Civil engineering machinery and civil engineering machinery operating methods

Abstract

The earth moving machine, in particular a drilling machine, according to the present invention comprises a portable support device (15), a mast (18) or a boom arm arranged on the support device (15), an earth moving tool (34) adjustably arranged on the mast (18) or the boom arm for carrying out earth moving operations, at least one display device (50), in particular a monitor (52), and a control unit, the control unit controlling the components of the earth moving machine (10), detecting the operating state, and generating at least one graphical representation of at least a part of the earth moving machine (10) based on the detected operating data, and and a control unit (50) configured to automatically change the scale and / or representation mode of the at least one graphical representation on the display device (50) when a position change of the at least one component and / or the at least one tool (34) of the earthmoving machine (10) is detected.

Description

[Technical Field]

[0001] The present invention relates to an earth moving machine, in particular a drilling rig, according to the preamble of claim 1, comprising a portable carrier device, a mast or jib arm arranged on the carrier device, an earth moving tool adjustably arranged on the mast or jib arm for carrying out earth moving operations, at least one display device, in particular a monitor, and a control unit, the control unit being configured to control the components of the earth moving machine and to detect operating states, as well as to generate at least one graphical representation of at least a part of the earth moving machine depending on collected operating data and to display it on the at least one display device, wherein positional changes of at least one component of the earth moving machine and / or the earth moving tool are displayed on the at least one graphical representation on the one display device.

[0002] The invention further relates to a method for operating such an earth-moving machine according to the preamble of claim 14. [Background technology]

[0003] Possible earthmoving machines include, for example, trench cutters, pile drivers, cable operated excavators, grab excavators, as well as mobile cranes and mobile jib cranes.

[0004] Civil engineering machines, in particular those for creating foundations in the ground, have been known for some time. The foundation elements can be created, for example, by creating holes in the ground, such as drilled or milled slots, which are then filled with a hardening medium, in particular cement, to form foundation piles or diaphragm wall segments, and, if necessary, by providing additional reinforcement. The foundation elements can also be created, for example, by driving or vibrating foundation piles or panels. The foundation elements here are not limited to a load-pickup or load-bearing function, but can instead or additionally perform a sealing function and / or other tasks, as is known, for example, in the case of excavation pit enclosures with sealing walls from specialized civil engineering.

[0005] Currently, known earthmoving machines are equipped with electronic control units that facilitate the operation of the earthmoving machine by the machine operator and can even take over operation partially or fully automatically. Various operating data can be collected via sensors and sent to the control unit. Control commands can be issued to the appropriate actuators, particularly drives and actuating cylinders, via corresponding data lines.

[0006] Such earthmoving machines are known, for example, from US Pat. No. 5,629,991 and US Pat. No. 5,629,991.

[0007] A display device within the earthmoving machine can be used to display operational data collected by the control unit from internal and / or external sensors to the machine operator, enabling the machine operator to effectively and safely control the earthmoving machine, respectively. Such data can be, for example, the current depth of the earthmoving tool, the torque of a winch, or even the temperature of the oil in the oil circuit.

[0008] Depending on the machine setup and / or the construction process being performed, large amounts of data need to be displayed and visualized for the machine operator in order to create the foundation elements reliably and efficiently. An existing problem is that the machine operator is overwhelmed with data that may be essential for subsequent method steps. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] European Patent Application Publication No. 3299523 (A1) [Patent Document 2] European Patent Application Publication No. 3296467 (A1) Summary of the Invention [Problem to be solved by the invention]

[0010] SUMMARY OF THE INVENTION An underlying object of the present invention is to define an earth moving machine and a method of operating the machine that allows for exceptionally efficient utilization of the machine by the machine operator.

[0011] This object is achieved on the one hand by a civil engineering machine having the features of claim 1 and on the other hand by a method having the features of claim 14.

[0012] Preferred embodiments of the invention are given in the dependent claims as well as in the figures and their description. [Means for solving the problem]

[0013] A feature of the earthmoving machine according to the present invention is that the control unit is configured to automatically change the display scale and / or representation type of at least one graphical representation on the display device when there is a specific change in the position of at least one component and / or earthmoving tool of the earthmoving machine.

[0014] The basic idea of ​​the present invention is to configure the control unit to automatically change the display scale and / or representation type of at least one graphical representation on the display device when there is a specific change in the position of at least one component of the earthmoving machine and / or the earthmoving tool. For example, at the start of an actual ground work operation, the ground work tool can be enlarged in this manner in the at least one graphical representation. This automatic display change clearly informs the machine operator that the ground will soon be worked on and focuses his attention thereon. This promotes the efficiency of the work process and prevents operating errors.

