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EP2948621B1 - Verfahren zur bestimmung der position einer schneidevorrichtung im boden mittels eines mobilen wagens - Google Patents

Verfahren zur bestimmung der position einer schneidevorrichtung im boden mittels eines mobilen wagens Download PDF

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Publication number
EP2948621B1
EP2948621B1 EP14704837.5A EP14704837A EP2948621B1 EP 2948621 B1 EP2948621 B1 EP 2948621B1 EP 14704837 A EP14704837 A EP 14704837A EP 2948621 B1 EP2948621 B1 EP 2948621B1
Authority
EP
European Patent Office
Prior art keywords
carriage
cable
casing
machine according
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP14704837.5A
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English (en)
French (fr)
Other versions
EP2948621A2 (de
Inventor
Bertrand Steff De Verninac
Daniel Perpezat
Jean-Pierre Hamelin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Soletanche Freyssinet SA
Original Assignee
Soletanche Freyssinet SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Soletanche Freyssinet SA filed Critical Soletanche Freyssinet SA
Publication of EP2948621A2 publication Critical patent/EP2948621A2/de
Application granted granted Critical
Publication of EP2948621B1 publication Critical patent/EP2948621B1/de
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
    • E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
    • E02F5/145—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids control and indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/181—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels including a conveyor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/20—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels
    • E02F3/205—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels with a pair of digging wheels, e.g. slotting machines
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/22—Component parts
    • E02F3/26—Safety or control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
    • E02F5/08—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with digging wheels turning round an axis
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/024—Determining slope or direction of devices in the borehole

Definitions

  • the present invention relates to the field of drilling and excavating screens in the ground.
  • Such an excavating machine is in particular, but not exclusively, a driller with rotating drums, also called hydrofraise.
  • FR 2 211 027 describes such a machine.
  • the frame continues a descent movement as its rotating drums dig the trench.
  • such an excavating machine is a bucket grab bucket, whose actuating mechanism is mechanical or hydraulic.
  • the trench can have a great depth that can reach 100 meters or more.
  • this trench has a high accuracy as to its verticality, especially since the final work results from a juxtaposition of panels, for example molded walls or any other type of screens.
  • EP 0 841 465 proposes a system for controlling the verticality of a drill rig in which two cables of small section are fixed at the upper end of the machine. These cables are kept under constant tension and pass through two fixed reference points arranged at the upper end of the trench. Thanks to the continuous measurement of the length of the cables, and the angles of inclination of the ends of the cables fixed on the machine, the coordinates of the two cable fixing points are calculated.
  • An object of the invention is to provide an excavation machine provided with a chassis trajectory control system providing accurate results, regardless of the depth of drilling.
  • the carriage separate from the chassis, is configured to move along the cable, the latter may be a carrier cable which is suspended from the frame and whose function is to carry the frame, or a non-loadable cable which is specifically provided to guide the cart.
  • the carriage moves, preferably, between the surface and the lower end of the cable.
  • the cable is live. When the cable is carrying, it is understood that it is powered by the action of the weight of the frame. When the cable used to guide the movement of the carriage is not carrying, the machine comprises means for holding the cable under tension.
  • the live cable is rarely perfectly straight. It has indeed a curved shape, more or less pronounced depending on the path taken by the chassis during drilling.
  • EP 0 841 465 as a rough approximation, it was assumed that the cables were straight, resulting in good results when drilling depth is low. However, it is understood that for greater depths, this approximation no longer holds because the cables can have a significant curvature.
  • the carriage follows the curvature of the cable. Consequently, knowledge of the spatial position of the carriage makes it possible to know the spatial position of the cable, and in particular the position of the lower end of the cable, which then makes it possible to determine the position of the frame and the cutting device, knowing the length and inclination of the frame.
  • the carriage descends by the effect of its own weight. It may eventually be weighted.
  • the moving means preferably comprise a connecting cable connected to a winch.
  • the carriage comprises a motorized wheel allowing its movement along the cable.
  • the spatial position of the carriage is determined several times during its movement along the cable. “Measuring points” are the successive positions of the carriage along the cable to which measurements are made to determine the spatial positions of said carriage.
