Construction machine and method for controlling construction machine
By introducing a preset dataset into the construction machine to automatically adjust the machine parameters, the problem of the complexity of adjusting foundation operation tools under different geological conditions is solved, and an efficient construction process is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BAUER MASCH GMBH
- Filing Date
- 2025-09-11
- Publication Date
- 2026-05-08
AI Technical Summary
When facing foundations with different geological conditions, existing construction machines require manual adjustment of the machine parameters of the foundation operation tools, which makes the adjustment complex and time-consuming, and requires operators to have professional knowledge and experience.
A construction machine is used, which is equipped with an actuation device and a control device. The control device stores multiple preset datasets. Each dataset is designed for a specific foundation type or operating mode and automatically adjusts the machine parameters, simplifying the parameter selection and adjustment process.
By automating the adjustment of machine parameters, construction efficiency and quality are improved, reliance on operator expertise is reduced, and tool wear is decreased.
Smart Images
Figure CN121992834A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a construction machine, to which a foundation work tool in the form of a hydraulic or cable grab bucket is attached or to be attached; and to a method for controlling such a construction machine. Background Technology
[0002] When performing civil engineering or other excavation work, such as the construction of foundation elements (such as piles or diaphragm walls), the specific control of the foundation work tools, especially in the form of hydraulic or cable grab buckets, attached to or to the construction machinery used to perform the work depends on the characteristics of the geological conditions of the foundation.
[0003] Therefore, a ground profile is typically created for the construction foundation in each case, at least for larger construction projects. The ground profile indicates the structure of a different type of foundation (especially a layered structure) that differs from other types of foundations in terms of the composition of the foundation materials (particularly regarding their physical properties). For example, a ground profile is created by means of test drilling so that the ground profile of the construction foundation can be determined based on the obtained borehole core samples.
[0004] From an economic perspective, knowing the foundation profile is crucial because the foundation's structure determines the cost of excavation. For example, excavating a foundation containing a large amount of rock is more complex than excavating a foundation containing sand, gravel, and / or clay layers because of the slower advance rate and greater tool wear.
[0005] However, depending on the geological conditions of the construction foundation, the foundation profile can fluctuate significantly even in a limited local area. These fluctuations typically include variations in the thickness of individual strata and may also include changes in the rock horizon.
[0006] In this invention, it is assumed that the physical properties of the foundation (such as hardness, density, undulation, cohesion, etc.) vary with different soil strata. This results in the following: certain machine parameters of the construction machinery to be applied to the machining construction task must be adjusted, and appropriate values must be selected to optimize the machining of the corresponding soil strata.
[0007] Until now, these adjustments had to be performed manually for each individual parameter. This was time-consuming because there was a wide range of adjustment options for the actuators of the foundation work tools attached to or to the construction machine (which allow the tools to be inserted into the foundation to be worked on), and the operators needed appropriate expertise and extensive experience to make the best possible adjustments.
[0008] Although auxiliary systems exist in construction machine control systems that automate monotonous or repetitive operations through predefined procedures to reduce the burden on machine operators and enable faster adjustment and control of processes, some machining operations cannot be fully automated and still require machine operators to make decisions.
[0009] This involves the use of specialized grabbing attachments (for hydraulic or cable grab buckets). Here, different parameters may need to be selected or applied for individual geological formations. These machine parameters, used by the control unit of the construction machine to control the actuators in order to control the machining operations at the actuators, include, for example: the descent height of the foundation work tool, the closed loop of the grab bucket, the closing force of the grab bucket, the closing speed of the grab bucket, the filling degree of the grab bucket, and the number of repetitions of the closed loop or descent in the case of foundation work tools such as hydraulic or cable grab buckets (specifically, which may be drilling grab buckets, diaphragm wall grab buckets, or pile grab buckets). Summary of the Invention
[0010] The purpose of this invention is to provide a construction machine (a foundation work tool in the form of a hydraulic or cable grab attached to or to the construction machine) and a method for controlling such a construction machine, by means of which the complexity of selecting and adjusting work parameters is reduced and higher work efficiency can be achieved.
