EP2582884B1 - Machine pour produire des fondations dans un sol - Google Patents

Machine pour produire des fondations dans un sol Download PDF

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Publication number
EP2582884B1
EP2582884B1 EP12746059.0A EP12746059A EP2582884B1 EP 2582884 B1 EP2582884 B1 EP 2582884B1 EP 12746059 A EP12746059 A EP 12746059A EP 2582884 B1 EP2582884 B1 EP 2582884B1
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EP
European Patent Office
Prior art keywords
vehicle
working device
vehicle according
working
foundation
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
EP12746059.0A
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German (de)
English (en)
Other versions
EP2582884A1 (fr
Inventor
Franz Kaiser
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.)
Krinner Innovation GmbH
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Krinner Innovation GmbH
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Publication date
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Publication of EP2582884A1 publication Critical patent/EP2582884A1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/02—Placing by driving
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/22—Placing by screwing down

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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 anava and also there to be carried out further steps, optionally up to the introduction of the foundation itself, independently and performs automatically.
  • program-controlled especially driverless self-driving vehicle
  • a vehicle that is controlled as it were as a vehicle with autopilot.
  • 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.
  • 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.
  • 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.
  • the vehicle such as a tracked vehicle
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • pre-drilled (pre-drilled) holes may also be desirable to set the foundation means and, accordingly, the pre-drilled (pre-drilled) holes with a predetermined inclination.
  • 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.
  • the device is equipped with a device for the automatic detection and correction of such misalignments.
  • 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.
  • 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.
  • 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.
  • an inclination sensor may 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.
  • 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.
  • 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.
  • 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.
  • a single antenna would be sufficient for the movement of the vehicle.
  • the second antenna facilitates the exact determination of the vehicle in space.
  • satellite-based location 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.
  • the data processing system, the predetermined target positions for the introduced into the ground foundation devices are specified in the area.
  • the device 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 Aufpartyrn of photovoltaic systems.
  • 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.
  • 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.
  • the vehicle or the working device with its own 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 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Earth Drilling (AREA)
  • Operation Control Of Excavators (AREA)

Claims (9)

  1. Véhicule (1) autoguidé commandé par programme, notamment sans conducteur, servant à la mesure, au marquage et au préperçage (amorçage) automatiques de positions théoriques prédéterminées (2 a - x) pour des fondations réalisées dans un terrain (3), avec un dispositif de travail (4) servant au marquage des positions théoriques (2 a - x), le cas échéant également à l'extraction des marquages et/ou au préperçage (amorçage) de trous en vue d'amener les fondations dans le sous-sol au niveau des positions théoriques (2 a - x), avec un palier (5) du dispositif de travail (4) permettant son pivotement autour d'un axe longitudinal et transversal (6a, b) de telle sorte que les erreurs d'inclinaison de l'axe (7) du dispositif de travail (4) produites du fait d'une inclinaison longitudinale et/ou latérale du véhicule (1) dans le terrain (3) sont corrigibles, ainsi qu'avec un dispositif (8) de détection et de correction automatiques de telles erreurs d'inclinaison, en sus avec un dispositif de localisation (9) permettant de déterminer la position réelle du dispositif de travail (4) ainsi qu'avec une installation de traitement de données commandant le véhicule (1) de telle sorte que la position réelle du dispositif de travail (4) est respectivement amenée à couvrir les positions théoriques (2a - x) et commande le dispositif de travail (4) dans ces positions lors de l'exécution des étapes de travail prédéfinies.
  2. Véhicule selon la revendication 1, dans lequel le dispositif de travail (4) prend la forme d'une étape de travail supplémentaire permettant d'amener (insérer, visser) les fondations.
  3. Véhicule selon l'une quelconque des revendications précédentes, caractérisé en ce que le positionnement (5) prévoit un déplacement du dispositif de travail (4) en direction de l'axe longitudinal et transversal (6a, b) en vue d'ajuster avec précision la position réelle sur les positions théoriques (2a -x).
  4. Véhicule selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif (8) fait partie de l'installation de traitement de données servant à la détection et à la correction automatiques d'erreurs d'inclinaison de l'axe (7) du dispositif de travail ainsi qu'un dispositif d'ajustement de précision de la position réelle sur les positions théoriques (2a -x).
  5. Véhicule selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de localisation (9) est une localisation par satellites d'une précision > +/- 1 cm.
  6. Véhicule selon les revendications 1 à 5, caractérisé en ce que le dispositif de localisation est un tachymètre, notamment télécommandé.
  7. Véhicule selon les revendications 1 à 6, caractérisé en ce qu'un capteur d'inclinaison est prévu au niveau du véhicule ou du dispositif de travail (4) et qu'un capteur angulaire est respectivement prévu pour l'axe de pivotement (6a et 6b) du dispositif de travail (4).
  8. Véhicule selon les revendications 1 à 6, caractérisé en ce que respectivement un capteur d'inclinaison est prévu au niveau du véhicule et au niveau du dispositif de travail (4).
  9. Véhicule selon les revendications 7 ou 8, caractérisé en ce que le capteur d'inclinaison analyse les six degrés de liberté.
EP12746059.0A 2011-08-05 2012-07-25 Machine pour produire des fondations dans un sol Active EP2582884B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011109654 2011-08-05
PCT/EP2012/064604 WO2013020812A1 (fr) 2011-08-05 2012-07-25 Véhicule autotracté commandé par un programme pour la mesure, le marquage et au moins le pré-piquage ou, selon le cas, le préforage de trous pour des dispositifs pour fondations

