Underground construction machine and method for operating underground construction machine

Abstract

The invention relates to an underground construction machine, in particular a drilling device, comprising:-a mobile support device (15); -a mast (18) or a boom, which is arranged on the support device (15); -an underground construction tool (34) which is adjustably arranged on the mast (18) or on the boom for carrying out underground construction measures; at least one display device (50), in particular a display (52); and-a control unit which is designed to control components of the underground construction machine (10) and to detect an operating state, and to generate an at least schematic presentation of at least one part of the underground construction machine (10) on the basis of the detected operating data, and to display the presentation by means of the at least one display device (50), according to the invention, a change in position of the underground construction tool (34) and / or a change in position of at least one component of the underground construction machine (10) is displayed in an at least illustrative presentation of the display device (50), the control unit is designed to automatically change the presentation proportion and / or presentation type of the at least schematic presentation portion of the display device (50) in the event of a determined change in position of the underground construction tool (34) and / or a determined change in position of at least one component of the underground construction machine (10).

Description

Technical Field

[0001] The present invention relates to an underground engineering machinery, in particular a drilling device, according to the preamble of claim 1, wherein the underground engineering machinery comprises: a mobile carrying device; a mast or a cantilever, which is arranged at the carrying device; an underground engineering tool, which is adjustably arranged at the mast or the cantilever for implementing underground engineering measures; at least one display device, in particular a display; and a control unit, which is constructed to control components of the underground engineering machinery, detect operating status, and generate at least a schematic presentation of at least a part of the underground engineering machinery based on the detected operating data, and display it using the at least one display device, wherein a position change of the underground engineering tool and / or a position change of at least one component of the underground engineering machinery is displayed in the at least schematic presentation of the display device.

[0002] The invention also relates to a method for operating such an underground construction machine according to the preamble of claim 14 . Background Art

[0003] The underground construction machine can be, for example, a slotted wall milling machine, a pile driver, a cable excavator, a grab excavator, but can also be a mobile crane or a mobile jib crane.

[0004] Underground construction machines, in particular underground construction machines for constructing foundations in the ground, are already known. For example, the foundation element can be formed by constructing a hole in the ground (e.g. drilling or milling a groove), wherein the hole is then filled with a hardenable medium, in particular mortar, to form a foundation pile or a slotted wall section, possibly with additional armoring. The foundation element can also be implemented by ramming or vibrating (e.g. foundation piles or wooden boards). The foundation element is not limited to a load-absorbing or load-bearing function, but can alternatively or additionally also assume a sealing function and other tasks, such as are known from special underground engineering in foundation pit enclosures with sealing walls.

[0005] Nowadays, known underground construction machines are equipped with electronic control units, which make the operation of underground construction machines easier for the machine operator or can even take over the operation of underground construction machines partially or completely automatically. Various operating data can be detected via sensors and transmitted to the control unit. Control commands can be output to corresponding actuators (especially drives and control cylinders) via corresponding data lines.

[0006] Such underground construction machines are known from, for example, EP 3 299 523 A1 and EP 3 296 467 A1.

[0007] The display device in the underground construction machine is used to display the operating data acquired by the control unit from internal and / or external sensors to the machine operator, so that the machine operator can control the underground construction machine accordingly efficiently and safely. The data can be, for example, the current depth of the underground construction tool, the torque of the winch or also the temperature of the oil in the oil circulation system.

[0008] Depending on the machine configuration and / or the work method to be performed, a large amount of data must be displayed and visualized to the machine operator in order to be able to reliably and efficiently construct the foundation element. There is the problem that the machine operator can be distracted by the data flood of data that may be important for the method steps to be performed. Summary of the invention

[0009] The invention is based on the object of specifying an underground construction machine and a method for operating an underground construction machine which allow a particularly efficient use of the underground construction machine by the machine operator.

[0010] This object is achieved on the one hand by an underground construction machine having the features of claim 1 and on the other hand by a method having the features of claim 14 .

[0011] Preferred embodiments of the invention are given in the dependent claims as well as in the drawings and their description.

[0012] The underground engineering machinery according to the present invention is characterized in that the control unit is constructed to automatically change the presentation ratio and / or presentation type of at least a schematic presentation part of the display device when the underground engineering tool undergoes a certain position change and / or at least one component of the underground engineering machinery undergoes a certain position change.

[0013] A basic idea of ​​the invention is that the control unit is designed to automatically change the presentation ratio and / or presentation type of the at least schematic presentation section of the display device when the underground engineering tool undergoes a certain change of position and / or when at least one component of the underground engineering machine undergoes a certain change of position. Thus, for example, at the beginning of actual land work, the land working tool can be displayed enlarged in the at least schematic presentation section. By means of this automatic change in the presentation section, the machine operator can clearly understand that land work is to be carried out and can focus his attention on the land work. This promotes an efficient workflow and prevents operating errors.

