Earth drilling device and method for monitoring an area in an earth drilling device

Description

[0001] The invention relates to an earth drilling device for inserting a drill string into the ground by rotating, pushing and / or pulling, as well as a method for monitoring an area in an earth drilling device for inserting a drill string into the ground by rotating, pushing and / or pulling.

[0002] Earth drilling rigs are regularly operated by several people. In particular, one operator is required in a control station, usually a cabin, to monitor the area around the drilling rig and its immediate surroundings. This is especially important for monitoring the drill string where it exits the rig and enters the ground. Monitoring this area is essential because the drill string, moving with considerable force, can pose a danger to anyone nearby.

[0003] DE 10 2019 001 108 A1 discloses an earth drilling device for moving a drill string for drilling a borehole in the ground. A detection device is provided, configured to detect the end of the drill string (a) in the area of ​​the earth drilling device and / or (b) in the area of ​​a target pit of the borehole to be drilled. It is described that a signal from the detection device is transmitted to a display device, thus indicating a "response" from the detection device on the display device. It may be provided that, as soon as the detection device has detected an object entering the area and / or movement within an area, an image from a camera is displayed on the display device.

[0004] The object of the invention is therefore to create an earth drilling device and a method with which the effort required to drill an earth borehole using the earth drilling device can be reduced, in particular the effort in the form of requiring a smaller number of operating and / or monitoring personnel, whereby alternatively or additionally the monitoring process for the operator can be simplified.

[0005] The problem is solved by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the respective dependent claims and the description.

[0006] A key concept of the invention is to provide a monitoring device designed to detect the presence and / or movement, particularly of a person, in the area of ​​the earth drilling device, and, when the monitoring device detects a potential hazard due to presence and / or movement in that area, to display a corresponding representation of the hazard or the area posing a danger to the operator or machine operator on a screen. The operator previously performing the monitoring does not need to be in or near the area where the hazard could occur or has occurred. Using the display, the user can view the area of ​​the drill string from which a hazard could emanate and, for example, verify that no hazard exists before restarting the earth drilling device, without having to physically access or operate the equipment.to enter the monitored area. In particular, the operator controlling the earth drilling rig may remain away from the rig to be present at a location beneath the borehole or in the target pit. It may be provided that, upon activation of the monitoring device, the earth drilling rig is brought to a safe state, for example, by disengaging the drive from the drill string, and an image of the drill string within the monitored area is displayed on the screen. By adjusting the display, it is possible to provide a sufficiently large screen for the area image, while displaying further information about the operation of the earth drilling rig to a reduced extent or not at all. Essentially, the entire screen size can be used to display the area image.This allows for safer, faster, lower-cost, and / or less-effort drilling. Added benefits for the company using the drilling equipment are possible.

[0007] A synergistic effect results from the monitoring device and the display, leading in particular to simpler and safer machine operation. The use of a monitoring device and display can (initially) prevent the operator from being distracted from the actual task of monitoring machine functions, but it can also sound an alarm in case of danger and stop hazardous movements (e.g., rotation, feed, clamping), especially via a safety control system. Furthermore, it can provide a clear, and particularly large, display of the area to be monitored or potentially hazardous. Therefore, the area to be monitored does not need to be constantly displayed on the screen, but only after / when the monitoring device is triggered.

[0008] According to one embodiment, a monitoring device can be provided on the earth drilling device. This device can be switched between two ranges or opening angles with respect to the monitoring range and / or solid angle, in order to meet different requirements, for example. Although the monitoring device enables monitoring for potential hazards to a person, which should be carried out as safely as possible, it allows for adjustments that can be modified according to the specific design of the area being monitored. Despite this adjustability, safe use of the monitoring device is possible, as adjustments can be made only through qualified authorization. For example, the earth drilling device can be used in different environments. It may also be possible to exclude obstacles from the monitoring.The ability to adjust the drilling mechanism allows for safer and more flexible construction of the borehole. This additional aspect also provides further or alternative benefits for the company using the drilling rig.

[0009] The invention provides an earth drilling device for rotating, pushing and / or pulling the insertion of a drill string into the ground, with a control unit, in particular a remote control, for controlling functions of the earth drilling device, and a monitoring device for monitoring the presence and / or movement, in particular of a person, in an area between the entry of the drill string into the ground and the exit of the drill string from the earth drilling device, and in particular in the area of ​​a clamping, wherein the monitoring device has at least one sensor, the signal(s) of which is / are used to send a signal to a display in the event of the presence and / or movement, in particular of a person, and thus to trigger an adjustment of the display.

[0010] The monitored area can encompass any region where potentially hazardous or dangerous movements (such as rotation, advance, or clamping) may occur. A potentially dangerous movement could be the movement of the drill string, thus encompassing the area between the drill string's entry into the ground and its exit from the drilling rig. The area can also include any area where the drill string is clamped, as clamping can also pose a potential hazard to a person. A synergistic or simplifying effect has been identified by sensibly grouping potential hazards or sources of danger to be monitored. For example, with regard to a drill string clamp, a detection area, monitoring area, or similar area can be defined on both sides along the drill string's longitudinal axis or perpendicular to the clamp.A virtual safety fence can be established or defined using the sensor(s). Since the drill string is necessarily guided through the clamp, arranging one or more sensors in the clamping area can be advantageous. For example, a first sensor, oriented towards the point where the drill string enters the ground, can be positioned laterally in the clamping area, and another sensor, oriented towards the drilling rig, can be positioned laterally in the clamping area to "shield" the drill string from potential hazards or detect when a person enters a defined detection zone.