[0015] The display can be generated in a highly schematic manner, with the earthmoving machines and / or earthworking tools shown in a highly simplified form, thereby reducing the processing power, storage space and programming effort required, although a partially or fully realistic display can also be generated if appropriate processing power and storage space are available.

[0016] In a preferred embodiment of the present invention, the representation types include a display perspective and / or a display detail and / or a partial view and / or a partial perspective view, which may be, inter alia, a side view, a top view or bird's-eye view, or an oblique view.

[0017] For example, a side view of the tool with a representation of the bottom of the borehole may appropriately occur during actual ground work operations, while a perspective view or plan view from above may be presented, for example, when the tool is emptying the ground or when the earthmoving machine is about to be moved. Depending on the operating state or individual construction step, a full representation of the earthmoving machine may be useful, or an exclusively detailed or partial and / or partial perspective representation may be useful, especially when only the tool is to be displayed during actual ground work operations.

[0018] A partial perspective display can be used, for example, to clearly show the filling of a drilling bucket, which is displayed transparently, while the remaining machine components are displayed normally.

[0019] According to a further feature, in order to realize a particularly simple embodiment of the invention, the control unit is arranged to cause the change of display scale and / or representation type to occur by a transitionless switch, which is clear in construction and does not require excessive information processing power.

[0020] In a further embodiment variant of the invention, the control unit is configured to dynamically change the display scale and / or representation type with smooth transitions. In particular, a transition from a partial view to an overall view can be performed with a smooth zoom sequence. A change from a side view to a perspective view can also be performed with a smooth transition, which can lead to a particularly good visualization of specific construction steps. A smooth transition, similar to camera panning, can also allow a machine operator to visualize relevant changes in the method sequence and the arrival of new construction steps with a particularly good visualization.

[0021] According to a preferred embodiment of the invention, in order to achieve particularly enhanced awareness by the machine operator of upcoming method steps and / or changes to the method steps, the control unit is configured to initially display at least a portion of the earthmoving machine in a first display scale and / or a first display perspective and / or a first display detail and / or a first partial display and / or an overall or see-through display, and to switch or change to a second display scale and / or a second display perspective and / or a second display detail and / or a second partial display and / or a see-through display or an overall display when a specific position or state of at least one component and / or tool of the earthmoving machine is reached according to a predetermined program control. For this purpose, suitable sensors can be arranged on the earthmoving machine, capable of detecting the position or state of one of the components or tool of the earthmoving machine. These sensors are then connected to the control unit. The (partial) see-through display can be used, inter alia, to visualize the filling level of the tool.

[0022] According to one refinement of the invention, the control unit is particularly advantageously configured to dynamically change the display details, in particular when the construction tool reaches the ground to be worked on, so that the construction tool is always displayed in the center. In particular, the construction tool can be displayed in a centered manner during an actual construction operation using the construction tool. For the purposes of the invention, "centered" should not be understood as a strict centering on the screen, but rather as a display within the central area of ​​the screen, at least outside the edges of the screen. In addition to a centered display of the construction tool, other components of the construction machine can also be displayed in a centered manner, depending on the method procedure and the individual method steps.

[0023] According to one refinement of the invention, in order to achieve particularly good visualization, the control unit is configured so that, starting from a certain construction depth, a transition is made from the overall representation of the earthmoving machine to at least one partial representation, in which parts of the earthmoving machine, in particular guide rods or support cables and / or drill pipes, are omitted. This allows attention to be focused on specific components that are crucial to the construction process and require special attention from the machine operator. Less important components do not need to be shown. Advantageously, the scale of the representation can also be changed, in particular enlarged, during the transition from the overall representation to the partial representation.

[0024] According to a refinement of the invention, the control unit is preferably arranged to display the earth moving tool on an enlarged display scale when it penetrates the ground and / or when it reaches the base of the ground to be worked on or shortly before it reaches the base of the ground to be worked on. In particular, the action of the earth moving tool on the ground to be worked on, for example the filling level of the earth moving tool, which is of crucial importance in relation to the method procedure and the efficiency of the ground work, is further highlighted by such a display and attracts the attention of the machine operator.