[0014] The presentation can be very schematic, wherein the underground construction machinery and / or the earth working tool are presented in a highly simplified manner. This reduces the required computing power, storage space and programming effort. However, a near-realistic presentation can also be performed partially or completely if the corresponding computing power and storage space are available.

[0015] A preferred embodiment of the present invention is that the presentation type includes a presentation perspective and / or a presentation fragment and / or a partial presentation and / or a partially transparent presentation. The presentation perspective can in particular be a side view, a top view (i.e. a presentation portion from a bird's-eye view) or a perspective view. Thus, for example, in actual land operations, a side view of the tool with a presentation portion of the bottom of the borehole can be realized, while, for example, when emptying the tool at the land surface or when moving underground construction machinery, a perspective presentation or a top view from above can be provided. Depending on the operating state or the corresponding operating steps, the overall presentation of the underground construction machinery or only a fragment or partial presentation and / or a partially transparent presentation can be useful, especially when, for example, only the tool is presented in actual land operations. For example, a partially transparent presentation can be used to indicate the filling of a glass-like display of a drill bucket, while the remaining machine parts are displayed normally.

[0016] A particularly simple embodiment of the invention is achieved according to a further development in that the control unit is designed to change the presentation ratio and / or presentation type by a transition-free switchover. The simple switchover leads to a clear structure and does not require excessive computing power.

[0017] Another design variant of the invention is that the control unit is designed to dynamically change the presentation ratio and / or presentation type with a smooth transition. In particular, in the case of a transition from a partial presentation to a full presentation, this can be done with a smooth zoom image curve. The presentation from a side view to a perspective view can also be done with a smooth transition, which can result in particularly good visibility of specific work steps. The smooth transition, which can be done similarly to a camera pivoting, can also make it possible to show the relevant changes in the method flow and the pending new work steps particularly well to the machine operator.

[0018] A particularly good improvement in the attention of the machine operator to the method flow to be performed and / or the changes in the method flow can be achieved according to a preferred embodiment of the present invention by the following, that is, the control unit is configured to initially display at least a portion of the underground engineering machine with a first presentation ratio and / or a first presentation angle of view and / or a first presentation segment and / or a first partial presentation and / or a complete presentation or a transparent presentation, and when a determined position or state of the underground engineering tool and / or a determined position or state of at least one component of the underground engineering machine is reached, switch or transition to a second presentation ratio and / or a second presentation angle of view and / or a second presentation segment and / or a second partial presentation and / or a transparent presentation or a complete presentation according to a preset program control. For this purpose, corresponding sensors can be arranged at the underground engineering machine, with which the position or state of the underground engineering tool or the position or state of one of the components of the underground engineering machine can be detected. The sensor is connected to the control unit here. In particular, the filling degree of the underground engineering tool can be indicated by (partial) transparent presentation.

[0019] According to an improved solution of the present invention, it is particularly advantageous that the control unit is configured to dynamically change the presentation segment so that the underground engineering tool is always displayed in the center, especially when the underground engineering tool reaches the land to be operated. In particular, during the actual operation process using the underground engineering tool, the underground engineering tool can be presented in the center. In the sense of the present invention, centering is not to be understood as a strict centering on the screen, but rather as a presentation in the middle area of ​​the screen, at least not at the edge of the screen. In addition to the centered presentation of the underground engineering tool, other components of the underground engineering machine can also be presented in the center according to the method flow and a plurality of individual method steps.

[0020] Particularly good visibility can be achieved according to an improved solution of the invention by the control unit being designed to transition from the overall presentation of the underground construction machine to at least a partial presentation starting from a certain working depth, in which parts of the underground construction machine are omitted, in particular parts of the drill rod and / or guide rod or load-bearing cable are omitted. In this way, attention can be focused on special parts that are crucial for the working steps and require special attention from the machine operator. Unimportant parts do not need to be presented here. Preferably, when transitioning from the overall display to the partial presentation, the presentation ratio can also be changed, in particular the presentation ratio can be enlarged.

[0021] According to a further development of the invention, the control unit is preferably designed in such a way that the underground engineering tool is displayed in an enlarged presentation scale when the underground engineering tool is bored into the ground and / or reaches the bottom of the ground to be worked or shortly before reaching the bottom. In particular, the interaction of the underground engineering tool with the ground to be worked, such as the filling degree of the underground engineering tool, is of decisive significance for the process flow and the efficiency of the ground work. This is further clearly indicated by this presentation and draws the attention of the machine operator.

