EP2582884B1 - Vehicle for making foundations in a soil - Google Patents

Description

The application relates to a program-controlled, in particular driverless, self-propelled vehicle for automatically measuring predetermined target positions to be introduced into the ground foundation means for automatically marking the measured predetermined target positions, if necessary, also for removing the markers again, and / or for automatic pre-piercing (pre-drilling) of holes in Soil for introducing the foundation facilities at the measured predetermined target positions, and possibly also for the automatic introduction (setting), in particular turning or screwing, of foundation devices in the ground at the measured predetermined target positions.

Devices for pre-piercing holes for introducing foundation means and for introducing the foundation means even into the ground are known. In the simplest case, they are maneuvered by the operator into the positions in which pre-drilled (pre-drilled) or foundation devices are to be set. So is out of the US 2009/290940 A1 a device according to the preamble of claim 1 is known.

Particular requirements arise when groups of foundation devices are to be set, such as rows with uniform spacings. In this case, the operator is oriented in the simplest case at a predetermined boundary line, such as - when setting foundation devices for road boundary posts - at the roadside, the determination of the required defined, reasonably consistent distances requires an additional measurement. In this case, the person entrusted with the measurement of the distances will doubtless mark the measured positions for the preparation of the subsequent work steps.

If such orientations are lacking - for example in open terrain - they can be replaced by other aids, such as the definition of orientation lines and points by means of theodolites. However, this requires a considerable amount of work, in particular, if not only individual rows of foundation facilities, but entire fields are to be set, as is often the case today with the installation of photovoltaic systems in the field.

Although theoretically, the positions of the (possibly hundreds of) foundations can be measured individually. The effort is immense. In addition, the erection of such systems requires a precision and in particular an accuracy of the positioning of the foundations, which can be met with conventional measuring methods difficult.

This may be still valid, if such a system is to be installed in level terrain, because the foundations are then to be positioned in a rectangular grid, which can still measure relatively easily in the area.

However, this becomes much more difficult if the elevation is to take place on uneven terrain, as is increasingly required in view of the land consumption of such facilities today. For then the foundation positions may migrate out of the rectangular grid and instead shift to a more or less pronounced irregular diamond pattern, depending on the terrain gradient, as is the case with the applicant on the subject of her application DE 10 2010 005 098.9 has made.

This means that in such a case, even each individual foundation position must be calculated individually on the basis of a male terrain profile and measured individually.

The calculation of the foundation positions on the basis of a terrain profile with a suitable computer program is not a problem in itself. For this purpose, reference may be made to the applicant's own application. Extremely labor-intensive and error-prone, however, is the calibration of the calculated positions in the field.

This is usually done today with the help of a satellite-controlled pole, which the operator has to position at the indicated location on the ground.

Already here, however, there are inaccuracies that continue when then the found position - for example, with the help of a struck peg - is marked. Further sources of error add up when the peg is subsequently removed for pre-drilling (pre-drilling) the hole for the foundation and the piercing (pre-drilling) device and / or the foundation to be inserted is positioned more or less precisely.

Taken together, this can lead to deviations that exceed the tolerable in the construction of such systems tolerances by far.

From this follows the task of specifying a vehicle that reliably and quickly measures predetermined (calculated) setpoint positions for foundation structures to be introduced into the ground in the terrain with the least possible tolerance and the further steps required for the introduction of the foundation facilities (marking, piercing, possibly also setting the Foundation devices themselves) performs just as quickly and reliably with largely eliminating avoidable intermediate steps and sources of error.

This object is achieved by a vehicle according to claim 1. The dependent claims specify details of their design.

The vehicle is a program-controlled, in particular driverless, self-propelled vehicle which has its setpoint positions, i. the points at which markers are set or, if necessary, removed or set foundation equipment or holes for it, autonomously and automatically, especially without intervention of an operator anfährt and also there to be carried out further steps, optionally up to the introduction of the foundation itself, independently and performs automatically.

