Machine guidance systems - main goals

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Dominick Montgomery
6 years ago
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Literature Machine guidance systems - main goals - Construction machines = robots - further automatisation of

Construction) - improvements in accuracy (precision) - reduction of time - reduction of costs - assisting systems

(2005): A Modular System for Guidance and Control Applications for Construction Machines. In: Grün, Kahmen (Eds.

Environment of Applications of Machine Guidance Machine Types Draining Machines Grader Sliding Form Machines Road

Layers,Wearing Layers, Tunnel Construction TBM Milling Machines IAGB Stuttgart Blasting Requirements Positioning in 3D

1 Literature Machine guidance systems - main goals - Construction machines = robots - further automatisation of construction processes in CE CAD (Computer( Aided Design) CAM (Computer( Aided Manufacturing CIC (Computer Integrated Construction) - improvements in accuracy (precision) - reduction of time - reduction of costs - assisting systems control loops - Man Machine Interfacing Möser, M. Script 2005 Gläser, A.(2005): A Modular System for Guidance and Control Applications for Construction Machines. In: Grün, Kahmen (Eds.): 7th Conference on Optical 3-D Measurement Techniques, Volume I, pp , Vienna. Environment of Applications of Machine Guidance Machine Types Draining Machines Grader Sliding Form Machines Road Construction Machines Tunnelling Machines Application Drainage Plane surfaces Concrete Runways Roads Carrying Layers,Wearing Layers, Tunnel Construction TBM Milling Machines IAGB Stuttgart Blasting Requirements Positioning in 3D GPS Total Station TS6.7 Engineering Surveys for Transportation and Utility Lines Günther Retscher Multi-Sensor Systems for Machine Guidance and Control FIG XXII International Congress Washington, D.C. USA, April Alignement Laser 1

Machine Guidance Topcon Machine guidance using

slope, and heading of the blade or bucket are

This is especially advantageous for operations with

on complex design surfaces such as super elevation

Retscher/2002 Trimble Excavator Axis System

2 Machine Guidance Topcon Machine guidance using Lasertrackers Leica Geosystems Grader Control Why Two Antennas? Using GPS, the exact position, very accurate cross slope, and heading of the blade or bucket are measured. This is especially advantageous for operations with dozers with angle blades (6-way blades), graders, and on complex design surfaces such as super elevation grading tasks. Retscher/2002 Trimble Excavator Axis System (Traversing,Polygonzug( Traversing,Polygonzug) Control Loop in (Co( Co-ordinates) Determined Coordinates Calculation of Control Values Machine and Control Values Position XYZ Filtering Positioning (GPS/LPS) 2

Components of a Machine Guidance System Characterisitcs of Direct

assisted Machine Guidance Electro Hydraulic Control Loop IAGB

Draining Machine Reference Target Check Target Laser Beam

3 Components of a Machine Guidance System Characterisitcs of Direct Laser Control (visually, display with analogous patterns) Software assisted Machine Guidance Electro Hydraulic Control Loop IAGB Stuttgart Visual Machine Guidance Software assisted machine Guidance Draining Machine Reference Target Check Target Laser Beam Construction Laser Electro Hydraulic Control Loop (Topcon) Laser guided Construction Machines 3

4 Machine Control using Ration Lasers and Electronic Receivers 1 D (Height Only) Machine Receiver for Rotation Lasers Machine Receiver Machine Detector (AMA,Sweden) Topcon Machine Guidance Display Unit 4

Draining Machine Reference Target Check Target Laser Beam Construction

5 Visual Machine Control 3-D D Machine Target Reference Target Heigth Visual Machine Guidance Wire Based Systems (Road construction) Wire Wire Stakes Draining Machine Reference Target Check Target Laser Beam Construction Laser Vertical Transducer Horiozontal Transducer Wire Machine Guidance Grader Roads 5

Road Layers /Compaction Machines (CIRCOM) Pavement

Interface of the Ground Station Pavement Machine

Ingenieure und Architekten www.schaellibaum.