  • Spatial position means in particular the rotation of the carriage relative to a reference position, and its position on the cable.
  • the measurements can be made during the descent of the carriage, or during its ascent.
  • a first series of measurements is taken during the descent of the carriage, a second series of measurement during the ascent of the carriage, and the position of the chassis is determined using the first and second measurement series.
  • the carriage is immobilized at each measuring point so that the measurements are made during the stopping of the carriage.
  • the chassis is suspended by means of several carrying cables.
  • the carriage may be slidably mounted to one or other of the carrier cables.
  • the carriage is moved along one of the load-bearing cables, the position measurements are carried out along this cable, and then the carriage, or another similar carriage, is moved along another of the carrier cables, and the position measurements are taken along this other cable.
  • the carriage is configured so that its trajectory is locally coaxial with the cable along which it moves.
  • the carriage is preferably provided with three wheels that enclose the cable.
  • the excavating machine according to the invention further comprises a guiding device for preventing the carriage from pivoting about itself around the cable during its movement along said cable.
  • a guiding device for preventing the carriage from pivoting about itself around the cable during its movement along said cable.
  • the frame is fixed to the lower end of a first cable and the lower end of a second cable
  • the carriage is slidably mounted along the first cable
  • the guide device comprises at least one arm integral with the carriage and cooperating with at least the second cable, without adding stress.
  • An advantage of this configuration is to be able to detect and measure the twisting of the trajectory of the chassis.
  • first and second cables have an angular displacement, considered in a substantially horizontal plane, linked to the rotation of the frame relative to a vertical axis, it is understood that the carriage, thanks to its arm, will be driven in the same movement angular displacement.
  • the arm has a distal end which cooperates with the second cable.
  • This distal end is preferably, but not necessarily, provided with at least one roller whose axis of rotation is substantially perpendicular to the second cable to facilitate the sliding of the arm along the second cable.
  • the excavation machine according to the invention further comprises a cuttings evacuation pipe which extends above the frame, and the arm is curved so as to be offset relative to the pipe of evacuation. An interest is to avoid a contact between the arm and the evacuation pipe, which would be likely to block or slow the movement of the carriage.
  • the locating device comprises at least one inclination measuring device disposed in the carriage.
  • the measurements are made at predetermined depths or else at predetermined lengths of movement of the carriage along the cable.
  • the locating device comprises first and second inclination measuring devices, arranged in the carriage, arranged to perform inclination measurements in two vertical planes perpendicular to each other.
  • the machine according to the invention further comprises guiding means arranged above the ground surface to keep immobile in a horizontal plane the cable area disposed in said plane as and when the lowering the frame, the guide means for defining at least one fixed reference position, so that the position of the lower end of the cable is determined relative to the fixed reference point.
  • the guiding means make it possible to define as many reference fixed positions as there are cables. More preferably, the guide means comprise fixed guide means in which the cables pass, said fixed guide means being disposed at the surface of the ground in a horizontal plane facing the trench.
  • the guide means therefore make it possible to simplify the calculation. However, we can do without it. In this case, account should also be taken of the displacement, in a horizontal plane situated on the surface, of the zone of the cable situated in the said horizontal plane. For example, when the excavating machine according to the invention is a grab, which periodically rises to the surface each time its cups are filled with cuttings, it will not be possible to set up the guide means.
  • the coordinates of another point of the upper end of the frame are determined.
  • the locating device determines the twisting angle of the trajectory of the carriage concomitantly with the measurements of its inclination.
  • the locating device further comprises a device for measuring the angle of rotation of the carriage in a plane substantially perpendicular to the cable.
  • This pivoting also called twisting, participates in the calculation of the spatial location of the carriage.
  • the carriage is provided with a memory for storing the data measured by the locating device during the movement of the carriage. These data are then transferred to calculation means arranged on the surface, this transfer preferably taking place when the carriage is raised to the surface. According to one variant, the transfer takes place in real time via the connecting cable.
  • the locating device further comprises a device for determining the length of the movement of the carriage along said cable.
  • the device for determining the length of the movement of the carriage along the cable determines the unrolled length of the connecting cable.
  • the means for moving the carriage are configured so that the speed of descent and / or rise of the carriage along the cable is controlled.
