Machine guidance systems - main goalswebarchiv.ethz.ch/geometh-data/student/eg1/2006/10... ·...

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ETH Zürich

Geodetic Metrology and Engineering Geodesy - Prof. Dr. H. Ingensand

Machine Guidance Systems

Machine guidance systems Machine guidance systems -- main goalsmain goals

-- Construction machines = robotsConstruction machines = robots-- further further automatisationautomatisation of construction processes in CE of construction processes in CE

CAD (CAD (CComputer omputer AAided ided DDesign) esign) CAM (CAM (CComputer omputer AAided ided MManufacturing anufacturing CIC (Computer Integrated Construction)CIC (Computer Integrated Construction)

-- improvements in accuracy (precision)improvements in accuracy (precision)-- reduction of timereduction of time-- reduction of costsreduction of costs-- assisting systems assisting systems control loops control loops -- Man Machine InterfacingMan Machine Interfacing

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Machine Guidance SystemsLiteratureLiterature

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. 307-316, Vienna.

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Machine Guidance SystemsEnvironment of Machine Guidance SystemsEnvironment of Machine Guidance Systems

IAGB Stuttgart

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Machine Guidance SystemsApplicationsApplications of of MachineMachine GuidanceGuidance

Machine Types ApplicationDraining Machines Drainage

Grader Plane surfaces

Sliding Form Machines Concrete Runways

Roads

Road Construction Machines Carrying Layers,Wearing

Layers,

Tunnelling Machines Tunnel Construction•TBM

•Milling Machines

•Blasting

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Machine Guidance SystemsRequirementsRequirements

TS6.7 Engineering Surveys for Transportation and Utility LinesGünther RetscherMulti-Sensor Systems for Machine Guidance and ControlFIG XXII International CongressWashington, D.C. USA, April 19-26 2002

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Machine Guidance SystemsPositioningPositioning in 3D in 3D MachineMachine GuidanceGuidance SystemsSystems

GPS

Total Station

Alignement Laser

2

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Machine Guidance SystemsMachine Guidance TopconMachine Guidance Topcon

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Machine Guidance SystemsMachine guidance using Machine guidance using LasertrackersLasertrackers

Leica Geosystems

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Machine Guidance SystemsGrader ControlGrader Control

Retscher/2002

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Machine Guidance SystemsWhy Two Antennas?Why Two Antennas?

Trimble

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.

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Machine Guidance SystemsExcavator Axis System (Excavator Axis System (Traversing,PolygonzugTraversing,Polygonzug))

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Machine Guidance SystemsControlControl LoopLoop in in MachineMachine GuidanceGuidance Systems (Systems (CoCo--ordinatesordinates))

DeterminedCoordinates

Machine and Control Values

Positioning (GPS/LPS)FilteringPosition XYZ

Calculation of Control Values

3

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Machine Guidance SystemsComponents of a Machine Guidance SystemComponents of a Machine Guidance System

IAGB Stuttgart

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Machine Guidance SystemsCharacterisitcsCharacterisitcs of Machine Guidance Systemsof Machine Guidance Systems

Direct Laser Control (visually, display with analogous patterns)Software assisted Machine Guidance Electro Hydraulic Control Loop

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Machine Guidance SystemsVisual Visual MachineMachine GuidanceGuidance

Draining Machine Reference Target Check Target Laser Beam Construction Laser

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Machine Guidance SystemsSoftware assisted machine GuidanceSoftware assisted machine Guidance

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Machine Guidance SystemsElectro Hydraulic Control Loop (Topcon)Electro Hydraulic Control Loop (Topcon)

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Laser guided Construction MachinesLaser guided Construction Machines

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1 D Machine Guidance Systems (Height Only)1 D Machine Guidance Systems (Height Only)

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Machine Guidance SystemsMachineMachine ControlControl usingusing Ration Lasers and Electronic ReceiversRation Lasers and Electronic Receivers

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Machine Guidance SystemsMachineMachine Receiver Receiver forfor Rotation LasersRotation Lasers

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Machine Guidance SystemsMachineMachine ReceiverReceiver

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Machine Guidance SystemsMachineMachine DetectorDetector ((AMA,SwedenAMA,Sweden))

Display Unit

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Machine Guidance SystemsTopconTopcon MachineMachine GuidanceGuidance

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33--D Machine Guidance SystemsD Machine Guidance Systems

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Machine Guidance SystemsVisual Visual MachineMachine ControlControl

ReferenceTarget

Machine Target

Heigth

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Machine Guidance SystemsVisual Visual MachineMachine GuidanceGuidance

Draining Machine Reference Target Check Target Laser Beam Construction Laser

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Machine Guidance SystemsWireWire BasedBased Systems (Road Systems (Road constructionconstruction))

Wire

VerticalTransducer

HoriozontalTransducer

Wire

Wire

Stakes

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RoadsRoads

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Machine Guidance SystemsMachineMachine GuidanceGuidance

Grader

6

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Machine Guidance SystemsRoad Layers /Compaction Machines (CIRCOM) Road Layers /Compaction Machines (CIRCOM)