[0011] According to the invention, this objective is achieved by a construction machine having the features of claim 1 and a method having the features of claim 10. Preferred embodiments of the invention are provided in the corresponding dependent claims.
[0012] According to the invention, a foundation work tool, particularly in the form of a hydraulic or cable grab, is attached to or to be attached to the construction machine, and the construction machine has an actuation device for attaching or to be attached to the foundation work tool, by means of which the foundation work tool can be introduced into the foundation to be worked, and the construction machine has a control device for controlling the actuation device, wherein the control device is configured to control machining operations by applying a plurality of machine parameters to the actuation device, characterized in that a plurality of preset datasets are stored in the control device, each of the plurality of preset datasets containing preset / predefined selections of machine parameters of the actuation device for different defined machining operations, characterized in that each of the preset datasets is assigned to a specific foundation type or a specific operating mode, the specific foundation type differing from other foundation types in terms of foundation material composition, particularly in terms of its physical properties, the specific operating mode differing from other operating modes, for example in terms of operating speed or wear, and characterized in that a selection device is provided by means of which the preset dataset for operating the construction machine can be selected.
[0013] According to the method for controlling a construction machine, a foundation work tool, particularly in the form of a hydraulic or cable grab bucket, is attached to the construction machine, and the construction machine has an actuation device for attaching the foundation work tool to the construction machine, by means of which the foundation work tool can be introduced into the foundation to be worked. The method includes the step of operating the actuation device by applying a plurality of machine parameters to the actuation device, and is characterized in that the actuation device is controlled by selecting and applying a preset dataset from a plurality of stored preset datasets, each of which contains preset / predefined selections of machine parameters of the actuation device for different defined machining operations, and is characterized in that each of the preset datasets is assigned to a specific foundation type or a specific operating mode, the specific foundation type being different from other foundation types in terms of foundation material composition, particularly in terms of its physical properties, and the specific operating mode being different from other operating modes, for example, in terms of operating speed or wear.
[0014] The very general basic concept of this invention is to enable the adjustment of machine parameters depending on the formation or operating mode.
[0015] More specifically, the present invention is based on the concept that multiple machine parameters of the actuation device for different defined machining operation bases are each combined into presets in the form of preset datasets. These presets or preset datasets are each assigned to a specific base type or a specific operating mode, which differs from other base types in terms of base material composition, particularly regarding its physical properties, and which differs from other operating modes, for example, regarding high or low operating speeds or productivity, or associated with higher or lower wear. Furthermore, these presets or preset datasets take into account the necessary adjustments to the machine parameters to achieve the most efficient machining possible.
[0016] Machine parameters suitable for foundation type or operating mode can be applied very easily and quickly simply by selecting and applying appropriate preset datasets. By selecting and applying different preset datasets more suitable for different strata, it is even possible to easily and quickly consider changes in the geological conditions of the foundation during machining operations in foundation profiles with different strata. Operators are spared the complex and time-consuming task of manually adjusting numerous machine parameters when strata change, and no expertise or experience is required regarding the applicability of certain values in a given situation.
[0017] Individual machine parameters can be set by the operator or used in the form of predefined default values (from the machine manufacturer or from previous machining operations). Therefore, experienced operators can also provide machine parameters to less experienced operators. This allows even inexperienced operators to apply machine parameters optimized for the specific strata, thereby improving the efficiency and quality of the work process and avoiding wear and tear on construction machinery and foundation work tools due to inappropriate settings.
[0018] For example, a sequence of preset datasets can be pre-defined based on a previously determined (known) foundation profile (similar to continuous strata of different foundation types identified in the foundation profile). Then, the continuous strata of different foundation types can be machined by manually or automatically switching individual preset datasets within this sequence based on the depth already excavated. In a preferred, automated variant, the switching can also be based on measured values recorded during the machining process, such as closure forces.
[0019] Preferably, according to the present invention, the application sequence of the preset dataset can be predefined / preset, and the application sequence of the preset dataset can be predefined / preset by the depth of the foundation work tool in the foundation or by the depth of the foundation work tool in the foundation.