[0011] For the purposes of this description, the term "monitoring device" encompasses a device designed to monitor the presence and / or movement, in particular of a person, in an area between the point where the drill string enters the ground and where it exits the drilling rig, whereby, in particular, a peripheral area along the drill string can be monitored. In one embodiment, the area on both sides of the drill string can be monitored by means of a sensor with a substantially vertically oriented detection area. It can also be provided that the area containing the drill string can be monitored by means of a detection area designed as a screen above the drill string, whereby the detection area can be substantially horizontally oriented.It is also possible to combine a substantially vertically oriented detection area with a substantially horizontally oriented detection area. The area containing the drill string can be monitored in such a way that an entry point into the monitored section of the drill string is detected, and presence and / or movement within this area can be detected. The monitoring device can define one or more detection areas within which presence and / or movement, particularly of a person, can be detected. The monitoring device makes it possible to monitor access to or interference with the entry point and / or detection area, ensuring that any elements of the drilling rig that could endanger a person remain within the detection and / or entry points.In particular, a person can be protected from potentially hazardous elements of the earth drilling rig if they come into contact with them. These potentially hazardous elements can include the drill string (outside the ground) and a clamping device that secures the drill string, at least partially, during a drill string change. The clamping device may also be located partially inside the earth drilling rig, and the passage of the drill string from the rig could potentially allow access to it. Therefore, monitoring this area is also important.

[0012] The term "essentially vertically oriented" encompasses, in the context of this description, an orientation that has a greater extent in the vertical direction than in the horizontal direction. The term "essentially horizontally oriented" encompasses, in the context of this description, an orientation that has a greater extent in the horizontal direction than in the vertical direction.

[0013] The detection area(s) defined by the monitoring device can include one or more "virtual safety fences" around the drill string and / or the drill string clamp. The virtual safety fence(s) can be understood as the entry point to the monitored area, and detection can occur when presence and / or movement is detected at the safety fence or within the entry point. A detection area can be essentially bounded at its end by the drilling rig or by the sensor mounted on the drilling rig. A detection area can extend essentially parallel to the drill string. It is possible for several detection areas to complement each other in such a way that the monitored area is essentially closed in one plane.It may be planned that the area to be monitored is surrounded on its periphery by detection areas and possibly by obstacles that are usually insurmountable, such as the earth drilling device.

[0014] The detection area(s) can begin above ground level at a height of 10 cm, preferably at a height of 20 cm, most preferably at a height of 30 cm, and extend vertically in the direction of the acceleration due to gravity.

[0015] The detection range(s) can be widened, such that, particularly in a top view during intended use, the detection area is narrower in the vicinity of the sensor than at a distance from it. This widening can be described by one or more opening angles of the sensor, where, if multiple opening angles are specified, the specified opening angles refer to the extents in the same or different planes. It can be provided that an opening angle in the vertical plane is in the range of 15° to 25°, particularly preferably in the range of 17° to 23°, and most preferably 20°. Alternatively or additionally, the sensor can be oriented with the opening angle inclined to the horizontal, particularly upwards, so that the largest possible detection range can be achieved.

[0016] It is possible to align the detection areas by means of two sensors, which are arranged on both sides along the drill string at the edge of the monitoring area and have a widening or opening angle, in such a way that the widening, spaced apart from the earth drilling device, allows for an approach with a gap or even an overlap of the two respective detection areas, so that a continuous entry area substantially surrounding the area or drill string can be created, at least in one plane, in which detection of presence or movement, in particular of a person, may be possible.

[0017] The term "presence" as used in this description encompasses a sensor activation, i.e., the receipt of a signal. A positive detection or sensor activation is recorded, and a sensor signal can indicate that "something" is present or has been detected within the detection range. The procedure can be such that, upon switching on the monitoring device and the earth drilling rig, the operator verifies that the area to be monitored or the detection range(s) are clear before drilling.

[0018] The term "movement" as used in this description encompasses a change such that the sensor(s) can be designed for motion detection. For example, a person's approach to the drill string can be detected based on a sequence of signals from the sensor(s) covering detection areas at varying distances from the drill string, if first a signal is detected relating to a detection area further away from the drill string and then a signal is detected in a detection area closer to the drill string.

[0019] For the purposes of this description, the term "sensor" encompasses a sensor capable of monitoring an area or (entry) and / or protected space. The sensor can be configured to monitor a specific area, particularly a predefined one, in such a way as to detect the presence of a person and / or object within that area. For example, it may be possible to detect the reflection of a primary or output signal at an interface (especially between gaseous and solid) within the area, with the detection of such a reflection being interpreted as the presence of a person and / or object. The sensor can, in particular, detect electromagnetic or acoustic radiation or waves that are reflected and / or emitted by a person or object within the area.For example, the sensor(s) may be laser sensors, ultrasonic sensors or other, in particular similar, optical or acoustic sensors, especially imaging sensors, or hybrid forms thereof.

[0020] It is possible that (at least) one of the sensors is a radar sensor. Radar sensors are generally well protected against external influences such as dust, dirt, rain, light, or vibrations (harsh environments) and are therefore suitable for use in monitoring a drilling rig. Sensors designed to monitor a (spatial) area or detection zone can typically define an area or (protected) zone due to their design. The area or (protected) zone can depend on the sensor's position, height, and tilt, and / or how it transmits and / or receives signals. A sensor as described can typically transmit a so-called primary signal, in particular as a focused electromagnetic wave, and can receive the echo reflected by objects as a secondary signal. The presence of a secondary signal can be sufficient to detect presence within the detection zone.Alternatively or additionally, it may be provided that a "controller" evaluates a signal from the sensor; for example, a controller can evaluate the primary and / or secondary signal according to different criteria.

[0021] A sensor designed to detect the tilt of the earth auger allows the sensor for monitoring the protected area to adjust its detection range and / or opening angle. Generally, a greater tilt of the earth auger necessitates a reduced detection range. The sensor can assist the user in setting the range and / or opening angle by displaying the tilt of the earth auger and / or a range and / or opening angle appropriate to that tilt. Alternatively or additionally, the sensor can automatically adjust the range and / or opening angle without user intervention.For automatic adjustment of the range and / or opening angle – without user intervention – a control unit can use the tilt sensor to detect the tilt of the earth auger. The tilt sensor can provide signals corresponding to the tilt of the earth auger, and based on predefined parameters for selecting the range and / or opening angle when a tilt is detected, the control unit can adjust the range and / or opening angle directly or indirectly. The control unit, which can be connected to the tilt sensor, can also be connected to the controller for the sensor(s) and therefore make the adjustments.