  • the excavating machine further comprises a device for determining the position of the chassis from the measurement data taken by the locating device during the movement of the carriage along the cable.
  • This device implements a calculation step which, from all the measurements made, makes it possible to determine the coordinates of at least the lower end of one of the cables attached to the upper end of the frame.
  • the frame comprises an inclinometer for determining the inclination of the frame relative to the vertical
  • the machine further comprises a device for determining the position of the cutting device from the position, the length and inclination of the frame.
  • the machine further comprises a muffle, known in addition, which is pivotally mounted at the upper end of the frame relative to the longitudinal axis of the frame.
  • the machine also comprises measuring means for measuring the angle of rotation of the muffle with respect to the frame.
  • the cables are connected to the pivoting muffle so that the frame can pivot relative to the cables. The position of the cutting device is then determined in the same way as above except that the angle of rotation of the muffle supplied by the measuring means is furthermore used.
  • the carriage is immobilized at each measurement point during the measurement of the spatial position of the carriage.
  • the carriage is immobilized at each measurement point during the measurement of the spatial position of the carriage.
  • the movement of the carriage is stopped at each measuring point the time to realize the measurement of its spatial position.
  • the truck will be immobilized every 0.5 m, 1 m or 2 m of cable.
  • the cable is immobilized before carrying out the step of moving the carriage, and several steps are performed for moving the carriage during the drilling step, so as to determine several positions of the chassis in the ground and of 'get the real trajectory of the chassis in the ground.
  • the immobilization of the cable may for example be obtained by stopping the descent of the chassis.
  • a mathematical processing of the position measurements of the carriage is carried out, preferably by integration, in order to determine the coordinates of at least the lower end of the cable fixed to the upper part of the chassis. These coordinates are preferably relative coordinates with respect to the aforementioned fixed reference position.
  • several steps of moving the carriage along the same cable are carried out. Still preferably, in some of the steps of moving the carriage along the same cable, the sensors are turned 180 ° in order to cancel the calibration errors.
  • steps of moving the carriage along the other cables are carried out in order to determine the coordinates of the lower ends of other cables fixed to the upper part of the chassis. This allows in particular to recalculate the distances between the cables to control that they are consistent with actual distances. An interest is therefore to control the quality of the measured values. Another interest is to determine the rotation of the upper part of the frame relative to the horizontal.
  • the inclination of the frame is measured and the position of the cutting device in the ground is determined from the position of the frame and the measurement of the inclination of the frame.
  • the actual trajectory is compared with a predetermined trajectory of the chassis. in the ground, and the positioning of the chassis is corrected during the drilling step to minimize the difference between the actual path and the predetermined path.
  • This positioning correction is achieved by actuators arranged on the frame and which are controlled from the surface.
  • these actuators consist of pads actuated by hydraulic means for exerting a thrust on the walls of the trench to change the path of the frame.
  • the actual trajectory of the cutting device which is preferably compared to a predetermined trajectory, is determined in order to correct any detected deviation.
  • the invention finally relates to the carriage intended to be slidably mounted on a cable connecting the surface to the excavating machine according to the invention.
  • an excavating machine 10 according to the present invention is shown in the course of drilling a trench T in soil S adjacent to a screen E already in place in the ground.
  • thickness means the smallest dimension of the trench T considered in a horizontal plane
  • width means the largest dimension of the trench T considered in the horizontal plane
  • Depth means the height of the trench considered in a vertical direction.
  • the excavating machine 10 is a hydrofraise.
  • the excavating machine comprises a suspended frame 12 having an upper end 14 and a lower end 16.
  • the frame extends in a longitudinal direction DL, and has a length L.
  • a cutting device 18 provided with rotary drums 20 is attached to the lower end 16 of the frame 12.
  • the chassis 12 is suspended from a hoisting apparatus 22.
  • the excavating machine comprises, in this nonlimiting example, first, second, third and fourth carrying cables referenced 30, 32, 34 and 36.
  • Each cable has a lower end 30a, 32a, 34a and 36a which is attached to the upper end 14 of the frame.
  • A, B, C and D are the points of attachment of the cables 30, 32, 34 and 36 to the upper part of the frame.
  • the upper ends of the cables are mounted on one or more drums carried by the lifting gear 22.