[0020] By designing the control device for the construction machine, it can be configured to determine a preset application sequence based on a pre-created foundation profile. The operator can then adjust this preset on-site if needed, but this already represents a largely optimized preset for the control system specific to the machining operation.
[0021] In a particularly user-friendly and intuitive embodiment, preset datasets can be selectively selected and / or recently created by the machine operator via a graphical user interface (GUI), where the machine parameters for the corresponding selected dataset can be modified and saved by the machine operator via the GUI. This menu-supported input clearly displays the sequence of foundation type layers and the preset machine parameters based on the appropriate preset dataset.
[0022] The control device can also be configured to apply or set a preset dataset by inputting the corresponding layer thickness for the foundation type assigned to the corresponding preset dataset. Furthermore, the control device can be configured to terminate the application of the current preset dataset or the machine parameters defined by the preset dataset based on the detection of the penetration depth of the foundation working tool or the detection of the force curve on the working tool. The force curve can serve as an indication of changes in the foundation type in the strata during an ongoing machining process (e.g., trench excavation), making it necessary, or at least advantageous and more efficient, to use different preset datasets with modified machine parameters for other foundation types.
[0023] In another automated embodiment, the control device may be configured to automatically select and apply a preset dataset based on machining parameters, specifically the penetration depth of the foundation working tool into the foundation, and / or measured data of force curves recorded on the foundation working tool for changes in foundation type during the working process at a certain depth.
[0024] In this regard, what is particularly useful and can be included within the scope of the present invention is that hydraulic grabs and other foundation work tools and their actuators are often equipped with an increasing number of sensors, and the control systems of construction machines are often equipped with automatic routines for certain situations.
[0025] EP 3 725 950 A1 describes how, for example, by measuring the pressure in the closed cylinder and the closing angle of the grab bucket or shell of the hydraulic grab, conclusions can be drawn about irregular boulders (e.g., about their size and location) that may be located between the buckets. An automated system can be used to reopen the grab, fully raise it, and then lower it again to break up the irregular boulders. This automated routine can also be stored as machine parameters in a preset dataset (for the type of foundation where such irregular boulders might be expected).
[0026] EP 3 725 951 A1 describes a method for determining, for example, the fill level of the bucket based on the penetration depth of the bucket or shell and / or the weight of the lifted grab, such that if the fill level is insufficient, the grab can be automatically reopened, and if necessary, further raised and lowered again to achieve a higher fill level. This prevents unnecessary movement of the grab away from the trench. Furthermore, this automatic routine can also be stored as machine parameters in a preset dataset (for foundation types where underfilling is possible).
[0027] Specifically, the measured values or recorded operational variables obtained on a case-by-case basis can not only be used to control the automatic routines within the applied preset dataset, but can also be analyzed to trigger changes in the preset dataset within the processing operation according to the planned sequence, or to trigger a stop in order to request a response from the operator (e.g., manually applying another preset dataset).
[0028] The measured values and operating variables can be recorded by suitable recording devices on the construction machine or foundation work tools. Specifically, the detection device can be a sensor that directly detects the corresponding operating variable (such as speed or torque). However, the detection device can also operate indirectly, where torque can be calculated and determined, for example, via the power consumption of a hydraulic rotary actuator. The detection device can be connected to a control and evaluation unit via a wired or wireless link. The control and evaluation unit can be located directly on the construction machine itself or in a remote control center connected to the construction machine via a corresponding data link.
[0029] The foundation work tools used with the construction machine or method according to the invention can be hydraulic or cable grabs, particularly drilling grabs, diaphragm wall grabs, or pile grabs. These tools allow for a significant adjustment of the number of machine parameters and have a substantial impact on machining progress and efficiency.
[0030] Depending on the appropriate working tools and the expected ground geological conditions, the preset dataset may include at least two machine parameters selected from the following: descent height of the ground working tool, closed loop of the grab bucket, closing force of the grab bucket, closing speed of the grab bucket, filling degree of the grab bucket, and number of repetitions of closed loop or descent in the grab bucket configuration.