[0022] It is possible that the control unit is included in the controller for the sensor, i.e., the control unit can be part of the controller. It is also possible that the sensor for detecting the tilt of the earth drilling device is part of or integrated into the controller. Alternatively, the control unit can be part of the control unit of the earth drilling device, and / or the sensor for detecting the tilt of the earth drilling device can be separate.

[0023] For the purposes of this description, the term "sensor" also includes a motion detector, which, as an electronic sensor, detects movement in its immediate vicinity and sends a signal upon detection. Therefore, a "sensor" can alternatively or additionally be understood as a sensor that operates using electromagnetic waves (RF, microwaves, or Doppler radar) or ultrasound (ultrasonic motion detector) (emitting and / or receiving). Alternatively or additionally, the "sensor" designed as a motion detector may also be implemented as a pyroelectric infrared sensor (PIR sensor), which operates passively based on the infrared radiation emitted by a person and the surrounding environment.

[0024] As mentioned above, the term "sensor" encompasses a radar sensor, which may be designed to have variable detection range and / or detection range. The sensor, particularly when designed as a radar sensor, may be intelligently designed to monitor an adjustable detection area.

[0025] The "monitoring device" as described may also include one or more "controllers" functionally coupled to the sensor(s), which evaluate the sensor signal and / or control the sensor(s). A "controller" that may be present can be considered an evaluation unit and / or setting unit, for example, for setting the detection range of the sensor(s).

[0026] For the purposes of this description, the term "area between the point where the drill string enters the ground and the point where it exits the drilling rig" encompasses the section of the drill string that lies both outside the drilling rig and outside the ground. This "area between the point where the drill string enters the ground and the point where it exits the drilling rig" may also include the area where the drill string is clamped, for example, during a drill string change.

[0027] The earth auger typically comprises a carriage and a drive element. The carriage stabilizes the earth auger. For the purposes of this invention, the term "carriage" encompasses any type of frame, rack, or support suitable for stabilizing an earth auger. The carriage allows for more precise alignment of the earth auger and, if necessary, reduces recoil.

[0028] The drive element can impart movement to the drill string. The drive element can be part of a "drive unit." The drive unit can be designed as a linear drive or a rack and pinion drive. In particular, the drive unit can incorporate hydraulic cylinders as a drive source. Typically, in the area of ​​the drive element, the drill string is still largely enclosed by the drilling rig and not directly accessible to a person. Further along its length, the drill string exits the drilling rig and enters the surrounding soil. This area can be monitored for potential hazards. As described, the area itself can be monitored directly or indirectly via adjacent or peripheral access points or entry points that at least partially surround the drill string area.

[0029] If it is described that the signal(s) of the monitoring device's at least one sensor are used to send a signal to a display upon the presence and / or movement of a person, thereby triggering an adjustment of the display, this means that the sensor signal(s) can be used directly (direct signal transmission) to trigger the display adjustment and / or achieve a safe state for the earth drilling device. Alternatively or additionally, the sensor signal can be evaluated and / or modified, for example, amplified, in order to then use a different or modified signal (indirect signal transmission) to trigger the display adjustment and / or achieve a safe state for the earth drilling device. Indirect signal transmission of the sensor signal...The sensors can be controlled by means of a safety controller.

[0030] For the purposes of this description, the term "safety control" encompasses a control system functionally coupled to the earth drilling device and the monitoring device, in particular the controller(s), which, upon "response" from a sensor or the monitoring device (indicated by a signal from the sensor and / or the controller), brings the earth drilling device into a safe state. This means the earth drilling device can be brought into an operating state in which the drill string is not driven by the motor. The safety control system can be implemented by a controller that monitors the sensor(s) with regard to their response and / or their settings.

[0031] The "safe state" of the earth drilling rig can be a standby state, a quiescent state, or a switched-off state (in which restart via the control unit is possible). The safety controller can be a mobile controller capable of performing safety-critical functions via an operating system. The safety controller can be located within the earth drilling rig. For example, an output of a radar controller can be connected to an input of the safety controller, and as soon as an alarm is triggered, the outputs of the safety controller can be used to bring the electrical and hydraulic components of the earth drilling rig into a state that prevents further danger from the earth drilling rig or the drill string.

[0032] The safety control system can be configured to send a signal to the earth auger, in addition to bringing it into a safe state, so that the earth auger emits haptic feedback, an acoustic and / or visual indication. For example, a horn and / or a flashing beacon on the earth auger can be activated. It is also possible for the haptic feedback to be output via an input device for the operator. For example, an operator-operated element, particularly a control stick, can be subjected to a vibration and / or other haptically perceptible movement or a movement lock.

[0033] It may be provided that the monitoring device or at least one sensor can be switched off or deactivated, for example, to carry out work directly on the earth drilling rig and / or to change tools. Switching off the monitoring device or at least one sensor may be limited to an operation in or on the operator's cab or the cabin of the earth drilling rig, to ensure that the operator wishing to switch off or deactivate it is present at the earth drilling rig and can see the area that is otherwise monitored by the monitoring device.

[0034] The term "functionally coupled" as used in this description encompasses a connection, particularly a unidirectional or bidirectional one, for the purpose of exchanging signals, especially for mutual transmission and reception. The term "mutual" also includes the simultaneous transmission and reception of a controller, device, or the like. Functional coupling can be achieved directly or indirectly through the interposition of further elements or devices.