[0025] According to one embodiment variant of the invention, in order to achieve a particularly good representation, the control unit is configured to display the carrier device at a reduced display scale compared to the earthwork tools and / or other components of the earthwork machine, so that when performing an overall representation of the earthwork machine, the earthwork tools and / or other components of the earthwork machine can be displayed at different display scales and, if necessary, with different fidelity depending on their importance in the individual method steps.

[0026] According to a refinement of the invention, the control unit is arranged to reduce the display scale when the earthmoving tool is withdrawn from the ground, which may be advantageous in particular after the actual ground work operation or process has been completed. When the display scale is reduced in particular in relation to the earthmoving tool, the same display scale can preferably be achieved for the earthmoving machine as a whole. This allows the machine operator to get a good feel for the overall depth of, for example, a borehole.

[0027] According to a further preferred embodiment variant of the present invention, the control unit is configured to change the display perspective of the earthmoving machine from a side view to a plan view and / or vice versa when or immediately before the pivoting of the superstructure, which is rotatably mounted about a vertical pivot axis on the lower carriage of the carrier device. As a result, the machine operator's attention can be focused on the impending pivoting of the superstructure. The display mode can be activated by a control operation by the machine operator, by the program control itself, or by sensor data. Here, the earthmoving machine can also be equipped with one or more cameras or other sensors, such as RADAR or LIDAR / LADAR sensors, which can detect the earthmoving machine's surroundings, in particular potential obstacles. The detected surroundings and potential obstacles can be incorporated into the plan view display of the earthmoving machine, thereby assisting the machine operator in safely operating the earthmoving machine.

[0028] The earthmoving machine is essentially configured to carry out civil engineering procedures, in particular those related to special civil engineering, i.e. foundation works. According to an embodiment of the invention, the earthmoving machine is particularly well configured as a drilling rig, trench cutter, gripping device, pile driver, vibrator, grab excavator or cable-operated excavator. A cable-operated excavator can generally be understood as a mobile crane with a pivotable jib arm, without the need for a gripping device arranged on the support cable of the jib arm. Rather, cable-operated excavators and mobile cranes can also be used for soil compaction, for example using a drop weight.

[0029] According to one refinement of the invention, advantageously, a switching device is provided, by means of which the control unit can activate and deactivate the automatic change of display scale and / or representation type, which switching device can be operated by the machine operator, who can thus activate or deactivate the desired display mode.

[0030] A feature of the method according to the invention is that the display scale and / or the representation type of the at least one graphical representation on the display device is automatically changed by the control unit when there is a specific change in the position of at least one component of the earthmoving machine and / or the earthmoving tool.

[0031] The method according to the invention can be carried out in particular with the above-mentioned earth-moving machine according to the invention as well as with one of the described modifications thereof, thereby achieving the above-mentioned advantages.

[0032] The invention will be described below with reference to preferred exemplary embodiments which are illustrated diagrammatically in the drawings, in which: [Brief explanation of the drawings]

[0033] [Figure 1] 1 is a schematic side view of a construction machine according to the present invention. [Figure 2a]10A to 10D are diagrams showing a series of displays that can be made on a monitor. [Figure 2b] 10A to 10D are diagrams showing a series of displays that can be made on a monitor. [Figure 2c] 10A to 10D are diagrams showing a series of displays that can be made on a monitor. [Figure 2d] 10A to 10D are diagrams showing a series of displays that can be made on a monitor. DETAILED DESCRIPTION OF THE INVENTION

[0034] The earthmoving machine 10 according to the invention is exemplarily configured as a drilling rig according to Figure 1 and comprises a lower carriage 12, preferably configured as a crawler chassis, and a superstructure 14 pivotally mounted thereon. The lower carriage 12 and the superstructure 14 form a carrier device 15. An operator's stand 17 for a machine operator of the earthmoving machine 10 and a drive assembly can be arranged on the superstructure 14 in a known manner. A control unit and a display device, in particular at least one monitor, can be arranged in the operator's stand 17.

[0035] A substantially vertical mast 18 having an upper mast head 19 can be adjustably mounted on the front side of the superstructure 14 via articulation kinematics 16 with a neck cylinder. A carriage 20 can be variably guided along the front side of the mast 18. A first drill drive 22 can be provided on the carriage 20 and can be equipped with a hydraulic motor 24. Furthermore, a second drive 26 can be provided on the carriage 20 with a sleeve-like rotary coupling 27, thereby establishing a non-rotatable connection to the support tube 4. The second drive 26 can, for example, essentially consist of a gear connection to the first drill drive 22 with the hydraulic motor 24, making it possible to apply a torque to the rotary coupling 27 and thus to the support tube 4.