The term "program-controlled, especially driverless self-driving vehicle" is to be understood in the context of this application, a vehicle that is controlled as it were as a vehicle with autopilot. As soon as the autopilot is switched on, the automatic system assumes control of the vehicle with regard to direction and speed to the respective setpoint positions to be approached. The vehicle does this even when an operator is still sitting in the driver's cab. For safety reasons, it is preferable anyway that the driver's cab is still occupied despite autopilot. Incidentally, this is also borrowed from the occupation of the cockpit of an aircraft, which is known to be frequently controlled by autopilot, without the cockpit being personless. The operator sitting in the driver's cab intervenes in the automatic only in special situations. This may be unforeseen obstacles, limitations or possibly also a failure of the automatic, i. be the autopilot.

This means that the vehicle autonomously programmatically measures the predetermined positions for the foundation devices to be introduced into the ground in the terrain, optionally marked, the markers optionally also for introducing the Vorstech- (pre-drilling) device or the foundation devices themselves removed, further optionally independently programmatically a device for pre-piercing (pre-drilling) of holes in the ground for introducing the foundation facilities operated at the measured predetermined positions and / Finally, a device for driving or screwing foundation equipment in the ground at the measured predetermined, possibly pre-drilled positions in operation sets.

For this purpose, the vehicle, such as a tracked vehicle, on a working device. The working device may optionally be designed only for measuring and marking the measured predetermined target positions, but it may optionally also the removal of the mark, such as hammered or screwed pegs, which would be in the further steps in the way, take over.

Alternatively or additionally, the working device may also be designed for measuring and pre-piercing (ear drilling) of holes in the ground for introducing the foundation devices to the pre-set predetermined target positions.

Finally, the working device can be designed as a device for measuring and for driving or screwing the foundation devices into the soil at the measured predetermined, possibly pre-drilled (predrilled) desired positions.

It is understood that the marking of the predetermined position can be omitted if instead of immediately pre-drilled (pre-drilled), and that the pre-drilling (pre-drilling) is not always required, such as when the soil is light, and in such a case only on the measured predetermined location the foundation is hammered or screwed, in which case can be dispensed with the unnecessary parts of the working device.

Conversely, it is understood that the working device can also be limited to the marking, optionally with the removal of the mark and / or on the pre-piercing (pre-drilling), if for the further steps, such as for screwing in the marked locations, own equipment for To be available.

In summary, it can be said that the working equipment may have different components depending on the needs, which may also be interchangeable as accessories depending on the purpose of use or as exchangeable equipment in the manner of a revolver construction However, in each case the device combines the program-controlled automatic measurement of the predetermined positions with at least one component of the working device (for marking or pre-piercing or pre-piercing).

The foundation devices to be introduced should generally be introduced vertically into the ground. The same applies mutatis mutandis to the pre-drilled (pre-drilled) holes that prepare and facilitate only the introduction of the foundation device and must therefore be aligned identically. The same is true for practical reasons as well for about as mark to be introduced pegs.

However, it may also be desirable to set the foundation means and, accordingly, the pre-drilled (pre-drilled) holes with a predetermined inclination.

So that this intended inclination can be reliably maintained even in the case of an obliquity of the vehicle, as it will often arise in the field, the working equipment is mounted on the vehicle with a bearing that their pivoting in the longitudinal and transverse axis of the vehicle so allows misalignments of the longitudinal axis of the working equipment, which are caused by a longitudinal or lateral inclination of the vehicle in the field, are correctable.

So that the correction can be carried out automatically at any time during the use of the device, the device is equipped with a device for the automatic detection and correction of such misalignments. For this purpose, inclination sensors can be provided in the simplest way on the working device or on the vehicle, the signals of which are used to correct the axis of the working device.

In a particularly advantageous embodiment, the inclination sensors used are so-called gyroscopic inclination sensors. These tilt sensors are able to provide information of all six degrees of freedom. These are sensors for measuring rectilinear accelerations in the direction of the x-, y- and z-axis and sensors for detecting rotational accelerations about the x, y and z axes. So that the information of all sensors can be reliably evaluated over the six degrees of freedom, such gyroscopic inclination sensors have a logic circuit or a calculation unit internally. The means for automatically detecting and correcting the misalignments may be formed in different configurations. Preferably, such a tilt sensor is mounted on the vehicle, and in addition are two angle sensors for the two pivot axes of Work device provided. This makes it possible to always arrange the working device taking into account the inclination of the vehicle in the direction of the center of the earth, ie perpendicular or in an otherwise desired axial direction.