[0022] A particularly good representation can be achieved according to an embodiment of the invention in that the control unit is designed to display the carrier device at a reduced representation scale relative to the underground working tool and / or other parts of the underground working machine. This allows an overall representation of the underground working machine, wherein the underground working tool and / or other parts of the underground working machine are displayed at different representation scales and, if necessary, at different fidelity, depending on their importance for the respective method step.

[0023] In particular, after the actual ground work or ground work steps have been completed, it may be advantageous according to a development of the invention for the control unit to be designed in such a way that the presentation scale is reduced when the underground working tool is pulled out of the ground. In particular with regard to underground working tools, the presentation scale can be reduced, wherein preferably the same presentation scale is achieved for the underground working machine as a whole. As a result, the machine operator can, for example, develop a better feel for the total depth of the hole.

[0024] According to another preferred embodiment variant of the present invention, the control unit is configured to cause the presentation perspective to change from a side view to a top view toward the underground engineering machine, and / or vice versa, directly before or when the upper structure pivots, and the upper structure is rotatably supported at the lower structure of the supporting device around a vertical pivot axis. As a result, from now on, the machine operator's attention can be focused on the situation that the pivoting of the upper structure is to be carried out. The presentation mode can be triggered by the control operation of the machine operator, by the program control itself, or by sensor data. Here, the underground engineering machine can also be equipped with one or more cameras and other sensors, such as radar sensors or lidar / radar sensors, in order to detect the surroundings of the underground engineering machine, in particular, also detect possible obstacles. The surroundings and possible obstacles detected in this way can be taken into account in the presentation in the top view of the underground engineering machine, thereby supporting the safe operation of the underground engineering machine for the machine operator.

[0025] Underground construction machines are basically designed for carrying out underground construction measures, in particular for specialized underground construction, i.e. for groundwork. According to one embodiment of the invention, it is particularly advantageous if the underground construction machine is designed as a drilling device, a slotted wall milling machine, a gripping device, a pile driver, a vibrating machine, a grab excavator or a cable excavator. A cable excavator is generally understood to be a mobile crane with a pivotable boom, wherein the gripping device does not necessarily have to be arranged at the carrying cable of the boom. Conversely, a cable excavator or a mobile crane can also be used, for example, for ground compaction using a drop weight.

[0026] According to a further development of the invention, a switch device is advantageously provided, by means of which the automatic change of the presentation ratio and / or presentation type can be activated or deactivated by the control unit. The switch device can be operated by a machine operator so that the switch device can activate or deactivate the desired presentation mode.

[0027] The method according to the present invention is characterized in that when the underground engineering tool undergoes a certain position change and / or at least one component of the underground engineering machine undergoes a certain position change, the control unit automatically changes the presentation ratio and / or presentation type of at least a schematic presentation part of the display device.

[0028] The method according to the invention can be carried out in particular with the aid of the underground construction machine according to the invention described above and one of the developments listed therefor. The advantages described above can be achieved in this case. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further explained below with reference to preferred embodiments schematically shown in the accompanying drawings. In the accompanying drawings:

[0030] Figure 1 shows a schematic side view of an underground construction machine according to the present invention; and

[0031] Figures 2a to 2d A range of possible presentations at a display is shown. DETAILED DESCRIPTION

[0032] According to the underground construction machine 10 of the present invention (the underground construction machine is exemplarily constructed according to Figure 1 The drilling device of the underground construction machine 10 has a lower structure 12 which is preferably designed as a crawler-type running gear and an upper structure 14 which is rotatably supported on the lower structure. The lower structure 12 and the upper structure 14 form a supporting device 15. A drive assembly and an operating console 17 for a machine operator of the underground construction machine 10 can be arranged on the upper structure 14 in a known manner. A control unit and a display device (in particular, at least one display) can be arranged in the operating console 17.

[0033] On the front side of the superstructure 14, a substantially vertical mast 18 with an upper mast head 19 can be adjustably mounted via an articulated kinematic mechanism 16 with a neck cylinder. Along the front side of the mast 18, a slide 20 can be slidably guided. A first drilling drive 22 can be arranged on the slide 20, which can have a hydraulic motor 24. In addition, a second drive 26 with a sleeve-shaped rotary connection 27 for establishing a rotationally fixed connection with the support tube 4 can be arranged on the slide 20. The second drive 26 can, for example, essentially consist of a gear connection to the first drilling drive 22 with the hydraulic motor 24, so as to thereby apply a torque to the rotary connection 27 and thus to the support tube 4.