  • the cables are carrying, in that they carry the frame 12. It is understood that the cables are energized by the action of the weight of the frame. It is also understood that the cables extend above the frame 12.
  • the excavating machine 10 further comprises a cutout evacuation pipe 13 which extends above the frame, being connected to the upper end 14 of the frame.
  • a cutout evacuation pipe 13 which extends above the frame, being connected to the upper end 14 of the frame.
  • the carrying cables 30, 32, 34 and 36 are arranged around and extend substantially parallel to the discharge pipe of the cuttings 13.
  • the excavating machine 10 comprises a carriage 50 which is slidably mounted along the first cable 30.
  • the carriage 50 is configured to slide along the other three cables 32 , 34 and 36.
  • the carriage 50 illustrated on the figure 10 , comprises a body 52 to which are fixed three rollers 54 which allow the carriage 50 to slide along said cable 30.
  • the rollers 54 are arranged on either side of the cable so as to grip it, thanks to which the carriage 50 is slidably mounted along the cable.
  • the movement of the carriage 50 along the first cable 30 is achieved by a device which comprises a connecting cable 60 connected to the body 52 on the one hand, and to a drum 62 disposed on the surface, on the other hand . If the carriage can descend along the cable due to the action of its own weight, however its speed of descent is controlled by the action of the drum 62.
  • the drum 62 also has the function of raising the carriage 50 at a controlled speed.
  • a guiding device 56 which comprises an arm 56, integral and perpendicular to the body 52, and which cooperates with another cable, in this example the second cable 34.
  • the first and second cables are located in the same half-thickness of the frame, but not in the same half-width of the frame.
  • the arm 56 has a distal end 56a which cooperates with the second cable.
  • the distal end 56a comprises two rollers 58 whose axes of rotation are substantially parallel to the arm, and whose function is to minimize friction between the arm and the second cable 34.
  • the arm 56 is curved so as to be offset relative to the discharge pipe 13. This avoids the risk that the arm comes into contact with the discharge pipe, which could slow or block the movement of the carriage.
  • the excavating machine 10 further comprises guide means 70 of the first, second, third and fourth cables 30, 32, 34 and 36.
  • These guide means 70 consist of sleepers 72 which comprise four guide rings 74 for guiding the cables.
  • These guide means 70 are positioned on the surface, and have the function of keeping motionless in a horizontal plane Q areas of the cables arranged in the horizontal plane Q.
  • the guide means are fixed relative to the ground, so that the carrying cables remain "immobile" in the horizontal plane Q.
  • the guide rings 74 which may well heard to present another form, define four fixed reference positions, called A 0 , B 0 , C 0 and D 0 .
  • the position of the rings coincides with that of the attachment points A, B, C and D when the upper end of the frame is substantially in the horizontal plane Q.
  • the reference points A 0 , B 0 , C 0 and D 0 do not depend on any movements or deflection of the frame 12.
  • an object of the invention is to determine the position of the cutting device in the soil during the step drilling. For this, we will begin by determining the position of the frame 12 in the ground, and more particularly the position of the upper part of said frame. To do this, at least the distance between the fixing point A of the first cable 30 is measured with respect to the fixed reference position A 0 .
  • the displacement of the fixing points B, C and D of the other cables is also measured with respect to the fixed positions of associated references B 0 , C 0 and D 0 .
  • the distance between the attachment point A of the first cable relative to the fixed reference position A 0 is determined by the displacement of the carriage 50 along the cable, between the reference position A 0 and the fixing point A.
  • This movement can be a descent along the cable or a lift.
  • the spatial position of the carriage 50 is periodically measured by means of a localization device.
  • the first cable is held stationary. To do this, in this example, it stops the descent of the frame 12.
  • the first cable is stationary during the movement of the carriage 50 and the realization of measurements.
  • the position of the carriage 50 of the first cable 30 is denoted by A i, where "i" is an integer between 1 and N.
  • N measurements of the spatial position of the carriage are thus carried out.
  • the N positions of the carriage, for which a measurement is made are distributed along the first cable.
  • the measurement point A N is preferably merged with the point of attachment A, or at least located in the immediate vicinity of said point of attachment.