Principle Schällibaum AG ch Schällibaum AG ch

6 Road Layers /Compaction Machines (CIRCOM) Pavement Machine Guidance Totalstation Reflektor CIRCOM CIRCOM MMI of the embedded system Man-Machine Interface of the Ground Station Pavement Machine Guidance Reference Points Schällibaum AG Ingenieure und Architekten Schällibaum AG Ingenieure und Architekten Machine Computer Functional Principle Schällibaum AG Ingenieure und Architekten Schällibaum AG Ingenieure und Architekten Funktionsprinzip Maschinen-Computer Designfile (Projektberechnung) 6

Concrete Layer Overview Schällibaum AG Ingenieure und Architekten www.schaellibaum.

per machine One required per site dependent required for setting out construction site Setups per construction Multiple times per site Not applicable Multiple times per site One site Several horizons

$kilometers Sensors Up to 700 m depending on Several kilometres line of sight and refraction work in close-range line of sight and refraction influences influences Usability under bad Reduced Not$

7 Concrete Layer Overview Schällibaum AG Ingenieure und Architekten Technologies Rotating Laser Systems Alignment Lasers Wires or Stakes Tracking Tacheometers GPS Dimensions 1-D (height only) 3-D 3-D 3-D Reference stations One or more; Many tachymeter stations One per machine One required per site dependent required for setting out construction site Setups per construction Multiple times per site Not applicable Multiple times per site One site Several horizons by coding of the laser signal Number of machines Unlimited in one plane Not applicable One per total station Unlimited supported by reference station Maximum range Up to 300 m depending on Several kilometers Sensors Up to 700 m depending on Several kilometres line of sight and refraction work in close-range line of sight and refraction influences influences Usability under bad Reduced Not affected Reduced Not affected, but visibility visibility conditions to satellites required Accuracy mm - level mm level mm - level to cm - level cm - level Major applications Precise height control for Guidance of road and Guidance of graders, Guidance of dozers and graders; Guidance of road slipform paving machines excavators, scrapers, and slip-form paving scrapers or dozers Precision Farming machines, tennis courts Table according to Retscher 2002 Laseralignment in Tunneling for Blasting Technologies Machine Guidance Technologies in Tunneling TBM with Gripper (Lötschberg( tschberg) Cross Section of a Tunnel with Installations 9 m Bohrkopf 1 Schreitwerke Nachläufer 410 Meter 7

8 TBM Guidance TBM Laser Guidance VMT Electronic Target for TBM VMT Sensor Target with integrated 2 axial Inclinometer Sensor surface 2 Inclinometers Sensor surface 1 Device for deflection of a Laserbeam Tunnel and Machine Coordinates Systems Global Coordinates of the Tunnel Deike/2004 8

TBM Laser Guidance Configuration Prism Laser

Laser Geometry at the TBM Head Gripper 1 Gripper

9 TBM Laser Guidance Configuration Prism Laser Theodolite based Guidance Systems Prism Tacheometer Reference Prism Axis Tacheometer Fixation Tacheometer Fixation at the TBM Maschine Laser Geometry at the TBM Head Gripper 1 Gripper 2 Observed Direction Prism Calculated Direction Inclinometer TPS 9

10 TBM Display Display Milling Machine (New Austrian Tunneling Method) Milling Machine Maschine-related Coordinate Systems (Milling( Machine) Targets pitch X,Y,Z, Machine roll 10

11 Tunnelling END Pipe Jacking and Micro Tunneling Techniques Tunnels for Traffic etc. Pipe LASER Spectra Physics Dialgrade Pipe Laser Pipe Laser with Target (WILD/LEICA) 11

PCCP Pavement Structures, 3D Modeling and Machine Control

PCCP Pavement Structures, 3D Modeling and Machine Control Design-Build P3 Project Contracting Entity: Infrastructure Development Partners Contract Value: $95.03 M Contract Completion Date: December 2015