[0035] For the purposes of this description, an "earth drilling device" is any device that moves, in particular, a drill string comprising sections within an existing or newly constructed channel, especially in the ground, in order to create or enlarge an earth borehole, especially a horizontal borehole (HD), or to install pipelines or other long objects into the ground. The earth drilling device may, in particular, be an HD device. The term "HD" (horizontal drilling) as used in this description includes, in particular, a borehole, channel, or pipeline to be installed that is at least partially horizontal. An earth drilling device can thus be a device that drives a drill string, displacing soil and driving the drill string into the ground translationally and / or rotationally in the longitudinal axial direction of the drill string.An earth borehole can be drilled into the ground by applying tension or pressure to the drill string, whereby the drill string can also be rotated.

[0036] The term "drill string" as used in this description comprises several interconnected sections of drill string. A drill string, which may have a drill head and, if present, a drill bit at its front end (which may be designed as a drilling tool, for example, a reamer), is used to perform an earth drilling operation.

[0037] The term "rod assembly" does not exclusively include rigid, individual force transmission elements that can be connected directly or indirectly to one another and that can be used in an earth drilling device.

[0038] For the purposes of this description, applying a rotation or torque to the drill string is understood to mean any rotation, even a partial full rotation, thus also including rotations where the drill string only needs to be turned around its longitudinal axis by an angular range of less than 360°. The rotation can be continuous in one direction around the longitudinal axis. It is also possible for the direction of rotation around the longitudinal axis to be reversed.

[0039] The term "control unit" as used in this description encompasses any electrical or electronic device capable of converting an operator's input into an electrical signal that can be transmitted to a control unit of the earth drilling device, either without further processing or with intermediate signal processing, in particular processing in one or more circuits, such as an amplifier, in order to serve as input or input signal for the control unit. The control unit can be understood as the interface between an operator and the control unit. The control unit may include a portable power supply, in particular in the form of one or more batteries, accumulators, or similar devices.

[0040] The control unit may, in particular, include a processor designed as an arithmetic unit with electronic circuits to execute instructions. The processor can be programmed and is configured to process instructions. The control unit may have an operating system that can be modified, for example, to improve and / or adapt to changes in an earth drilling device. Modification of the operating system may only be permitted if a password is enabled and / or the control unit is connected to a computer interface, a dongle, or similar device. Specifically, the processor can recognize, query, process, forward, and / or execute further instructions from a program in the form of parameters from an operator.The processor can execute a program that queries or receives input from an operator, processes the operator's input, sets settings for the operator's input, transmits the input to the control unit and / or receives, processes and / or converts signals from the control unit.

[0041] A "remote control" as defined in this description, particularly as the control unit of the earth drilling device, comprises an electrical or electronic handheld device suitable for controlling the operation of the earth drilling device by entering a parameter while operating from a distance. For the purposes of this description, "at a distance from the earth drilling device" is to be understood as meaning that direct input via a device attached to the earth drilling device is not necessary. In particular, an operator outside the operator's cab of the earth drilling device can control its operation by entering a parameter. It is preferred that the remote control be designed as a wireless remote control, i.e., without a cable between the control unit and the earth drilling device during operation. However, it is also possible for the control unit to be designed as a wired remote control.

[0042] The term "control unit" as used in this description encompasses a control system that enables the directed manipulation of the earth drilling device during operation, i.e., while drilling, or for starting or stopping an earth drilling operation. The control unit may be electrically or electronically designed. Parameters entered by the operator to control the functions of the earth drilling device can be used by the control unit—optionally converted and / or processed into electrical signals—as inputs for the operation of the earth drilling device. The earth drilling device can thus be operated or controlled by means of a parameter input, which may have been converted into an electrical signal.

[0043] For the purposes of this description, a "parameter" is understood to be an input that allows for the directed control of the operation of the earth drilling device, enabling it to control or execute a specific function. The parameter can be transmitted as an input signal to the control unit, which then uses this signal to control the operation of the earth drilling device. For example, a parameter can trigger the start or stop of drilling with the earth drilling device. For instance, an operator could enter the parameter "Start," and a corresponding input signal would be transmitted to the control unit, initiating drilling.Similarly, an operator can enter the parameter "Stop" and transmit a corresponding input signal to the control unit, which then stops the drilling operation being carried out with the earth auger. Further parameters that influence or modify the operation of the earth auger or its functions are possible; these parameters can be entered by an operator and converted into an input signal by the control unit and transmitted to the control unit.

[0044] Entering at least one parameter can involve (a) setting a torque and / or speed applied to the drill string of the earth drilling device, (b) setting a linear feed force and / or linear feed rate applied to the drill string, (c) setting a percussion piston's impact frequency, (d) setting a percussion piston's impact amplitude, (e) setting a flow rate and / or pressurization of a drilling fluid, (f) performing a drill string change, (g) performing drill string lubrication, and / or (h) changing a drill head type. The type of drill string can be taken into account.Particularly with a double-pipe drill string, the torque and / or speed can be selected independently for each inner pipe section, allowing for settings for both the inner and / or outer pipe sections. This enables virtually any input relevant to the drilling operation of the earth auger to be made. In addition to starting or stopping drilling with the earth auger, the aforementioned parameters can be transmitted to the control unit.