Publications (2)

Publication Number Publication Date
EP2582884A1 EP2582884A1 (fr) 2013-04-24
EP2582884B1 true EP2582884B1 (fr) 2014-06-04

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP12746059.0A Active EP2582884B1 (fr) 2011-08-05 2012-07-25 Machine pour produire des fondations dans un sol

Country Status (3)

Country Link
US (1) US9002539B2 (fr)
EP (1) EP2582884B1 (fr)
WO (1) WO2013020812A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2734106B1 (fr) 2011-07-22 2019-09-18 Kpr U.S., Llc Connecteur pour électrode d'ecg
DE102018104306A1 (de) * 2018-02-26 2019-08-29 Liebherr-Werk Nenzing Gmbh Anbaugerät zum Einbringen einer Verrohrung bei der Pfahlgründung sowie Verfahren zum Einstellen der Pfahlneigung
US10697490B2 (en) 2018-07-24 2020-06-30 Ojjo, Inc. Threaded truss foundations and related systems, methods, and machines
US10907318B2 (en) * 2018-10-19 2021-02-02 Ojjo, Inc. Systems, methods, and machines for autonomously driving foundation components
US11492774B2 (en) 2019-01-04 2022-11-08 Ojjo, Inc. Systems, methods and machines for driving screw anchors

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6900761B2 (en) * 2003-04-03 2005-05-31 Optistreams, Inc. Automated portable remote robotic transceiver with directional antenna
WO2009055955A1 (fr) 2007-11-01 2009-05-07 Pius Kuster Procédé et dispositif de détermination d'un objet à partir de mesures hybrides
DE102008022478B3 (de) 2008-05-07 2009-10-01 Krinner Innovation Gmbh Schraubvorrichtung zum Einschrauben von Fundamenteinrichtungen als Anbaugerät zum Anbau an den Auslegerarm eines Baufahrzeuges
US20090290940A1 (en) * 2008-05-21 2009-11-26 Martin Sr John Paul Apparatus and method for using multiple tools on a single platform
US8606540B2 (en) * 2009-11-10 2013-12-10 Projectionworks, Inc. Hole measurement apparatuses
DE102010005098A1 (de) 2010-01-20 2011-07-21 Krinner Innovation GmbH, 94342 Verfahren zur Aufständerung von Solarpaneelreihen im unebenen Gelände

Also Published As

Publication number Publication date
US9002539B2 (en) 2015-04-07
EP2582884A1 (fr) 2013-04-24
WO2013020812A1 (fr) 2013-02-14
US20140172199A1 (en) 2014-06-19

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