  • the carriage 50 is immobilized at each measuring point A.sub.i , so that the carriage is stopped during the measurement, which makes it possible to obtain more precise measurement values.
  • the values of the angles of inclination ⁇ and ⁇ measured at the point A i are denoted ⁇ i and ⁇ i . Also, at each measurement point A i , the carriage being preferentially stopped, the angles ⁇ i and ⁇ i are measured.
  • the locating device further comprises a device 84 for determining the length of the displacement of the carriage along the first cable 30.
  • the length l corresponds to the length l of the connecting cable 60 which is unwound from the reel 62.
  • the device 84 allows naturally to measure the displacement ⁇ l i infinitesimal of the carriage 50 between two successive measuring points A i-1 and A i .
  • the value of the displacement ⁇ l i may be chosen as a constant value ⁇ l imposed by the drum 62. According to one variant, the displacement ⁇ l i is measured by means embedded in the carriage.
  • the speed of movement of the carriage is controlled.
  • a constant ascent and / or descent rate between 1 and 10 m / s.
  • the locating device further comprises a device 86 for measuring the angle of rotation ⁇ i of the carriage 50 in a substantially orthogonal plane perpendicular to the cable, with respect to a reference angular position ⁇ 0 .
  • the angle of rotation ⁇ is measured in a horizontal plane. Due to the presence of the arm 56, the rotation angle ⁇ corresponds to the twisting angle of the cables with respect to a straight line passing through the reference points A 0 and B 0 .
  • the angle of rotation ⁇ i will preferably be measured at each measuring point A i , and in particular at the final position A N, so as to give an estimate of the rotation of the upper part of the chassis with respect to the reference line passing through the positions reference A 0 and B 0 .
  • the rotation angles ⁇ i are stored in the memory S1 of the carriage.
  • the excavating machine further comprises a device 90 for determining the position of the frame 12 from the measurement data, namely the values ⁇ i , ⁇ i and ⁇ i taken by the first and second inclination measuring devices 80,82 of the locating device, and by the device 86 measuring the twisting of the cables during the movement of the carriage along the first cable 30.
  • this device 90 comprises mathematical processing means for calculating the aforementioned displacements ⁇ X A i and ⁇ Y A i and then, by an integral calculation, to determine the displacement values ⁇ X A and ⁇ Y A along the X and Y axes. point A relative to the fixed reference position A 0 .
  • the position of the frame 12, and more particularly that of its upper part 14, is determined from the displacement values ⁇ X A and ⁇ Y A , and the depth of the point A which can be determined for example from the unrolled length of the first cable 30 or using another type of depth gauge attached to the frame.
  • N The value of the number of measuring points N will be chosen sufficiently large to provide a precise result, it being understood that the value N may depend on the depth reached by the frame. As non-limiting examples, N will be chosen so as to measure every 0.20 m, 0.5 m, 1 m or 2 m of cable.
  • the measurement is made at fixed time intervals, the carriage being moved at a constant speed.
  • the excavating machine further comprises a device 92 for determining the position of the cutting device 18 in the ground, from the position of the frame, and more particularly from the position of the upper part of the frame 12.
  • the position of the cutting device 18 is also determined from the length (or height) L of the frame and its inclination with respect to the vertical.
  • the inclination of the frame 12 is measured using an inclinometer 100 disposed in the frame 12 which measures a first angle of inclination ⁇ relative to the vertical, illustrated in FIG. figure 5 , and a second angle of inclination ⁇ with respect to the vertical, illustrated on the figure 6 .
  • the first and second inclination angles are measured in two vertical planes orthogonal to each other.
  • FIG 11 Schematically shows the mathematical processing of information delivered by the various aforementioned measuring and for calculating the position of the median point W of the cutting device.
  • the device 90 for determining the position of the frame 12 receives the values ⁇ i and ⁇ i , ⁇ i measured during the displacement of the carriage by the inclinometers arranged in the carriage and ⁇ l i , measured by the device 84 to determine the length of the displacement. of the carriage along the first cable 30.
  • the device 90 calculates the coordinates of the points A, B, C and D.
  • the device 92 for determining the position of the cutting device receives the coordinates of at least the attachment point. A, and the values of the first and second inclination angles of the frame ⁇ and ⁇ provided by the inclinometer 100 secured to the frame.