[0036] A drill pipe 30, which may be configured, for example, as a Kelly rod with an external driver strip, may pass through the substantially sleeve-shaped first drill drive 22. In this case, the drill pipe 30 is provided with an upper suspension 32, by means of which the drill pipe 30 may be connected to a main cable 39. The main cable 39 may be guided via a guide pulley on the masthead 19 to a main winch 38 above the superstructure 14. By operating the main winch 38, the drill pipe 30 may be moved vertically.

[0037] The carriage 20 may be connected to a feed cable 37 that is guided above and below the carriage 20 along the mast 18 and that may be actuated by a feed winch 36. The feed winch 36 allows the carriage 20 to move up and down along the guides of the mast 18.

[0038] A drilling tool is mounted below the drill pipe 30 as an earthwork tool 34 for removing earthen material. In the exemplary embodiment shown in Figure 1, the earthwork tool 34 is configured as a drilling bucket. The diameter of the drilling tool is here configured to allow it to be inserted into the internal cavity of the support tube 4.

[0039] An earthmoving machine 10 may be used to create a covered borehole in the ground 1. A foundation element may be formed in the ground 1 by injecting a hardenable material into the borehole and allowing it to harden to form the foundation element. A support tube 4 may remain in the borehole as part of the foundation element or, preferably, may be removed from the ground 1 prior to hardening.

[0040] To illustrate the invention, FIGS. 2a to 2d show a schematic sequence of representations on a monitor 52 of a display device 50, which may be used in particular in the earthmoving machine 10 according to FIG.

[0041] The screen display according to Fig. 2a is on a monitor 52, preferably in the operator's stand 17 of the earthmoving machine 10 according to Fig. 1, and shows the earthmoving machine 10 diagrammatically in a side view in the central area. In this operating state, an earthmoving tool 34, such as a drilling bucket, is located above a support tube 4 that has already been inserted into the ground 1, and is being screwed into the support tube 4. In this representation according to Fig. 2a, the earthmoving machine 10 is shown diagrammatically and in a highly simplified manner in a side view, with a uniform scale from the carrier device 15 to the top of the mast. In addition, at least a portion of the support tube 4 is shown in the ground 1. Further important information and operating parameters as well as camera images can also be displayed in the side areas of this schematic representation of the earthmoving machine 10, which are generally important in connection with the screwing operation.

[0042] After screwing the earthmoving tool 34 into the support tube 4, an image corresponding to Figure 2b is displayed on the monitor 52. In this image, most of the borehole is shown together with the support tube 4 in the ground 1, but the upper region of the mast 18 of the earthmoving machine 10 is no longer visible. In the image according to Figure 2b, the earthmoving tool 34 can be seen in the central region of the monitor 52, which is an example of a display device 50. Apart from the earthmoving tool 34, a depth display can be performed in a field separate from the earthmoving tool 34, and in the exemplary embodiment according to Figure 2b, 16.42 meters below ground level is displayed as the current depth. During this lowering process according to Figure 2b, the earthmoving tool 34 can be depicted with the same display scale or a slightly enlarged display scale compared to Figure 2a.

[0043] Just before the earth moving tool 34 reaches the base of the borehole in the ground 1, the display can be changed according to Figure 2c, where the earth moving tool 34 is shown at a larger scale than the rest of the earth moving machine 10, and the overall display is not uniform or to scale. The current, theoretical or target depth of the tool and the fill level of the drilling bucket, which in this example is the earth moving tool 34, can be displayed immediately next to the earth moving tool 34, which is shown substantially in the center, as are the data that are of particular importance to the earth moving tool 34.

[0044] After the drilling process is complete and the filled earthmoving tool 34 has been withdrawn from the support tube 4 and the borehole in the ground 1, the superstructure 14 of the earthmoving machine 10 must be pivoted to a dumping position. The perspective according to Figure 2d can now be changed from the side view shown in Figures 2a-2c to the plan view shown in Figure 2d. Again, the display scale of the earthmoving machine 10 can now be changed. The borehole being prepared or previously prepared can also be shown in this view.

