Method and arrangement for producing a slotted wall element

Abstract

The invention relates to a method for creating a diaphragm wall element in the ground, in which a trench is created in the ground by removing soil material using an excavation device, into which a curable medium is then introduced to form a diaphragm wall element, wherein at least two cables are stretched between the excavation device and a carrier device, the position of which is detected at least partially by a detection device, and that, based on the detected positions relative to the cables, a position of the excavation device in the ground is determined by means of an evaluation device.The method is characterized in that the detection device has an electronic camera unit with which a three-dimensional image comprising image data is captured of at least one section of each rope, and that the position of the ropes is determined by means of the evaluation device based on the captured image data and the position of the excavation device in the ground is determined based on this.

Description

[0001] The invention relates to a method for creating diaphragm wall elements in the ground according to the preamble of claim 1. The invention further relates to an arrangement for creating a diaphragm wall element in the ground according to the preamble of claim 11.

[0002] In a generic method for creating a diaphragm wall element in the ground, a trench is created in the ground by removing soil material using an excavation device, into which a curable medium is then introduced to form a diaphragm wall element, wherein at least two cables are stretched between the excavation device and a support device, the position of which is recorded at least partially by a detection device, and based on the recorded positions of the cables, a position of the excavation device in the ground is determined by means of an evaluation device.

[0003] A generic arrangement for creating a diaphragm wall element comprises a carrier device, a removal device attached to the carrier device for removing soil material to create a trench in the ground, at least two cables stretched between the removal device and the carrier device, a detection device for at least partially detecting a position of the at least two cables, and an evaluation device designed to determine a position of the removal device in the ground based on the detected positions of the cables.

[0004] Especially with deep slotted or sealing walls, it is important to obtain information about the slot's position, particularly its verticality, during the construction phase. Slotted walls are generally constructed from individual, adjacent slotted wall elements or panels. To prevent leaks between the individual slotted or sealing wall panels, the individual panels must deviate only slightly from verticality.

[0005] The following methods for verifying the verticality of trenches are known in the prior art: Measurement using sensors such as inclinometers or gyroscopes is particularly well-known. In this method, sensors are mounted on an excavator to measure its inclination during the excavation process. A disadvantage is that while the inclination of the excavator can be determined, lateral drift of the excavator during the removal of soil material cannot be detected. Such lateral drift cannot be observed by the operator during the excavation process. Another disadvantage is that only individual diaphragm wall panels can be measured, not the connection between two adjacent panels. Furthermore, the excavator is located in a trench filled with slurry and is subject to strong vibrations during operation. This can impair the functionality and measurement accuracy of the sensors.

[0006] From the generic patent EP 23677 B1, a method is known in which the positions of at least two vertically spaced cable points are determined by measuring angles and distances using a measuring device after tensioning at least two cables between an excavation device and a carrier device. Based on the relative position of the at least two cable points, the position of the excavation device in the ground can be deduced. A total station is described as the measuring device, which is positioned at a distance from the carrier device to aim at the cable points. While measuring cable points using angle and distance measuring devices such as a total station provides the necessary accuracy for determining the position of the excavation device, it is complex. The measuring device must be precisely aligned with the desired cable points. This requires an additional specialist, in particular a surveyor, to operate.Furthermore, the measuring device must be realigned before each measurement. The measurement process is time-consuming and labor-intensive.

[0007] The invention is based on the Task The aim of this invention is to provide a method and an arrangement that enable the precise and economical construction of a diaphragm wall. This objective is achieved according to the invention by a method with the features of claim 1 and an arrangement with the features of claim 11. Preferred embodiments are specified in the respective dependent claims.

[0008] The method according to the invention is characterized in that the detection device has an electronic camera unit with which a three-dimensional image comprising image data is captured of at least one section of each rope, and that the position of the ropes is determined by means of the evaluation device based on the captured image data and the position of the excavation device in the ground is determined based on this.