[0031] However, in principle, according to the present invention, other suitable operating variables or measured values or machine parameters can also be included in the functional extension concept of the control device via a preset dataset. Operating variables or machine parameters selected from torque, cable force, rotational speed, power, feed force, feed rate, acceleration, energy input, vibration, sound, hydraulic pressure and / or hydraulic current may be particularly meaningful. In particular, combinations of several operating variables can also be considered such that the control and evaluation device can make statements with particularly high certainty about the currently operating formation, and, if necessary, make statements about the usefulness of changing the applied machine parameters of one preset dataset to another preset dataset or modifying individual parameter values within the currently applied preset dataset.
[0032] Presets or preset datasets with selected machine parameters (each assigned to a specific foundation type) can be stored or stored in a database within the control and evaluation device. This database may be predefined upon delivery of the construction machine or foundation work tools, or it may be uploaded by the control center during operation, or new or additional values may be provided or maintained. Furthermore, according to a variation of the invention, from the operator's perspective, preferred datasets (i.e., preferred combinations of machine parameters for specific foundation types encountered at the construction site) can be stored via the GUI of the control and evaluation device as preset datasets already created and determined for this processing location or for a specific construction machine configuration. Therefore, this database can represent an expert system, where automatic improvement and modification of the stored preset datasets can also be provided based on the control and evaluation device's preferred self-learning logic.
[0033] Another advancement of the invention may lie in querying and comparing measured values or operating variables and machine parameters (stored as part of a preset dataset for certain types of foundations) determined by the control and evaluation device during the construction process to determine the current foundation type. For example, if the control and evaluation device identifies a formation with varying strengths and therefore potentially one or more unfavorable machine parameters by comparing measured values of characteristic parameters with set values of corresponding parameters, the control and evaluation device can modify the preset dataset of machine parameters or individual machine parameters based on the currently determined foundation type, or display this to the operator, for example, on a monitor. For instance, when rock formations are detected, the descent height of the grab bucket or the closing force of the grab bucket shell can be reduced to avoid excessive tool wear and achieve the best possible removal conditions for the formation.
[0034] Since this invention is described with reference to construction machinery, the description also relates to the method accordingly. This method can be used to achieve benefits and effects in a corresponding manner. Attached Figure Description
[0035] In the following, the invention will be explained in more detail using preferred exemplary embodiments of the construction machinery schematically shown in a single figure. Detailed Implementation
[0036] according to Figure 1 The construction machine 10 according to the invention may have a mobile carrier device 12, which has a tracked chassis as a base frame 14. An upper bracket 16 with an operator's cab 17 may be rotatably mounted on the base frame 14 about a vertical axis of rotation. A control device, including a machine operator input device, is preferably located within the operator's cab 17.
[0037] The cantilever 18 can be pivotally hinged to the upper bracket 16 about a horizontal axis. A holding cable 24 can be guided on the head 20 of the cantilever 18 by means of a deflecting pulley. A ground work tool 30 (here, exemplarily designed as a cable grab 31) can be attached to the end of the holding cable 24 via a grab frame 32 and a lower grab shovel 34. The holding cable 24 for raising and lowering the cable grab 31 can be actuated via a first cable winch 21 on the carrier assembly 12. Furthermore, a second cable winch 22 for actuating the cable 44 can be located on the carrier assembly 12, and the second cable winch 22 can also be guided via the head 20 to the cable grab 31 to actuate the grab bucket or shell 34 at the lower end of the grab frame 32.
[0038] The cable winch can serve as an example of an actuating device within the scope of this specification, though not an exhaustive list. Control devices for controlling the actuating devices can be located in the operator's cab 17 and / or outside the construction machine.