[0034] The first, approximately sleeve-shaped drilling drive 22 can be penetrated by a drill rod 30, which can be designed as a Kelly drill rod with an external driving strip. Here, the drill rod 30 may have an upper suspension 32, by means of which the drill rod 30 is connected to a main cable 39. The main cable 39 may be guided via a deflecting wheel at the mast head 19 to a main winch 38 at the upper side of the superstructure 14. By operating the main winch 38, the drill rod 30 may be moved vertically.

[0035] The slide 20 can be connected to a feed cable 37 which is guided along the mast 18 above and below the slide 20 and can be operated by a feed winch 36. By means of the feed winch 36, the slide 20 can be moved upwards or downwards along the guide of the mast 18.

[0036] A drilling tool as an underground engineering tool 34 is arranged on the underside of the drill rod 30 for removing ground material. Figure 1 In the exemplary embodiment shown, the underground engineering tool 34 is designed as a drilling bucket. The diameter of the drilling tool is designed in this case so that it can be introduced into the inner hollow space of the support tube 4 .

[0037] A casing borehole can be produced in the ground 1 by means of the underground construction machine 10. To form a foundation element in the ground 1, a hardenable material can be introduced into the borehole, which then hardens to form the foundation element. The support tube 4 can remain in the borehole as part of the foundation element or can be preferably pulled out of the ground 1 before hardening.

[0038] To illustrate the present invention, Figure 2a to Figure 2d It is shown that, in particular, according to Figure 1 A series of schematic representations of the display 52 of the display device 50 that can be used in the underground construction machine 10.

[0039] according to Figure 2a in (preferably in accordance with Figure 1 The underground construction machine 10 is schematically shown in a side view in the center area of ​​the screen display section 52 of the operating console 17 of the underground construction machine 10. In this operating state, the underground construction tool 34 is located above the support pipe 4 that has been introduced into the ground 1, wherein a drilling bucket can be inserted into the support pipe 4 as an exemplary underground construction tool 34. Figure 2a In this representation of the underground construction machine 10, a schematic and highly simplified side view is shown with a uniform scale from the support device 15 to the upper end of the mast. In addition, at least a portion of the support tube 4 is shown in the ground 1. In the side area of ​​this schematic representation of the underground construction machine 10, other important information and operating parameters and also camera images can be displayed, which are generally important for the penetration operation process.

[0040] After the underground engineering tool 34 is inserted into the support pipe 4, the display 52 is displayed with Figure 2b Corresponding image. In this image, the borehole is shown together with a large part of the support tube 4 in the ground 1, while the upper end area of ​​the mast 18 of the underground construction machine 10 is no longer shown. Figure 2b In the imaging diagram, the underground engineering tool 34 can be seen in the middle area of ​​the display 52 as an exemplary display device 50. In addition to the underground engineering tool 34, a depth description can also be made in a separate area of ​​the underground engineering tool 34, wherein in accordance with Figure 2b In the embodiment of , 16.42 meters below the surface is given as the current depth. Figure 2b During this descent, the underground engineering tool 34 can Figure 2a Compared to the same presentation scale or a slightly enlarged presentation scale.

[0041] Directly before the bottom of the borehole in the ground 1 is reached by the underground engineering tool 34, it is possible to Figure 2c Changing the presentation format. Here, the underground working tool 34 is presented in a larger scale relative to the rest of the underground working machine 10, wherein the overall presentation is not uniform and proportional. Next to the underground working tool 34, which is presented essentially in the center, the current depth of the tool, the set depth or target depth and the filling degree of the drilling bucket, which in this example is the underground working tool 34, can be displayed as important data next to the underground working tool 34.

[0042] After the drilling step and the pulling out of the filled underground construction tool 34 from the drill hole and the support tube 4 in the ground 1, the upper structure 14 of the underground construction machine 10 can be pivoted into the empty position. Figure 2d The perspective can be based on Figure 2a to Figure 2c The side view changes to correspond to Figure 2d . Once again, the proportions of the underground construction machine 10 can be varied. In this figure, a worked borehole or a plurality of worked boreholes can also be imaged.

Claims

1. An underground engineering machine, in particular a drilling device, comprising: - Mobile carrying equipment (15); - a mast (18) or a boom, which is arranged on the carrying device (15); - a subterranean engineering tool (34) which is adjustably arranged on the mast (18) or the boom for carrying out subterranean engineering measures; - at least one display device (50), in particular a display (52); as well as - a control unit, which is configured to control components of the underground construction machine (10) and detect operating states and to generate at least a schematic representation of at least a part of the underground construction machine (10) based on the detected operating data and to display the same using the at least one display device (50), wherein a position change of the underground construction tool (34) and / or a position change of at least one component of the underground construction machine (10) is displayed in the at least schematic representation of the display device (50), It is characterized in that - The control unit is configured to automatically change the presentation ratio and / or presentation type of at least a schematic presentation portion of the display device (50) when the underground engineering tool (34) undergoes a certain position change and / or when at least one component of the underground engineering machine (10) undergoes a certain position change.