[0009] The arrangement according to the invention is characterized in that the detection device has an electronic camera unit with which a three-dimensional image comprising image data can be captured of at least one section of each rope, and that the evaluation device is designed to determine the position of the ropes based on the captured image data and to determine the position of the excavation device in the ground based on this.

[0010] A key concept is that the detection device is equipped with an electronic camera unit, which captures a three-dimensional image of at least one section of each cable, including image data. Unlike other detection devices, such as a total station, the cables do not need to be precisely aimed at with the electronic camera unit. In addition to spatial information, the electronic camera unit can also provide color image information about the scene. This multimodal information can facilitate the extraction of relevant image areas by appropriate algorithms, thus eliminating the need for precise aiming. Another advantage of an electronic camera unit is that, with sufficient ambient light, no active illumination of the scene is required to obtain three-dimensional data.Electronic camera units offer a higher capture rate than other capture devices. The increased availability of image data allows, for example, control or evaluation systems to operate more efficiently.

[0011] Another key aspect of the invention is that the evaluation unit is designed to determine the position of the cables based on the acquired image data and, based on this, to determine the position of the excavator in the ground. The combination of the electronic camera unit with the evaluation unit, which is in particular an electronic computer unit, enables continuous or short-interval automatic measurement, especially during ongoing excavation operations. This allows for early correction of positional deviations of the excavator and thus particularly precise construction of the diaphragm wall elements. An additional surveyor is not required, which saves time and costs.

[0012] In a further development of the invention, it is particularly preferred that the camera unit is arranged on the carrier device, especially in the area of ​​an operator cabin, at a position from which an image comprising image data of the ropes to be measured is generated. More precisely, the camera unit can be arranged at a fixed point on the carrier device with a fixed field of view. This can preferably be in an upper area of ​​an end wall of an operator cabin. A change in the position of the carrier device thus does not necessarily require readjustment of the camera unit, as would be the case, for example, with an external total station. The arrangement on the carrier device allows a direct connection to an evaluation unit and / or a control unit. The evaluation unit can then determine the position of the cutting device based on the acquired image data.Furthermore, it may be preferable for the camera unit to be adjustable on the carrier device. This allows the camera to be moved between two or more adjustable positions and viewing angles. This can preferably be automated, with the position being set via the control unit. Capturing a large number of measurement points or measurement ranges can increase the measurement accuracy.

[0013] According to a particularly preferred embodiment of the invention, a 3D camera unit is used as the camera unit. This unit generates 3D image data based on vectors in a 3D coordinate system that depict the spatial path of the cables, at least section by section. Using mathematical methods and a comparison with stored data, the position of the excavation device, for example, a trench cutter or a trench grab, can be determined in the evaluation unit based on these vectors. In particular, lateral drift and rotation of the excavation device can be calculated.

[0014] In a preferred embodiment, a stereo camera is used as the camera unit. This camera comprises two lenses aligned horizontally and spaced apart. The stereo camera calculates a three-dimensional image of the scene by capturing two 2D images of the same scene from slightly offset perspectives. The superposition of these partial images allows for the calculation of a pixel offset in the respective partial images: the disparity. From the pixel disparity and the distance between the lenses, precise depth information about the pixels in the scene can be derived via triangulation. The stereo camera does not require an additional active light source. For ablation work at night, an active light source can preferably be arranged on the carrier device to illuminate the camera's field of view. This light source can, for example, also project a structured light. In this case, a light pattern is projected onto the scene and captured by the camera unit.Depth information about the scene can also be determined by the degree of pattern distortion. Furthermore, the 3D camera unit can preferably be configured as a time-of-flight (TOF) camera for measurements under adverse lighting conditions. This camera illuminates the scene with a light pulse and determines the distance to objects based on the transit time of the light from the camera to the object and back to the sensor. It is also preferable for the 3D camera unit to be implemented with only one lens. In this case, the offset partial images are captured by moving the camera unit between at least two perspectives. It is also preferable for only one lens to be used and for the evaluation unit to derive depth information from the 2D image data using a suitable neural network and / or algorithms.Furthermore, the camera unit can also be designed to record image data from other spectral ranges, such as the infrared range.

