METHOD AND UNDERGROUND CONSTRUCTION DEVICE FOR GROUND WORKING

Abstract

The invention relates to a method for ground working with an underground construction device which comprises at least one rotary drive unit for rotationally driving a ground working tool and at least one feed unit, by means of which the ground working tool is introduced into the ground for creating a hole, wherein a control and evaluation unit is provided, by means of which setting parameters are acquired and stored during ground working, at least one state value resulting from ground working is acquired and stored and the setting parameters are changed and set by the control and evaluation unit depending on the at least one acquired state value. According to the invention, it is provided that an automatic calibration is carried out by the control and evaluation unit at least at the beginning of ground working, wherein ground working is performed in a first calibration section with a first set of setting parameters predetermined by a calibration program and at least in a further second calibration section with a second set of setting parameters predetermined by the calibration program, wherein the predetermined sets of setting parameters differ from one another, and that subsequently the control and evaluation unit sets the setting parameters for further ground working depending on the state variables acquired in the calibration sections.

Claims

1. A method for ground working with an underground construction device, which comprises at least one rotary drive unit for rotationally driving a ground working tool and at least one feed unit by means of which the ground working tool is introduced into the ground for creating a hole, wherein a control and evaluation unit is provided, by means of which setting parameters are acquired and stored during ground working, at least one state value resulting from ground working is acquired and stored, and the setting parameters are changed and set depending on the at least one acquired state value, by the control and evaluation unit, wherein the control and evaluation unit carries out an automatic calibration at least at the beginning of ground working, wherein ground working is carried out in a first calibration section with a first set of setting parameters predetermined by a calibration program and at least in a further second calibration section with a second set of setting parameters predetermined by the calibration program, wherein the predetermined sets of setting parameters differ from one another, and subsequently the control and evaluation unit sets the setting parameters for further ground working depending on the state variables acquired in the calibration sections.

2. The method according to claim 1, wherein more than two calibration sections with different sets of setting parameters are provided by the calibration program.

3. The method according to claim 1, wherein one of the sets of setting parameters is selected from a calibration section for the ground working following the calibration.

4. The method according to claim 1, wherein the setting parameters for the ground working following the calibration are freely determined by the control and evaluation unit.

5. The method according to claim 1, wherein the calibration is performed at the beginning of the creation of a hole, wherein the calibration is provided up to a depth of 5 m, preferably from 1 m to 4 m.

6. The method according to claim 1, wherein the at least one setting parameter and/or the at least one state value are acquired and stored over time and/or the advance distance.

7. The method according to claim 1, wherein 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 are selected as setting parameters.

8. The method according to claim 1, wherein for the ground working following the calibration, the setting parameters are selected by the control and evaluation unit depending on a lowest possible energy consumption, a lowest possible wear and/or a lowest possible vibration/sound emission.

9. The method according to claim 1, wherein during sinking of the hole into the ground, a calibration is performed multiple times.

10. The method according to claim 1, wherein drilling with a drilling tool is carried out as ground working.

11. The method according to claim 1, wherein cutting with a trench cutter is carried out as ground working.

12. An underground construction device for ground working according to a method according to claim 1, with a rotary drive means for rotationally driving a ground working tool and a feed unit, by means of which the ground working tool can be introduced into the ground in an advancing direction, and with a control and evaluation unit, which is configured to carry out automatic calibration at least at the beginning of ground working, perform ground working 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 second set of setting parameters, wherein the sets of setting parameters differ from each other, and depending on the state values acquired during calibration, set the setting parameters for the ground working following the calibration.

13. The underground construction device according to claim 12, wherein this device is a drilling apparatus, in which a drilling tool is rotationally driven by means of the at least one rotary drive unit.

14. The underground construction device according to claim 12, wherein this device is a trench cutter, in which cutting wheels are driven by means of the at least one rotary drive unit.