  • the device 92 then provides the coordinates of the midpoint W.
  • trajectory correction means for example hydraulic pads 110 arranged on the faces of the frame. These pads 110, bearing against the edges of the trench, allow to change the inclination of the frame, and therefore its trajectory.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Geophysics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)

Claims (16)

  1. Aushubmaschine (10), umfassend:
    • einen aufgehängten Rahmen (12), der ein oberes Ende (14) und ein unteres Ende (16) umfasst,
    • wenigstens ein Seil (30, 32, 34, 36), das sich oberhalb des Rahmens erstreckt, wobei das Seil unter Spannung steht und ein unteres Ende (30a, 32a, 34a, 36a), welches an dem oberen Ende des Rahmens befestigt ist, aufweist,
    • eine Schneidevorrichtung (18), die an dem unteren Ende des Rahmens angeordnet ist,
    dadurch gekennzeichnet, dass sie ferner umfasst:
    • einen Schlitten (50), der entlang des Seils verschieblich angebracht ist,
    • eine Vorrichtung (60, 62), um den Schlitten entlang des Seils zu bewegen, und
    • eine Lokalisierungsvorrichtung (80, 82, 84, 86), um die räumliche Position des Schlittens zu bestimmen.
  2. Aushubmaschine nach Anspruch 1, dadurch gekennzeichnet, dass sie ferner eine Führungsvorrichtung (56) umfasst, um zu verhindern, dass der Schlitten bei seiner Bewegung entlang des Seils sich um das Seil (30) herum um sich selbst dreht.
  3. Aushubmaschine nach Anspruch 2, dadurch gekennzeichnet, dass der Rahmen (12) an dem unteren Ende eines ersten Seils (30) und an dem unteren Ende eines zweiten Seils befestigt ist, dass der Schlitten entlang des ersten Seils verschieblich angebracht ist und dass die Führungsvorrichtung wenigstens einen Arm (56), welcher mit dem Schlitten fest verbunden ist und mit wenigstens dem zweiten Seil (32) zusammenwirkt, umfasst.
  4. Aushubmaschine nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Lokalisierungsvorrichtung wenigstens eine Vorrichtung zur Neigungsmessung (80, 82), welche in dem Schlitten angeordnet ist, umfasst.
  5. Aushubmaschine nach Anspruch 4, dadurch gekennzeichnet, dass die Lokalisierungsvorrichtung eine erste (80) und eine zweite (82) Vorrichtung zur Neigungsmessung, die in dem Schlitten angeordnet sind, umfasst, welche dazu eingerichtet sind, Neigungsmessungen (α', β') in zwei zueinander senkrechten, vertikalen Ebenen durchzuführen.
  6. Aushubmaschine nach Anspruch 4 oder 5, dadurch gekennzeichnet, dass die Lokalisierungsvorrichtung ferner eine Vorrichtung (86) zur Messung des Rotationswinkels (θ') des Schlittens in einer zu dem Seil im Wesentlichen senkrechten Ebene umfasst.
  7. Aushubmaschine nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Lokalisierungsvorrichtung ferner eine Vorrichtung (84) umfasst, um die Länge (I) der Bewegung des Schlittens entlang des Seils zu bestimmen.
  8. Aushubmaschine nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die Mittel zum Bewegen des Schlittens (60, 62) ein an dem Schlitten befestigtes Verbindungsseil (62) umfassen.
  9. Aushubmaschine nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass sie ferner eine Vorrichtung (90) umfasst, um die Position des Rahmens anhand der Messdaten, die im Laufe der Bewegung des Schlittens entlang des Seils durch die Lokalisierungsvorrichtung gewonnen werden, zu bestimmen.
  10. Aushubmaschine nach Anspruch 9, dadurch gekennzeichnet, dass der Rahmen einen Neigungsmesser (100) umfasst, der ermöglicht, die Neigung des Rahmens gegenüber der Vertikalen zu bestimmen, und dass die Maschine außerdem eine Vorrichtung (92) umfasst, um die Position der Schneidevorrichtung anhand der Position, der Länge und der Neigung des Rahmens zu bestimmen.