2. The underground engineering machinery according to claim 1, characterized in that: The presentation types include presentation perspectives and / or presentation fragments and / or partial presentations and / or partially transparent presentations.

3. The underground engineering machinery according to claim 1 or 2, characterized in that: The control unit is designed to change the presentation ratio and / or the presentation type by a seamless switchover.

4. The underground engineering machine according to any one of claims 1 to 3, characterized in that: The control unit is designed to dynamically change the presentation ratio and / or the presentation type with a smooth transition.

5. The underground engineering machine according to any one of claims 1 to 4, characterized in that: The control unit is constructed to initially present at least a portion of the underground engineering machine (10) in a first presentation ratio and / or a first presentation perspective and / or a first presentation fragment and / or a first partial presentation, and when a certain position or state of the underground engineering tool (34) and / or a certain position or state of at least one component of the underground engineering machine (10) is reached, switch or transition to a second presentation ratio and / or a second presentation perspective and / or a second presentation fragment and / or a second partial presentation according to a preset program control.

6. The underground engineering machine according to any one of claims 1 to 5, characterized in that: The control unit is designed to dynamically change the presentation segment in such a way that the underground engineering tool (34) is always displayed in the center, in particular when the underground engineering tool (34) reaches the ground (1) to be worked.

7. The underground engineering machine according to any one of claims 1 to 6, characterized in that: The control unit is designed to transition from the overall presentation of the underground construction machine (10) to at least a partial presentation starting from a certain working depth, in which part of the underground construction machine (10) is omitted, in particular a drill rod and / or a guide rod (30) or a part of a load-bearing cable is omitted.

8. The underground engineering machine according to any one of claims 1 to 7, characterized in that: The control unit is designed to display the underground working tool (34) in an enlarged presentation scale when the underground working tool is bored into the ground (1) and / or reaches the bottom of a hole in the ground (1) to be worked or shortly before reaching the bottom.

9. The underground engineering machine according to any one of claims 1 to 8, characterized in that: The control unit is designed to display the support device at a reduced representation scale relative to the underground working tool and / or other components of the underground working machine.

10. The underground engineering machine according to any one of claims 1 to 9, characterized in that: The control unit is designed to reduce the presentation scale when the underground engineering tool (34) is pulled out of the ground (1).

11. The underground engineering machine according to any one of claims 1 to 10, characterized in that: The control unit is designed to cause a change in the viewing angle from a side view to a top view toward the underground construction machine (10), or vice versa, directly before or when the upper structure (14) is pivoted, the upper structure being rotatably supported about a vertical pivot axis on the lower structure (12) of the supporting device (15).

12. The underground engineering machine according to any one of claims 1 to 11, characterized in that: The underground construction machine (10) is configured as a drilling device, a slotting wall milling machine, a grabbing device, a pile driver, a vibrating machine, a grab excavator or a cable excavator.

13. The underground engineering machine according to any one of claims 1 to 12, characterized in that: A switch device is provided, by means of which the automatic change of the presentation ratio and / or the presentation type can be activated or deactivated by the control unit.

14. A method for operating an underground construction machine (10), the underground construction machine being in particular an underground construction machine according to any one of claims 1 to 13, the underground construction machine comprising: - Mobile carrying equipment (15); - a mast (18) or a boom, which is arranged on the carrying device (15); - a subterranean engineering tool (34) which is adjustably arranged on the mast (18) or the boom for carrying out subterranean engineering measures; - at least one display device (50), in particular a display (52), and - control unit, - wherein the components of the underground construction machine (10) are controlled by the control unit and the operating status is detected, and - wherein, depending on the detected operating state, an at least schematic representation of at least a part of the underground construction machine (10) is generated by the control unit and displayed on the at least one display device (50), wherein a position change of the underground construction tool (36) and / or a position change of at least one component of the underground construction machine (10) is displayed in the at least schematic representation of the display device (50), It is characterized in that - Automatically changing the presentation ratio and / or presentation type of at least a schematic presentation portion of the display device (50) by the control unit directly before or when the underground engineering tool (34) undergoes a determined position change and / or at least one component of the underground engineering machine (10) undergoes a determined position change.

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