Claims

1. Civil engineering machinery, especially drilling rigs, a portable carrier device (15); a mast (18) or jib arm disposed on the carrier device (15); an earthmoving tool (34) adjustably disposed on the mast (18) or the jib arm for performing an earthmoving procedure; at least one display device (50), in particular a monitor (52); a control unit configured to control components of the earthmoving machine (10) and to detect operating conditions, and to generate at least one graphical representation of at least a portion of the earthmoving machine (10) depending on the detected operating data and to display the same on the at least one display device (50); a change in position of at least one component of the earthmoving machine (10) and / or the earthmoving tool (34) is displayed in the at least one graphical representation on the display device (50), The control unit is configured to automatically change the display scale and / or the representation type of the at least one graphical representation on the display device (50) when a specific change occurs in the position of at least one component of the earth moving machine (10) and / or the earth moving tool (34).

2. 2. A civil engineering machine according to claim 1, 10. A civil engineering machine, wherein the representation types include display perspective and / or display detail and / or partial display and / or partial perspective display.

3. 3. A civil engineering machine according to claim 1 or 2, 10. An earth moving machine, wherein the control unit is configured to effect a change in the display scale and / or the representation type by transient-free switching.

4. A civil engineering machine according to any one of claims 1 to 3, 10. A civil engineering machine, wherein the control unit is configured to dynamically cause the change of the display scale and / or the representation type to occur with smooth transitions.

5. A civil engineering machine according to any one of claims 1 to 4, the control unit is configured to initially display at least a portion of the earthmoving machine (10) at a first display scale and / or a first display perspective and / or a first display detail and / or a first partial display, and to switch or change to a second display scale and / or a second display perspective and / or a second display detail and / or a second partial display according to predetermined program control when a specific position or state of at least one component of the earthmoving machine (10) and / or the earthmoving tool (34) is reached.

6. A civil engineering machine according to any one of claims 1 to 5, The control unit is configured to dynamically change the display details, in particular when the earth-moving tool (34) reaches the work target ground (1), so as to keep the earth-moving tool (34) always displayed in the center.

7. A civil engineering machine according to any one of claims 1 to 6, The control unit is configured such that, starting from a specific construction depth, a transition is made from the overall representation of the earthmoving machine (10) to at least one partial representation, in which parts of the earthmoving machine (10), in particular guide rods (30) or support cables and / or parts of drill pipes, are omitted.

8. A civil engineering machine according to any one of claims 1 to 7, 1. A civil engineering machine comprising: a control unit configured to display the civil engineering tool (34) at an enlarged display scale when the civil engineering tool (34) penetrates the ground (1) and / or reaches the base of a hole in the ground (1) to be worked on, or shortly before reaching the base of the hole.

9. A civil engineering machine according to any one of claims 1 to 8, 10. A civil engineering machine, wherein the control unit is configured to display the base carrier at a reduced display scale compared to the civil engineering tools and / or other components of the civil engineering machine.

10. A civil engineering machine according to any one of claims 1 to 9, The control unit is configured to reduce the display scale when the earth-moving tool (34) is withdrawn out of the ground (1).

11. A civil engineering machine according to any one of claims 1 to 10, The control unit is configured so that the display perspective of the earthmoving machine (10) is changed from a side view to a plan view and / or vice versa when or immediately before an upper structure (14) rotatably mounted on a lower carriage (12) of the carrier device (15) about a vertical pivot axis is pivoted.

12. A civil engineering machine according to any one of claims 1 to 11, 1. An earth moving machine (10) configured as a drilling rig, trench cutter, gripping device, pile driver, vibrator, grab excavator or cable excavator.

13. A civil engineering machine according to any one of claims 1 to 12, 10. An earth moving machine, characterized in that a switching device is provided, by means of which the control unit can activate and deactivate the automatic change of the display scale and / or the representation type.

14. A method of operating a construction machine (10), the construction machine (10) being in particular according to any one of claims 1 to 13, a portable carrier device (15); a mast (18) or jib arm disposed on the carrier device (15); an earthmoving tool (34) adjustably disposed on the mast (18) or the jib arm for performing an earthmoving procedure; at least one display device (50), in particular a monitor (52); a control unit; It has The control unit controls components of the earthmoving machine (10) and identifies operating conditions; and At least one graphical representation of at least a portion of the earthmoving machine (10) is generated by the control unit and displayed on the at least one display device (50) depending on the detected operating conditions, and position changes of at least one component of the earthmoving machine (10) and / or the earthmoving tool (36) are displayed on the at least one graphical representation on the display device (50).

1. A method of making a wherein the control unit automatically changes the display scale and / or the representation type of the at least one graphical representation on the display device (50) upon or immediately before a specific change in the position of at least one component of the earthmoving machine (10) and / or the earthmoving tool (34).

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