[0045] To set the torque / speed applied to the drill string in the direction of the earth drilling operation, the control unit can send a signal to the drive of the earth drilling device, which is connected to the drill string, depending on the parameter entered by the operator via the control unit. This allows the operator to set the selected torque / speed. The parameter can be a signal corresponding to the magnitude of the torque / speed. Setting the linear advance of the drill string can involve adjusting the force or pressure and / or speed with which the drive acts on the drill string connected to the drive. Adjusting the linear advance can also include specifying whether the linear advance is a pulling or pushing force, i.e., whether the drill string is pulled or pushed through the soil.Therefore, the term "feed" encompasses both directions, pulling and pushing the drill string, so that a tensile or a compressive force can be applied to the drill string. The parameter can thus be a signal that corresponds to the tensile or compressive force. When drilling into the ground, drilling fluid, particularly in the form of bentonite, can be used. The drilling fluid can be guided through the drill string and exit at the front of the drill string. A flow rate / pressure of the drilling fluid can be set as a parameter, which can be adapted to the conditions in the ground. When drilling with a drill string, it is necessary to extend the drill string during the course of the borehole, in particular by connecting further sections of the drill string to the section already in the ground. For this, an input may be required to perform a drill string change, i.e., to replace the existing section.h. connects another drill string section, particularly from a string magazine, to the already drilled string. This parameter can thus be an action corresponding to the "Change string now" command. During the string change, the drill string already in the ground can be clamped to fix its axial and / or angular position. Furthermore, entering this parameter can involve changing the drill head type, which may be necessary, in particular, if, after drilling a pilot hole (i.e., an initial hole created, for example, by pushing it through the ground), the drill head type is changed to a reaming drill head, which is pulled through the previously created pilot hole to ream it.

[0046] The control unit can have at least one mechanically actuated actuator. The mechanically actuated actuator can be any type of mechanically or manually operated actuator. A rotary knob, a control stick, and / or a push button are preferred embodiments of a mechanically actuated actuator. Different types of actuators are possible on the control unit. Several identical actuators can be provided on the control unit.

[0047] A control stick, as defined in this description, is an actuating element for inputting signals, particularly two-dimensional ones. A control stick may have an element extending from a surface, which can generally be tilted in several directions. The element may be, in particular, rod-, stamp-, club-, or lever-shaped. The element may extend from a surface to a height not exceeding 7 cm, preferably 6 cm, preferably 5 cm, preferably 4 cm, preferably 3 cm, preferably 2 cm, or preferably 1 cm. The diameter of the element may, in particular, be less than 5 cm, preferably 4 cm, preferably 3 cm, or preferably 2 cm. A control stick, as defined in this description, may also be called an analog stick or joystick and may be functionally equivalent to these. The term "control stick" also includes a directional pad with which the input of two-dimensional signals is possible.The control stick can generate a signal that depends on the position of the element or directional pad relative to a standard or resting position. It can be configured to provide single electrical signals when actuated and / or a continuous electrical signal in the form of voltages and / or currents, using one potentiometer for each of the dimensions in which the element or directional pad can be tilted; for example, one potentiometer for the up / down position and one for the left / right position. Changing the position or orientation of the control stick's element or directional pad relative to its resting or standard position can change the voltage.The size and / or arrangement of the control stick on the operating unit can be designed such that it can be operated by the thumb and / or finger of an operator; in particular, it is possible to operate the control stick without gripping it. If the control stick is designed to generate signals depending on movement in at least two dimensions, this also includes the possibility of providing an input for controlling the operation of the earth drilling device by means of a control stick, in which the control stick does not generate any signals regarding movement in one of the dimensions and / or signals regarding movement in one of the dimensions are not considered or need not be considered by the control device.

[0048] A rotary control or knob as described may incorporate a potentiometer or be formed by one. Advantages of these rotary controls are that they are essentially maintenance-free and insensitive to vibrations; furthermore, turning the rotary control when it is switched off may have no effect.

[0049] A push button, as described, is an actuating element that can be designed as an assembly and establishes or breaks an electrically conductive connection. The push button can be designed as a toggle switch or a simple push button. It has been found that an actuation stroke of at least 2 mm is advantageous for a push button to be considered a "deliberate" actuation. Actuation strokes of more than 2.3 mm are preferred, and with gloves, actuation strokes of more than 3 mm, preferably more than 5 mm, particularly preferably more than 6 mm, and even more preferably more than 7 mm, may be provided. Regarding the diameter of a push button, it has proven advantageous for it to be more than 5 mm, particularly more than 7 mm, to allow actuation by a user's finger.When operated by the thumb of an operator, the diameter of a push button can advantageously be more than 15 mm, preferably more than 17.5 mm, and in particular more than 20 mm.

[0050] A selection of mechanically actuated operating elements can be provided on the control unit. In particular, operating elements commonly used in the prior art can be employed to allow the operator the usual input method for controlling the earth drilling device. The size and / or arrangement of the operating elements can vary compared to the prior art; in particular, a control stick on the control unit can be smaller than a multifunction joystick located in the operator's cab.

[0051] The term "display" as used in this description can refer to a display device for showing the status of the earth drilling equipment. Alternatively or additionally, the display may show one or more of the parameters mentioned above. Furthermore, the display may show an input dialog that prompts or assists the operator in entering one or more parameters, for example, by visualizing the operator's input.

[0052] It is possible for the control unit and the display to be a single unit, allowing the operator to hold a control unit with an integrated display. It is also possible for the control unit and the display to be two separate units or entities. The display may be recessed in the control unit. The control unit may have a transmitter and the display a receiver. Furthermore, if the display also allows input, it is possible for the display to have a transmitter and the control unit a receiver. The display may be designed to process signals and / or display signals. The control unit may have transmission means designed to transmit signals to the display, with the display being designed to process the signals in such a way that the signals can be displayed for an operator. The transmission of the signal or...The signal exchange between the control unit and the display can be direct. Alternatively, the display can be provided with a signal that overrides the control unit's signal, allowing it to display something not provided by the control unit.

[0053] In a preferred embodiment, the display device can be used to retrieve and / or display essentially all, in particular all, of the aforementioned parameters for the operation of the earth drilling device. The display can be designed such that not all parameters are shown simultaneously, but rather one or more parameters are displayed depending on the operator's input. The operator can select these parameters for display, or they can be selected by a sequence of commands from the control unit for the execution and / or input of a parameter.