  11. Aushubmaschine nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass sie ferner an der Oberfläche angeordnete Führungsmittel (70) umfasst, um in einer horizontalen Ebene (Q) den Bereich des Seils, welcher in der Ebene angeordnet ist, entsprechend der Abwärtsbewegung des Rahmens unbeweglich zu halten, wobei die Führungsmittel wenigstens zu den Messzeitpunkten wenigstens eine feste Bezugsposition (A°, B°, C°, D°) in räumlicher Relation zu dem unteren Ende des Seils, wenn es sich in der horizontalen Ebene befindet, definieren.
  12. Verfahren zum Bohren in einem Boden, bei dem:
    • eine Aushubmaschine nach einem der Ansprüche 1 bis 11 bereitgestellt wird,
    • ein Bohrungsschritt dadurch vollzogen wird, dass man den Rahmen in den Boden eindringen lässt,
    • ein Schritt zum Bewegen des Schlittens entlang des Seils vollzogen wird, im Laufe dessen an unterschiedlichen Messpunkten die räumliche Position des Schlittens gemessen wird, und
    • die Position des Rahmens im Boden anhand der Messungen räumlicher Positionen des Schlittens bestimmt wird.
  13. Verfahren nach Anspruch 12, bei dem der Schlitten an jedem Messpunkt zum Stehen gebracht wird.
  14. Verfahren nach Anspruch 12 oder 13, bei dem die Neigung des Rahmens gemessen wird und die Position der Schneidevorrichtung im Boden anhand der Position des Rahmens und der Messung der Neigung des Rahmens bestimmt wird.
  15. Verfahren nach einem der Ansprüche 12 bis 14, bei dem das Seil vor Durchführen des Schrittes zum Bewegen des Schlittens festgelegt wird, und bei dem mehrere Schritte zum Bewegen des Schlittens im Laufe des Bohrschrittes durchgeführt werden, um mehrere Position des Rahmens im Boden zu bestimmen und den tatsächlichen Weg des Rahmens im Boden zu erhalten.
  16. Bohrverfahren nach Anspruch 15, bei dem der tatsächliche Weg mit einem vorbestimmten Weg des Rahmens im Boden verglichen wird und die Positionierung des Rahmens im Laufe des Bohrschrittes korrigiert wird, um die Abweichung zwischen dem tatsächlichen Weg und dem vorbestimmten Weg zu minimieren.
EP14704837.5A 2013-01-23 2014-01-20 Verfahren zur bestimmung der position einer schneidevorrichtung im boden mittels eines mobilen wagens Active EP2948621B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1350581A FR3001251B1 (fr) 2013-01-23 2013-01-23 Procede de determination de la position d'un dispositif de coupe dans le sol a l'aide d'un chariot mobile
PCT/FR2014/050102 WO2014114867A2 (fr) 2013-01-23 2014-01-20 Procede de determination de la position d'un dispositif de coupe dans le sol a l'aide d'un chariot mobile

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CN105507356A (zh) * 2016-02-01 2016-04-20 徐州徐工基础工程机械有限公司 一种双轮铣槽机铣削轮用摆齿机构
FR3078739B1 (fr) * 2018-03-09 2020-03-27 Soletanche Freyssinet Machine de forage comportant un dispositif de connexion pour un dispositif de mesure de verticalite
JP7039343B2 (ja) * 2018-03-16 2022-03-22 株式会社熊谷組 掘削位置測定方法
DE102019123450A1 (de) * 2019-09-02 2021-03-04 Liebherr-Werk Nenzing Gmbh Arbeitsgerät mit einem Werkzeug zur Erstellung eines Bodenschachts
EP4063568B1 (de) * 2021-03-23 2023-10-04 BAUER Maschinen GmbH Messanordnung und abtragsvorrichtung mit einer messanordnung

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WO2014114867A2 (fr) 2014-07-31
FR3001251B1 (fr) 2017-05-26
US9617712B2 (en) 2017-04-11
EP2948621A2 (de) 2015-12-02
HK1216915A1 (zh) 2016-12-09
FR3001251A1 (fr) 2014-07-25
US20150345108A1 (en) 2015-12-03
WO2014114867A3 (fr) 2014-12-31

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