Claims
1. A construction machine, wherein a foundation work tool in the form of a hydraulic or cable grab bucket is attached to or to be attached to the construction machine, the construction machine having An actuation device for attaching to or to be attached to the foundation work tool of the construction machine, by means of which the foundation work tool can be introduced into the foundation to be worked. A control device for controlling the actuation device, wherein the control device is configured to control machining operations by applying multiple machine parameters at the actuation device. in Multiple preset datasets are stored in the control device, each of which contains preset / predefined selections of machine parameters for the actuation device for different defined machining operations. Each of the preset datasets is assigned to a specific foundation type or a specific operating mode, wherein the specific foundation type differs from other foundation types in terms of its foundation material composition, particularly in terms of its physical properties, and the specific operating mode differs from other operating modes, for example, in terms of operating speed or wear. A selection device is provided, by means of which a preset dataset for operating the construction machine can be selected.
2. The construction machine according to claim 1, in The preset dataset can be selectively selected and / or recently created by the machine operator via the GUI, wherein the machine parameters of the corresponding selected dataset can be changed and saved by the machine operator via the GUI.
3. The construction machine according to claim 1, in The application sequence of the preset dataset is predefined / preset or predefined / preset.
4. The construction machine according to claim 3, in The preset dataset can be a sequence of applications of the foundation work tool at different depths in the foundation, or it can be predefined / preset.
5. The construction machine according to claim 1, in The control device is configured to determine the application sequence of the preset dataset based on a previously created foundation profile.
6. The construction machine according to claim 1, in The control device is configured to apply the preset dataset by typing in the corresponding layer thickness of the foundation type assigned to the corresponding preset dataset.
7. The construction machine according to claim 1, in The control device is configured to automatically apply the preset dataset based on machining parameters, specifically the penetration depth of the foundation working tool into the foundation, and / or measured data of the force curve recorded on the foundation working tool.
8. The construction machine according to claim 1, in The foundation work tools are hydraulic or cable grabs, special drilling grabs, diaphragm wall grabs, or pile grabs.
9. The construction machine according to claim 1, in The preset dataset includes at least two machine parameters selected from the following: the descent height of the ground operation tool, the closed loop of the grab bucket, the closing force of the grab bucket, the closing speed of the grab bucket, the filling degree of the grab bucket, and the number of repetitions of the closed loop or descent in the grab bucket.
10. A method for controlling a construction machine, particularly in which a foundation work tool in the form of a hydraulic or cable grab is attached to the construction machine, and the construction machine has an actuation device for attaching the foundation work tool to the construction machine, by means of which the foundation work tool (30) can be introduced into the foundation to be worked, the method relating to: The actuator is operated by controlling it by applying multiple machine parameters; in The actuation device is controlled by selecting and applying a preset dataset from a plurality of stored preset datasets, each of which contains preset / predefined selections of machine parameters for the actuation device for different defined machining operations. Each of the preset datasets is assigned to a specific foundation type or a specific operating mode, wherein the specific foundation type differs from other foundation types in terms of foundation material composition, particularly in terms of its physical properties, and the specific operating mode differs from other operating modes, for example, in terms of operating speed or wear.
11. The method according to claim 10, in The selection of a preset dataset or a sequence of preset datasets to be applied from the stored preset datasets is selectively performed by the machine operator via a GUI and / or is performed automatically based on a previously created foundation profile, or based on machining parameters, particularly the penetration depth of the foundation working tool into the foundation, and / or measured data of the force curve recorded on the foundation working tool.
12. The method according to claim 10, in The preset dataset is applied by typing the corresponding layer thickness for the foundation type assigned to the corresponding preset dataset.
13. The method according to claim 10, in The preset dataset is automatically applied based on machining parameters, specifically the penetration depth of the foundation working tool into the foundation, and / or the measured data of the force curve recorded on the foundation working tool.
14. The method according to claim 10, in The foundation work tools are hydraulic or cable grabs, special drilling grabs, diaphragm wall grabs, or pile grabs.
15. The method according to claim 10, in The preset dataset includes at least two machine parameters selected from the following: the descent height of the ground operation tool, the closed loop of the grab bucket, the closing force of the grab bucket, the closing speed of the grab bucket, the filling degree of the grab bucket, and the number of repetitions of the closed loop or descent process in the case of the grab bucket.