[0054] In a preferred embodiment, the display device includes a control unit that can be configured for context-sensitive information display on the display device. This allows the display device to be coupled with the operating unit in such a way that when the operator enters or wishes to enter a parameter using the operating unit, related parameters, data, information, and / or instructions are displayed on the display device. For example, the control unit can display the value of a parameter for the operation of the earth drilling device, information related to the parameter, and / or instructions for its setting when relevant to the operator and / or when the operator wishes to enter or change such a parameter.For example, if the operator uses the control unit to input a parameter, the control unit can display the parameter being influenced or changed by the operator, even during the change or input process. It is possible, for instance, to continuously decrease or increase a parameter using the control unit, with its value displayed on the display. It is also possible for the control unit to communicate with the control unit, and for at least one piece of information, such as a parameter value, a message, and / or an error message, to be displayed on the display. For example, the control unit of the earth drilling rig can inform the control unit, for display on the display, when a drill string needs to be connected to the drilled section to continue drilling.Furthermore, states of the earth drilling device that require action by the operator can be displayed.

[0055] For the purposes of this description, a "display" is any device that can visualize a signal. The display may be, in particular, an electrical or electronic display, specifically a liquid crystal display (LCD), light-emitting diode (LED) matrix display, visual fluorescent display (VFD), or similar. The display may provide an image, particularly one that is intuitively understandable. The display may be a universal display device such as a screen, monitor, display, tablet, notepad, iPad, smart display, smartphone, or similar device. The display may enable the visualization of at least one parameter of the earth drilling device during its operation. The operator may carry the display with them.

[0056] The display may include a processor, designed as an arithmetic unit with electronic circuits to execute instructions. The processor is programmable and configured to process these instructions. The display may have an operating system that can be modified, for example, to improve and / or adapt to changes in communication with the control unit or the display itself. Modification of the operating system may only be permitted if a password has been entered and / or the display is connected to a computer interface, a dongle, or similar device. Specifically, the processor can recognize, query, process, forward, and / or execute further instructions from a program in response to user input specifying which parameters, and possibly in what format, should be displayed.The processor can execute a program that requests or receives input from an operator, processes the operator's input, and then, if necessary, displays the parameters and / or signals after retrieving them from the control unit and / or signals from the operating panel. The display can have a portable power supply, in particular in the form of one or more batteries, accumulators, or similar.

[0057] The display can allow the input of parameters, functions, and / or changes to the display itself. If the display has a touchscreen, for example, this input can be made by touching, tapping, swiping, or similar means. Alternatively or additionally, input can also be made to the display using an integrated device or an additional connectable device (e.g., via cable and / or wirelessly, for example, via Bluetooth).The integrated or additional device may be a mechanically actuated operating element (for example, a push button, a rocker switch), a keyboard, a mouse, a trackball, a graphics tablet, a microphone, a camera or a similar input device, in particular in the form of a peripheral device otherwise known in the computer field, with which key or writing inputs, audio inputs (speech input) and / or video inputs (gestures, movement or the like) are possible.

[0058] It is possible to provide separate power supplies for the control unit and the display. This allows for greater flexibility. The power supply for each individual component can be smaller than a single power supply for both the control unit and the display. Alternatively, the power supply of a standard display can be used.

[0059] The term "adjustment" or "adaptation" of the display, as described above, refers to a change in the displayed content. Specifically, this change occurs when the display no longer shows content corresponding to the input on the control panel, but rather an image from a projection device that depicts at least part of the area between where the drill string enters the ground and where it exits the drilling rig. The safety control system can be designed to adjust the display in addition to bringing the drilling rig into a "safe state." Thus, in a hazardous situation—in the presence and / or movement of a person—the display can be automatically adjusted by showing an image of the aforementioned area.

[0060] It may be provided that an "adjustment" or "adaptation" of the display is designed in such a way that the display is used to show only one image of the imaging device. It may be provided that the display, particularly in a uniform area, shows only one image of the imaging device during an "adjustment" or "adaptation".

[0061] By adjusting or adapting the display, the operator can be actively involved in the process of recognizing a danger or a possible false triggering of the monitoring device.

[0062] In addition to adjusting the display, the safety controller can send a signal to the control unit, providing the operator with a further visual or audible indication that the monitoring device has detected a hazardous situation. For example, an audible buzzer or a warning light can indicate the hazardous situation at the control unit.

[0063] If the display has been modified, operator input at the control unit may be reduced to acknowledging the emergency and / or restarting the earth drilling device once the hazard has passed. It may be possible to log both the activation of the monitoring device or safety control and the operator's acknowledgment of this activation.

[0064] The earth drilling device can only restart if the monitoring device fails to respond or trigger for a minimum period, which may be predetermined and, in particular, may be 4 seconds, and only if the operator additionally enables or inputs a restart command on the control unit. The expiration of the minimum period can be indicated on the control unit and / or display, so that the operator knows when a restart is possible. Once the operator has enabled restart, the safety controller, which received the release signal, can restart the drilling direction and reactivate the display and control unit for the operator to input and view the parameters for operating the earth drilling device.

[0065] For the purposes of this description, an "imaging device" encompasses any device designed to capture an image of an area to be recorded. The area to be recorded can be represented by one or more signals. It is possible that the imaging device is designed as a camera that generates an image of the area to be recorded.

[0066] For the purposes of this description, a "camera" is any device that captures an image of an area, which can then be displayed, in particular, on a screen. The screen can display the signals or information from the camera, at least on a portion of the display unit. The signals can be displayed directly or processed by the control unit of the display unit and / or the control unit of the earth drilling device before being displayed.

[0067] In a preferred embodiment, the at least one sensor can be designed as a radar sensor, and the monitoring device is connected to a safety controller for evaluating a signal from the sensor, and the at least one sensor is switchable between at least two ranges and / or at least two opening angles.

[0068] It was recognized that, although a hazard-monitoring safety function is implemented, some adaptation to external conditions is desirable. Defining different protection zones for an earth drilling device or a sensor on an earth drilling device was previously unknown and undesirable, as this would contradict the intended, safety-oriented monitoring. A change in range and / or opening angle could, in principle, lead to the safety function being circumvented, intentionally or unintentionally.