CIRCOM

CIRCOM

MMI of the embedded systemMan-Machine Interfaceof the Ground Station

http://www.pges.fr/gb/circom.htm

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Machine Guidance SystemsPavementPavement MachineMachine GuidanceGuidance

Totalstation

Reflektor

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Machine Guidance SystemsPavementPavement MachineMachine GuidanceGuidanceSchällibaum AG Ingenieure und Architekten www.schaellibaum.ch

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Schällibaum AG Ingenieure und Architekten www.schaellibaum.ch

Reference PointsReference Points

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FunktionsprinzipMaschinen-ComputerDesignfile (Projektberechnung)


MachineMachine ComputerComputer

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FunctionalFunctional PrinciplePrinciple

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Concrete LayerConcrete Layer

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Machine Guidance SystemsOverviewOverview

Guidance of road and slipform paving machines

mm –level

Not affected

Several kilometers Sensors work in close-range

Not applicable

Not applicable

Many tachymeter stations required for setting out

3-D

Alignment LasersWires or Stakes

Guidance of dozers and scrapers, Precision Farming

Guidance of graders, excavators, scrapers or dozers

Precise height control for graders; Guidance of road and slip-form paving machines, tennis courts

Major applications

cm - levelmm - level to cm - level

mm - levelAccuracy

Not affected, but visibility to satellites required

ReducedReducedUsability under bad visibility conditions

Several kilometresUp to 700 m depending on line of sight and refraction influences

Up to 300 m depending on line of sight and refraction influences

Maximum range

UnlimitedOne per total stationUnlimited in one planeNumber of machines supported by reference station

OneMultiple times per siteMultiple times per siteSeveral horizons by coding of the laser signal

Setups per construction site

OneOne per machineOne or more; site dependent

Reference stations required per construction site

3-D3-D1-D (height only)Dimensions

GPSTracking TacheometersRotating Laser SystemsTechnologies

Table according to Retscher 2002

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Machine Guidance Technologies in Machine Guidance Technologies in TunnelingTunneling

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Machine Guidance SystemsLaseralignmentLaseralignment in in TunnelingTunneling forfor BlastingBlasting TechnologiesTechnologies

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Machine Guidance SystemsTBM with Gripper (TBM with Gripper (LLöötschbergtschberg))

410 Meter

NachläuferSchreitwerkeBohrkopf1

9 m

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Machine Guidance SystemsCross Section of a Tunnel with Installations Cross Section of a Tunnel with Installations

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Machine Guidance SystemsTBM TBM GuidanceGuidance

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Machine Guidance SystemsTBM Laser TBM Laser GuidanceGuidance

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Machine Guidance SystemsVMT Electronic VMT Electronic TargetTarget forfor TBMTBM

Target with integrated 2 axial Inclinometer

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Machine Guidance SystemsVMT SensorVMT Sensor

Sensor surface 2

Sensor surface 1

Inclinometers

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Machine Guidance SystemsDeviceDevice forfor deflectiondeflection of a of a LaserbeamLaserbeam

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Machine Guidance SystemsTunnel and Machine Coordinates SystemsTunnel and Machine Coordinates Systems

Deike/2004

Global Coordinates of the Tunnel

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Laser Laser TheodoliteTheodolite based Guidance Systemsbased Guidance Systems

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Machine Guidance SystemsTBM Laser Guidance ConfigurationTBM Laser Guidance Configuration

Tacheometer

Prism

Prism

Reference Prism

Axis

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Machine Guidance SystemsTacheometerTacheometer FixationFixation

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Machine Guidance SystemsTacheometerTacheometer Fixation at the TBM Fixation at the TBM MaschineMaschine

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Machine Guidance SystemsLaser Geometry at the TBMLaser Geometry at the TBM

Head Gripper 1 Gripper 2Observed Direction

Calculated DirectionPrism

Inclinometer

TPS

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Machine Guidance SystemsTBM DisplayTBM Display

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Machine Guidance SystemsDisplay Display

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Machine Guidance SystemsMillingMilling MachineMachine (New (New AustrianAustrian TunnelingTunneling MethodMethod))

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Machine Guidance SystemsMillingMilling MachineMachine

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Machine Guidance SystemsMaschineMaschine--relatedrelated CoordinateCoordinate Systems (Systems (MillingMilling MachineMachine))

X,Y,Z,Machine

pitch

roll

Targets

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ENDEND

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TunnellingTunnellingPipe Jacking and Micro Pipe Jacking and Micro TunnelingTunneling TechniquesTechniquesTunnels for Traffic etc.Tunnels for Traffic etc.

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Machine Guidance SystemsPipe LASER Pipe LASER SpectraSpectra PhysicsPhysics DialgradeDialgrade

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Machine Guidance SystemsPipe LaserPipe Laser

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Machine Guidance SystemsPipe Laser Pipe Laser withwith TargetTarget (WILD/LEICA)(WILD/LEICA)

Machine guidance systems - main goalswebarchiv.ethz.ch/geometh-data/student/eg1/2006/10... ·...

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