Description

[0031] The invention is explained in more detail with reference to preferred exemplary embodiments, which are shown schematically. Shown are in:

[0032] FIG. 1: a first embodiment of an assembly according to the invention,

[0033] FIG. 2: a second embodiment of an assembly according to the invention and

[0034] FIG. 3: a flow chart of the method according to the invention.

[0035] A first embodiment of an underground construction device 10 according to the invention for creating a hole 60 with a borehole wall 62 is shown in FIG. 1. The underground construction device 10 is configured as a drilling apparatus 12 having a carrier unit. In the embodiment shown, the carrier unit comprises a under carriage 16 and an upper carriage 18, which is mounted on the under carriage 16 so as to be rotatable about a vertical axis of rotation and to which a mast 20 is attached.

[0036] The mast 20 is pivotably mounted on the upper carriage 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 means 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 ground working tool 40, can be rotationally driven by the rotary drive means 32.

[0037] For performing the method according to the invention, a control and evaluation unit 28 is provided on the upper carriage 18 in a driver's cab 14, by means of which the feed unit 30 and the rotary drive means 32 can be controlled. Furthermore, the control and evaluation unit 28 is connected to various measuring means, such as a measuring means 26 on the rotary drive means 32, the feed unit 30 and other units and components of the underground construction device 10.

[0038] The control and evaluation unit 28 can carry out a process sequence which is schematically illustrated in FIG. 3. A calibration program stored in the control and evaluation unit 28 first executes a first calibration section K1, wherein first setting parameters E1, for example for the feed unit 30 and/or the rotary drive means 32, are specified. In the process, a first section of the hole 60 in the ground is created, with state values or output variables A1 being received from the control and evaluation unit 28 via the measuring devices.

[0039] After the first calibration section K1, the hole 60 is further sunk in a second calibration section K2, wherein a set of second setting parameters E2 is specified by the control and evaluation unit 28, which 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 from the corresponding measuring devices.

[0040] Depending on what is specified by the calibration program, any predetermined number of further calibration sections K.sub.N with further different setting parameters E.sub.N can be carried out, with corresponding state values or output variables A.sub.N being fed back to the control and evaluation unit 28.

[0041] Depending on the calibration sections performed in each case, based on the respective setting parameters and the state values obtained in the process, a suitable set of setting parameters E.sub.B for further ground working B by the control and evaluation unit 28 is specified by the control and evaluation unit 28 at the end of the calibration program, wherein certain state values are expected as target values. The ground working can be carried out up to the intended final depth with these setting parameters E.sub.B.

[0042] During ground working, the state values or output variables A.sub.B resulting therefrom can be fed back to the control and evaluation unit 28 as actual values. In the control and evaluation unit 28, these actual values can be compared with the expected target values on which the selection of the setting parameters E.sub.B for the selected optimized ground working has been based.

[0043] If the deviation of the actual values from the target values is too great, the control and evaluation unit 28 can change the setting parameters or, if necessary, perform a further automatic calibration as described above.

[0044] Referring to FIG. 2, an alternative configuration of the underground construction device 10 with a trench cutter 50 is shown highly schematized. The trench cutter 50 comprises an approximately cuboid cutter frame 52, on the underside of which two pairs of cutting wheels 54 are mounted in a manner to be rotationally drivable. The cutting wheels 54, which are driven by a rotary drive means (not shown), as a ground working tool, remove ground material and thus creating a hole 60 in the ground.

[0045] A support cable 56 is arranged at the upper end of the cutter frame 52, by means of which the trench cutter 50 is vertically movably suspended from a support unit (not shown).

[0046] With the trench cutter 50, the above-described method for ground working can be carried out in the same way, wherein different rotational speeds for the cutting wheels 54 and/or different superimposed loads can be set by changing an upwardly directed tensile force on the supporting cable 56 by means of a control and evaluation unit in the carrier unit for the individual calibration steps. Depending on the resulting state values from the individual calibration sections, suitable final setting parameters for further cutting of the hole 60 can then be determined by the control and evaluation unit.