[0015] In an advantageous embodiment of the invention, the evaluation unit stores information on the geometry of the carrier device, the position of a global zero point, and a vector in the direction of gravity within a global 3D coordinate system. Based on the acquired image data, the evaluation unit can generate vectors within the 3D coordinate system. The trajectories of these vectors are compared with the stored information to determine the position of the ablation device. The stored information can preferably be used for a calibration process of the acquisition device. Preferably, the evaluation unit can be configured to calculate the position of the ablation device using at least one machine learning algorithm. This could, for example, be a neural network in conjunction with other neural networks or other algorithms.Such a network can preferably be configured to learn from a set of historical image data, including the known position of the ablation device, to perform and optimize position determination. Preferably, the control unit can be configured to correct a previously determined position measurement via manual input in order to generate further data pairs during operation, from which the algorithm can learn. Preferably, the evaluation unit can include a corresponding local data storage device or a connection to a remote data storage device or a cloud. Furthermore, it is preferred that the evaluation unit includes a sufficiently powerful GPU and CPU.

[0016] To assist in controlling the cutting device, the evaluation alignment can preferably be designed to detect a state in which an oblique pull is exerted on the cutting device. This information can preferably be forwarded to a display device and / or the control device.

[0017] According to one embodiment of the invention, it is preferred that the evaluation unit is connected to the control unit, which actuates positioning devices on the excavator for adjusting the position of the excavator. The positioning devices can, for example, be independently controllable flaps. Depending on the position of the excavator in the ground, these can be adjusted so that a position correction is achieved by pressing the flaps against the lamella wall.

[0018] Furthermore, it may be preferable for the control device to be designed to create a state without any oblique pull on the cutting device. This can preferably be achieved by controlling the positioning device and / or by controlling the carrier device and a mast or boom attached to it. To prevent any oblique pull on the cutting device, the exit point of the at least two cables at the head of the mast or boom must lie in the axis of gravity. This facilitates cutting with minimal deviation.

[0019] To ensure that the cable paths can be recorded as accurately as possible by the detection device, even during ongoing extraction operations, the evaluation unit, according to a preferred embodiment, is equipped with an algorithm that computationally neutralizes cable vibrations during image data processing. This algorithm can preferably be a neural network, a Kalman filter, or a combination of several neural networks and / or algorithms.

[0020] In a further preferred embodiment of the invention, the accuracy of the position measurement can be determined by defining a control point, particularly on the carrier device, especially at the head of a mast or boom of the carrier device, for which a control image comprising control image data is generated. Based on this, the position of a control point is determined by the evaluation unit and compared with stored position data for the control point in order to calibrate the position detection and / or determine the accuracy of the position detection. The control point can preferably be stored in the 3D coordinate system of the evaluation unit. The control point can be defined at a specific point on the carrier device or separately, for example, on the guide frame on the ground. On the carrier device, the control point can preferably be arranged at the head of a mast or boom.If the path of the mathematical vectors, which at least partially represent the spatial path of the rope, is projected, it should pass through the control point as precisely as possible. If this is not the case, an inaccurate measurement can be assumed. In such a case, the system can be realigned or calibrated.

[0021] With regard to the arrangement for creating the diaphragm wall element, it is preferred that the detection device has an electronic camera unit with which a three-dimensional image comprising image data can be captured of at least one section of each cable, and that the evaluation device is designed to determine the position of the cables based on the captured image data and to determine the position of the excavation device in the ground based on this.