[0069] Switching between ranges and / or opening angles can only be done with a key switch, which preferably logs the operation.

[0070] It may also be provided that switching between ranges and / or opening angles can be enabled alternatively or additionally by entering an authorization code known to the user (example of "knowledge" that the user has).

[0071] It may also be possible to switch between ranges and / or opening angles alternatively or additionally by holding a chip card or other electromagnetically readable element (e.g., RFID chip) issued to the user in front of or into a reader that can interact with the chip card or other electromagnetically readable element, either contactlessly or with contact. Reading via a reader is another example of "possession" held by the user.

[0072] It may also be possible to switch between ranges and / or opening angles alternatively or additionally by entering or reading a characteristic property of the user, where the characteristic property could be, for example, a fingerprint. Entering or reading a characteristic property of the user can be another example of a "possession" that the user has.

[0073] In a preferred embodiment, an optical imaging device, in particular a camera, is provided, which is arranged to detect the area between the entry of the drill string into the ground and the exit of the drill string from the earth drilling device, wherein the imaging device is also functionally coupled with the display in order to display an image detected by the optical imaging device on the display. This allows the operator to operate the earth drilling device particularly effectively and to monitor for any danger to a person from the exposed drill string.

[0074] In a preferred embodiment, the control unit and the display are combined into a portable unit. The display and control unit can be handled as a single unit by the operator.

[0075] In a preferred embodiment, the display allows for a representation on an area of ​​at least 50 cm². It is further preferred that a representation on an area of ​​at least 60 cm² be displayed, or that such a display be provided. It is even more preferred that a representation on an area of ​​at least 70 cm², in particular at least 75 cm², and especially preferably at least 80 cm², be displayed, or that such a display be provided. This allows the area to be monitored to be displayed in a sufficiently large size. The size of the display enables a detailed representation with sufficient contrast and / or resolution.

[0076] In a preferred embodiment, the display and the control unit are designed such that the display is arranged in a recess of the control unit. This allows the display to be protected within the control unit.

[0077] In a preferred embodiment, when the earth drilling device is switched on or started up, the safety control is configured to set the sensors to their maximum range and / or largest opening angle. This counteracts incorrect settings that would result in insufficient protection against the hazards emanating from the drill string. A response from the monitoring device upon switch-on is acceptable in order to reduce the risk of incorrect settings.

[0078] In a preferred embodiment, a switch, actuated by an actuator, is provided for changing the range and / or opening angle, and the control unit is configured to receive a request for acknowledgment. This prevents the range or opening angle from being unintentionally changed. Other switching options mentioned in the description are possible.

[0079] In a preferred embodiment, the at least one sensor is arranged on a support of the drilling device. This allows the sensor to be located on a component of the drilling device that, due to its function, remains stable and as vibration-free as possible during operation. For example, the sensor(s) may be arranged on a support located in the front region of the drilling device. If multiple sensors are provided, two sensors may be located on one support, with both sensors having a detection area that includes a component or portion extending along the drill string and running laterally alongside it. One of the sensors may be arranged such that its detection area faces the drilling device.Another of the sensors can be arranged in such a way that it has a detection area facing the point where the drill string enters the ground.

[0080] The support can preferably be arranged in the area of ​​an anchor trough, which is used to both stabilize the earth drilling device and collect drilling fluid.

[0081] In a preferred embodiment, the safety controller has a multi-channel, in particular a two-channel, input configured to carry a signal indicating sensor activation. A high level of safety function or classification can be achieved.

[0082] In a preferred embodiment, a safety controller is configured to forward signals from the monitoring device to the control unit. The safety controller can bring the earth drilling device into a safe state in which the drill string poses a reduced risk to persons on the drill string.

[0083] The invention also provides a method for monitoring an area in an earth drilling device for rotating, pushing, and / or pulling the insertion of a drill string into the ground, wherein the drill string runs in an area where it exits the earth drilling device and enters the ground, and in particular in the area of ​​a clamping point, and where presence or movement, in particular of a person, in the area is monitored, wherein a control element, in particular a remote control, is used to control functions of the earth drilling device, and wherein a monitoring device is used for monitoring, which has at least one sensor, wherein the safety control is connected to the monitoring device, and when presence and / or movement, in particular of a person, is detected, a signal is sent to a display to trigger an adjustment of the display, wherein the adjustment enablesto provide a sufficiently large display for the area being shown, in which further information on the operation of the earth drilling device is displayed in a reduced manner or not at all.

[0084] In a preferred embodiment, the at least one sensor is switched with respect to its range and / or its opening angle as needed.

[0085] The invention is described in relation to an earth drilling device and a method. The descriptions of the individual aspects or embodiments of the earth drilling device and the method complement each other, so that the descriptions of the earth drilling device are also to be understood as descriptions of the method. The description of the earth drilling device also discloses actions within the meaning of the method or process steps relating to the method.

[0086] For the purposes of this description, the mention of a numerical value, in particular a length or angle specification, includes not only the actual numerical value, but also – in order to take into account manufacturing tolerances in particular – a range around the specific numerical value, which may be + / - 15%, preferably + / - 10%, of the specified numerical value.

[0087] The foregoing statements, as well as the following description of exemplary embodiments, do not constitute a waiver of certain embodiments or features.

[0088] The invention is explained in more detail below by way of example using an embodiment shown in the figures.

[0089] The drawings show: Fig. 1 a schematic representation of an earth drilling device and an operator operating the earth drilling device in a side view; Fig. 2 an enlarged view in the area of ​​a support for the earth drilling device of the Fig. 1 in side view; and Fig. 3 the enlarged view of the area in which the earth drilling device is supported Fig. 1 under supervision.

[0090] Fig. 1 Figure 1 shows a schematic representation of an earth drilling device 1, with which an earth borehole can be drilled into the ground 3. The earth drilling device 1 has a carriage 16 and / or is arranged on the carriage 16.