However, it is also possible for an inclination sensor to be arranged on the working device, with an angle sensor each being associated with a swiveling axis of the working device. The angle sensors for the swing axes of the work equipment are capable of this configuration and are also used to determine the corresponding angular deviations from the vehicle. Thus, it is also possible to move the working equipment towards the center of the earth, i. Align vertically or in a different desired axial direction.

According to a third configuration, an inclination sensor is provided on the vehicle and on the working device. In this case, it is no longer necessary to provide the pivot axes of the working device with angle sensors.

Furthermore, the device according to the invention has a locating device for determining the actual position (the location coordinates) of the working device in the field. This may be earth-based in a known manner, but today it will be conveniently one of the common satellite-based location (GPS, GNSS) that meets the accuracy requirements of setting foundation equipment for photovoltaic systems, and the like. excellent, because they now work with an appropriate design, including appropriate software with an accuracy of +/- 1 cm and more.

Preferably, two GPS antennas are provided for the vehicle according to the invention. A GPS antenna serves to determine the position of the vehicle, and the second GPS antenna indicates the direction in which the vehicle is standing. In principle, a single antenna would be sufficient for the movement of the vehicle. However, the second antenna facilitates the exact determination of the vehicle in space.

The use of such a satellite-based location is also advantageous because it provides the location coordinates of the work facility in the form of data that can process the data processing layer provided further.

This data processing system controls the vehicle so automatically, in particular without a driver, that the working device is moved to the respective working position. This means that the data processing system controls the vehicle so that the actual position of the working device is brought to coincide with the respective predetermined target position, in which they can perform the intended for the introduction of the foundation means at the measured predetermined place work (marking, if necessary removing the mark, and / or pre-piercing / pre-drilling and / or introduction of the foundation facilities).

For this purpose, the data processing system, the predetermined target positions for the introduced into the ground foundation devices are specified in the area.

Since it works in case of need with a satellite positioning with an accuracy of +/- 1 cm, the device achieves a virtually pinpoint positioning of the foundations, as it is desirable for special purposes such as the Aufständern of photovoltaic systems.

This is especially true when - as is common in such systems - the foundations are introduced vertically and any inclination errors have been previously corrected by an obliquity of the vehicle, as provided for in the invention. Because then the device works practically pinpoint and error-free.

Should it exceptionally be desirable to introduce foundation devices in a position deviating from the vertical inclined position, then the device according to the invention can also be justified if the data processing system is appropriately programmed. In order to ensure in this case a precise alignment of the working device to the predetermined target position, it is then of course necessary that the inclination is taken into account in the computer program and thus ensures that the axis of the working device exactly runs through the respective target position when they are used.

The vehicle can then approach the target positions without errors, without any readjustment by the working device would be required. Such a readjustment is therefore according to the invention also only optionally provided in the form of a device which, in addition to the pivoting of the working means for correcting its axis, provides a horizontal displacement of the working means in the longitudinal and transverse directions for fine-tuning the actual position to the desired position.

For detecting and correcting misalignments of the longitudinal axis of the working device and possibly also for fine adjustment of the working device to its respective desired position, the vehicle or the working device with its own, from the data processing system be provided with independent facilities. However, these can also be integrated into the data processing system.

Fig. 1

das Fahrzeug 1 zum selbsttätigen Einmessen, Markieren und Vorstechen (Vorbohren) vorbestimmter Sollpositionen für Fundamenteinrichtungen im Gelände in perspektivischer Sicht;

Fig. 2

das Fahrzeug nach Fig. 1 in Seitenansicht;

Fig. 3

das Fahrzeug in Draufsicht; und

Fig. 4

ein Raster von Sollpositionen 2a - x.

The subject of the application will be described below with reference to the drawings. Show

Fig. 1

the vehicle 1 for automatic measuring, marking and pre-drilling (pre-drilling) predetermined target positions for foundation facilities in the field in perspective view;

Fig. 2

the vehicle after Fig. 1 in side view;

Fig. 3

the vehicle in plan view; and

Fig. 4

a grid of nominal positions 2a-x.

