2022156948A1 (fr) 2022-07-28
EP4033032A1 (fr) 2022-07-27
EP4033032C0 (fr) 2023-06-14
CN116964276A (zh) 2023-10-27
US20240068352A1 (en) 2024-02-29

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