[0091] A drill string 2 is inserted into the ground 3 and moved within it. The earth drilling device 1 is designed for rotating, pushing, and / or pulling the drill string 2 into the ground 3. To extend the drill string 2, the already drilled drill string 2 can be clamped by means of a clamp 15, which is shown schematically for illustrative purposes only.

[0092] A control unit 4 is provided for operating the earth drilling device, which is designed as a remote control for controlling functions of the earth drilling device 1.

[0093] The Fig. 2 Figure 1, which shows an enlarged view in the area of ​​a support 5 with an anchor trough 20, shows sensors 6, 7 of a monitoring device 8 for monitoring presence and / or movement, in particular of a person, in an area between the entry of the drill string 2 into the ground 3 and the exit of the drill string 2 from the earth drilling device 1, as well as the clamp for the drill string 2, particularly for use during a drill string change. The signal from the sensors 6, 7 is used to send a signal to a display 9 in the event of presence and / or movement, in particular of a person, and thus trigger an adjustment of the display 9.

[0094] In the Fig. 2 The opening angles 11, 12 of sensors 6, 7 with respect to the vertical plane are shown with dashed lines. The sensors 6, 7 can be varied with respect to their range and / or the Fig. 2 (and Fig. 3 ) opening angles 11, 12, 13, 14 shown schematically can be switched.

[0095] In the illustrated embodiment, the display 9 is part of the remote control 4. The display 9 can alternatively and / or additionally be designed as a separate element to the remote control 4.

[0096] An optical imaging device 10 in the form of a camera is provided, which is arranged to detect the area between the entry of the drill string into the ground and the exit of the drill string 2 from the earth drilling device 1 and the clamping, wherein the imaging device 10 is also functionally coupled with the display 9 in order to display an image detected by the optical imaging device 10 on the display 9.

[0097] Fig. 3 shows the representation of Fig. 2 in a top view. To the left and right of the drill string 2, the sensors 6, 7 arranged on the two supports 5 with the opening angle 13, 14 running in the horizontal plane are shown with dashed lines.

Claims

1. Earth boring device (1) for the rotating, pushing and / or pulling introduction of a boring string (2) into the ground (3), with an operating part (4), in particular a remote control, for controlling functions of the earth boring device (1), and a monitoring device (8) for monitoring a presence and / or a movement, in particular of a person, in an area between an entry of the boring string (2) into the ground (3) and an exit of the boring string (2) out of the earth boring device (1), wherein the monitoring device has at least one sensor (6, 7), the signal of which is used to send a signal to a display (9) in the event of a presence and / or a movement, in particular of a person, and thus to trigger an adjustment of the display (9), characterised in that the adjustment allows a sufficiently large display to be provided for the mapping of the area, in which further information on the operation of the earth boring device is displayed in a reduced manner or not at all.

2. Earth boring device (1) according to claim 1, wherein the at least one sensor (6, 7) can be configured as a radar sensor, and the monitoring device (8) is connected to a safety controller and / or a controller, and the sensor (6, 7) can be switched between at least two ranges and / or at least two opening angles.

3. Earth boring device (1) according to claim 1 or 2, wherein an optical imaging device (10), in particular a camera, is provided, which is arranged to record the area between the entry of the boring string (2) into the ground (3) and the exit of the boring string (2) out of the earth boring device (1), wherein the imaging device (10) is also functionally coupled to the display (9) in order to display an image recorded by the optical imaging device (10) on the display (9).

4. Earth boring device (1) according to any of claims 1 to 3, wherein the operating part (4) is combined with the display (9) to form a portable unit.

5. Earth boring device (1) according to any of claims 1 to 4, wherein the display (9) enables a display on an area of at least 50 cm2.

6. Earth boring device (1) according to any of claims 1 to 5, wherein the display (9) and the operating part (4) are configured such that the display (9) is arranged in a receptacle of the operating part (4).

7. Earth boring device (1) according to any of claims 1 to 6, wherein when the earth boring device (1) is switched on or started up, a safety controller, a monitoring device (8) and / or a controller is configured to set the largest range and / or the largest opening angle of the sensors (6, 7).

8. Earth boring device (1) according to any of claims 1 to 7, wherein a switch which can be actuated by means of an actuator is provided for switching the range and / or the opening angle, and the safety controller, monitoring device (8) and / or a controller is configured to receive a request for an acknowledgement and / or an automatic switching is provided depending on the inclination of the carriage (16) of the earth boring device (1).

9. Earth boring device (1) according to any of claims 1 to 8, wherein the at least one sensor (6, 7) is arranged on a support (5) of the earth boring device (1).

10. Earth boring device (1) according to any of claims 1 to 9, wherein the safety controller has a multi-channel, in particular two-channel, input that is configured to carry a signal of a response of the sensors (6, 7).

11. Earth boring device (1) according to any of claims 1 to 10, wherein a safety controller and / or a controller is configured to forward signals from the monitoring device (8) to the control device.

12. Method for monitoring an area in an earth boring device (1) for the rotating, pushing and / or pulling introduction of a boring string (2) into the ground (3), wherein the boring string (2) runs in an area in which the boring string (2) exits out of the earth boring device (1) and enters the ground (3), and a presence or a movement, in particular of a person, is monitored in the area, wherein a control part (4), in particular a remote control, is used for controlling functions of the earth boring device (1), wherein a monitoring device (8), which has at least one sensor (6, 7), is used for monitoring, and when a presence and / or a movement, in particular of a person, is detected, a signal is sent to a display (9) in order to trigger an adjustment of the display (9) on the display (9), characterised in that the adjustment allows a sufficiently large display to be provided for the mapping of the area, in which further information on the operation of the earth boring device is displayed in a reduced manner or not at all.

13. Method according to claim 12, wherein the at least one sensor (6, 7) is switched with respect to its range and / or its opening angle as required.