FIG. 1 shows the vehicle 1 for automatic calibration, marking and pre-piercing (predrilling) predetermined target positions for foundation facilities in the area 3 in a perspective view. Shown is the working device 4, which has a bearing 5 on the vehicle 1, by means of which it is pivotable to align its axis 7 about the pivot axes 6a and 6b. A device 8 detects misalignments and controls their correction. A locating device 9 determines the actual position of the working device 4, and a data processing system controls the working device 4 on the basis of her predetermined data predetermined in the desired positions, ie in the positions in which the axis 7 of the working device 4 cuts the target positions, so that the working device 4 can execute the intended work steps precisely.

Fig. 2 shows the vehicle 1 after Fig. 1 in side view with all the details already mentioned.

Fig. 3 shows the vehicle 1 in plan view with all the details already mentioned.

Fig. 4 shows a grid of target positions 2a - x, as is the case, for example, when determining the target positions of the stands of a tilted photovoltaic system on uneven terrain by the Lot falls from their upper points of articulation on the terrain, as the Applicant in the proposed earlier application.

The grid indicates only schematically and without any claim to computational precision, as in this case results in a plurality of desired positions that do not follow a simple mathematical principle, such as not designed as a rectangular structure, but other, more complex laws follow and therefore difficult to determine ( to be calculated) and to be measured.

reference numeral

1

vehicle

2 a - x

target positions

3

terrain

4

working device

5

Storage of the working equipment

6 a, b

Pivot axes of the working device

7

Axis of the working device

8th

Device for automatically detecting and correcting misalignments

9

locating device

Claims (9)

1. Program-controlled, in particular driverless, self-propelling vehicle (1) for automatically measuring, marking and prepunching (predrilling) predetermined setpoint positions (2 a-x) for foundation installations in the ground (3), having a working device (4) for marking the setpoint positions (2 a-x), if appropriate also for removing the marks again and/or for prepunching (predrilling) holes for inserting the foundation installations in the soil at the setpoint positions (2 a-x), having a bearing (5) of the working device (4) which permits the latter to pivot about a longitudinal axis (6a) and transverse axis (6b) in such a way that incorrect inclinations of the axis (7) of the working device (4), which arise as a result of the longitudinal inclination and/or lateral inclination of the vehicle (1) in the ground (3), can be corrected, and having a device (8) for automatically detecting and correcting such incorrect inclinations, also having a locating device (9) for determining the actual position of the working device (4) and having a data processing system which controls the vehicle (1) in such a way that the actual position of the working device (4) is placed in each case in congruence with the setpoint positions (2 a-x) and which controls the working device (4) in these positions when the predefined working steps are carried out.
2. Vehicle according to Claim 1, in which the working device (4) is designed to insert (knock in, screw in) the foundation installation as a further working step.
3. Vehicle according to either of the preceding claims, characterized in that the bearing (5) provides, for fine adjustment of the actual position to the setpoint positions (2 a-x), displaceability of the working device (4) in the direction of the longitudinal axis (6a) and transverse axis (6b).
4. Vehicle according to one of the preceding claims, characterized in that the installation (8) for automatically detecting and correcting incorrect inclinations of the axis (7) of the working device and a device for fine adjustment of the actual position to the setpoint positions (2 a-x) are parts of the data processing system.
5. Vehicle according to one of the preceding claims, characterized in that the locating device (9) is a satellite locating system having an accuracy > +/- 1 cm.
6. Vehicle according to Claims 1 to 5, characterized in that the locating device is a tachymeter, in particular a remote-controlled tachymeter.
7. Vehicle according to Claims 1 to 6, characterized in that an inclination sensor is provided on the vehicle or the working device (4), and an angle sensor is provided for each of the pivoting axes (6a and 6b) of the working device (4).
8. Vehicle according to Claims 1 to 6, characterized in that an inclination sensor is provided on the vehicle and on the working device (4), respectively.
9. Vehicle according to Claim 7 or 8, characterized in that the inclination sensor evaluates all six degrees of freedom.

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