[0022] In a particularly advantageous embodiment, it is especially preferred that the 3D camera unit is arranged at a fixed, defined position on the carrier device. This position can preferably be an upper area of ​​an end wall of an operator cabin. A change in the position of the carrier device thus does not necessitate a readjustment of the camera unit, as would be the case, for example, with an external total station. The arrangement on the carrier device allows for a direct connection to an evaluation unit and / or the control unit. An evaluation unit can then determine the position of the cutting device based on the acquired image data. Therefore, it may be preferred that the camera unit be adjustable on the carrier device. In this way, the camera can be moved between two or more adjustable positions and viewing angles.This can preferably be done automatically, with the position being adjustable via the control device.

[0023] According to one embodiment of the invention, it may be preferred that the carrier device has a chassis, in particular a tracked chassis.

[0024] Furthermore, it may be preferred that the carrier device be equipped with a display unit that uses the acquired image data to show the position of the cutting tool. The display unit may, for example, include a monitor, which could be located, for instance, in an operator's cabin of the carrier device. The measured values ​​of the measuring device, or the position of the cutting tool, may be displayed, for example, in a graphical representation. Preferably, this display shows any deviation from a theoretical vertical line, any rotation, and / or any drift of the cutting tool. The operator of the carrier device can then, if necessary, adjust the position of the cutting tool, for example, by adjusting the control flaps on the cutting tool. It may also be preferred that such position correction is performed automatically by the control unit.The evaluation unit can be integrated into the control unit or designed separately from it.

[0025] The invention is further described below with reference to a preferred embodiment, which is schematically illustrated in the accompanying drawing. The single drawing shows an arrangement for creating a diaphragm wall element or a diaphragm wall.

[0026] An arrangement 10 according to the invention for creating a diaphragm wall element comprises a working device 12, in particular a device for creating a diaphragm wall. The working device 12 has a carrier unit 14 on which a cutting device 30, for example a diaphragm wall cutter or a diaphragm wall grab, is suspended by means of two cables 26 in the form of support cables. A mast or a boom 22 can be mounted on a carrier vehicle 16, which can have an undercarriage 18 and a superstructure 20 rotatably mounted thereon about a vertical pivot axis. The support cables can be guided over deflection pulleys 24 arranged in the upper region of the mast or boom 22 and can be wound up or unwound by means of winches 28.

[0027] The removal device 30, suspended from the support cables and also referred to as an excavation device, can, according to the illustrated embodiment, comprise a frame 32 that can be lowered into a slot 58 in the ground 64, at the lower end of which at least one removal tool, in particular one or more milling wheels 34, is arranged. The at least one milling wheel 34 is rotatably mounted on the frame 32 for removing soil material.

[0028] To create a sealing or diaphragm wall element, a trench 58 is first created in the ground 64 using the excavation device 30. The excavation device 30 is essentially lowered vertically and creates the trench 58 by removing or excavating soil material. This trench is then filled with a curable medium, in particular a curable suspension, concrete, or soil concrete, which cures to form the sealing or diaphragm wall element.

[0029] A sealing or diaphragm wall can be formed in the ground by creating a number of adjacent sealing or diaphragm wall elements.

[0030] To ensure that no gaps form between the individual diaphragm wall elements and that the diaphragm wall is watertight, the individual diaphragm wall elements must be precisely aligned. In particular, tilting, drifting, and twisting of the diaphragm wall elements must be avoided.

[0031] By filling the created slots 58 with the material that hardens to form the respective diaphragm wall element, the shape of the created slots 58 corresponds to the individual diaphragm wall elements or the diaphragm wall itself. The position of the individual slots 58 is, in turn, determined by the position of the excavation device 30. By knowing and, if necessary, correcting the position of the excavation device 30, the position of the diaphragm wall elements to be created can thus be determined.

[0032] To determine the position, which includes in particular the spatial orientation, of the excavation device 30, a detection device 5 is provided according to the invention, which comprises an electronic camera unit. Using the camera unit, a three-dimensional image comprising image data can be captured from at least one section of each cable 26. The three-dimensional image contains positional information for pixels of the depicted scene and consequently also positional information for one or more cable points 42. Based on the captured image data, the position of the cables 26 can be determined by means of an evaluation device, and vectors 46 can be generated based on this, which are used to determine the position of the excavation device 30 in the ground 64. The detection device 5 is preferably arranged in an upper region of an end face of the operator cabin 17.

Claims

1. Method for creating a diaphragm wall element in the ground (64), in which a trench (58) is created in the ground (64) by removing soil material using an excavation device (30), into which a curable medium is subsequently introduced to form a diaphragm wall element, wherein - at least two cables (26) are stretched between the excavation device (30) and a support device (14), the position of which is detected at least partially by a detection device (5), and - that, based on the detected positions relative to the cables (26), a position of the excavation device (30) in the ground (64) is determined by means of an evaluation device. characterized by - that the detection device (5) comprises an electronic camera unit with which a three-dimensional image comprising image data is detected of at least one section of each rope (26), and - thatThe position of the ropes (26) is determined by means of the evaluation device based on the captured image data and the position of the excavation device (30) in the ground (64) is determined based on this.

2. Method according to claim 1, characterized by that the camera unit is arranged on the carrier device (14), in particular in the area of ​​an operating cabin (17), at a position from which an image comprising image data of the ropes (26) to be detected is generated.

3. Method according to claim 1 or 2, characterized by that a 3D camera unit is used as the camera unit, which generates 3D image data based on which vectors are formed in a 3D coordinate system, which depict a spatial course of the ropes (26) at least section by section.

4. Method according to any one of claims 1 to 3, characterized by that A stereo camera or a TOF camera is used as the camera unit.

5. Method according to any one of claims 1 to 4, characterized by that The evaluation unit contains information on the geometry of the carrier device (14), on the position of a global zero point and on a vector in the direction of gravity in a 3D coordinate system.

6. Method according to any one of claims 1 to 5, characterized by that the evaluation device is designed to detect a condition in which an oblique pull is exerted on the removal device (30).

7. Method according to any one of claims 1 to 6, characterized by that the evaluation unit is connected to a control unit, by which actuating devices on the removal device (30) are controlled to adjust the position of the removal device (30).

8. Method according to claim 7, characterized by that the control device is designed to produce a state without oblique pull on the removal device (30).

9. Method according to claim 2, characterized by that The evaluation unit is equipped with an algorithm that computationally neutralizes rope vibrations during image data processing.

10. Method according to any one of claims 1 to 9, characterized by that a control point, in particular on the carrier device (14), is defined for which a control image including control image data is generated, based on which a position of the control point is determined by means of the evaluation device, which is compared with stored position data for the control point in order to calibrate a position detection and / or to determine an accuracy of the position detection.

11. Arrangement for creating a diaphragm wall element in the ground (64), in particular for carrying out a method according to one of claims 1 to 10, comprising: - a carrier device (14), - a cutting device (30) attached to the carrier device (14) for removing soil material to create a trench (58) in the ground (64), - at least two cables (26) stretched between the cutting device (30) and the carrier device (14), - a detection device (5) for at least partially detecting a position of the at least two cables (26), and - an evaluation device configured to determine a position of the cutting device (30) in the ground (64) based on the detected positions of the cables (26). characterized by - thatthe detection device (5) has an electronic camera unit with which a three-dimensional image comprising image data can be captured of at least one section of each rope (26), and data to determine the position of the ropes (26) and, based on this, to determine the position of the excavation device (30) in the ground (64).

12. Arrangement according to claim 11, characterized by that the camera unit is arranged at a fixed defined position on the carrier device (14).

13. Arrangement according to claim 11 or 12, characterized by that the working device (12) is a diaphragm wall cutter or a diaphragm wall grab which is suspended on a mast or a boom (22) of the carrier device (14).

14. Arrangement according to one of claims 11 to 13, characterized by that the carrier device (14) has a chassis, in particular a tracked chassis.

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