EP2582884A1 - Vehicle operated in a self-propelled program-controlled manner for measuring, marking and at least pre-punching or pre-drilling holes for foundation devices - Google Patents

Vehicle operated in a self-propelled program-controlled manner for measuring, marking and at least pre-punching or pre-drilling holes for foundation devices

Info

Publication number
EP2582884A1
EP2582884A1 EP12746059.0A EP12746059A EP2582884A1 EP 2582884 A1 EP2582884 A1 EP 2582884A1 EP 12746059 A EP12746059 A EP 12746059A EP 2582884 A1 EP2582884 A1 EP 2582884A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
working device
foundation
vehicle according
positions
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.)
Granted
Application number
EP12746059.0A
Other languages
German (de)
French (fr)
Other versions
EP2582884B1 (en
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
Original Assignee
Krinner Innovation GmbH
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 Krinner Innovation GmbH filed Critical Krinner Innovation GmbH
Publication of EP2582884A1 publication Critical patent/EP2582884A1/en
Application granted granted Critical
Publication of EP2582884B1 publication Critical patent/EP2582884B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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, for example by defining orientation lines and points using 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.
  • the term "program-controlled, in particular driverless, self-propelled vehicle” is understood to mean a vehicle which is controlled as a vehicle with autopilot, so to speak.As soon as the autopilot is switched on, the automatic system takes over control of the vehicle in terms of direction and speed The vehicle does this, even if an operator in the driver's cabin is still sitting For safety reasons, it is anyway preferable that the driver's cab is still occupied despite autopilot.Also, this is 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 can unforeseen obstacles, limitations or possibly also a failure of the automatic, ie the autopilot be iloten.
  • the vehicle autonomously programmatically controls the predetermined positions for the foundation devices to be introduced into the ground in the terrain. measures, optionally marked, the markings, if necessary, also for introducing the
  • Vorstech- (pre-drilling) device or the foundation devices themselves removed further optionally independently programmatically actuated a device for pre-drilling holes in the ground for introducing the foundation devices at the measured predetermined positions and / or finally a device for driving or screwing Foundation devices in the ground at the set predetermined, possibly pre-drilled positions in operation sets.
  • 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 soli 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 can have different components depending on the needs, which may also be exchangeable as accessories depending on the purpose of use or as exchangeable equipment in the manner of a turret assembly.
  • the device combines the program-controlled automatic measurement of the predetermined positions with at least one component of the working device (for marking or piercing (pre-drilling) or introducing the foundation device).
  • 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.
  • the foundation means and, accordingly, the 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. 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 makes it possible to correct misalignments of the longitudinal axis of the working device caused by longitudinal or lateral inclination of the vehicle in the terrain.
  • 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 Intention provided.
  • an inclination sensor 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 Verachwenkachsen the work equipment are capable of this configuration and are also used to determine the corresponding angular deviations to the vehicle.
  • it is also possible to align the direction of the work in the direction of the center of the earth that is to say vertically or in an otherwise desired axial direction.
  • an inclination sensor is provided on the vehicle and on the working device. In this case, it is no longer necessary to provide the pivoting axes of the working device with angle sensors.
  • the device according to the invention has a locating device for determining the Istpositjon (the location coordinates) of the working equipment in the field.
  • This may be ground based in a known manner, but today it will conveniently be one of the common satellite based positioners (GPS, GNSS) that meets the accuracy requirements in setting foundation installations for photovoltaic systems, among others. excellent, because they now work with an appropriate design, including appropriate software with an accuracy of +/- 1 cm and more.
  • GPS satellite based positioners
  • GPS antennas are provided for the vehicle according to the invention.
  • a G PS 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.
  • 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 workstation tion can be brought to cover the respective predetermined target position in which they can carry out the intended for the introduction of the foundation device at the measured predetermined place operations (marking, possibly removing the marking, and / or pre-piercing pre-drilling and / or introduction of the foundation facilities).
  • 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 do justice to this with appropriate programming of the data processing system.
  • the inclination is taken into account in the computer program and thus ensures that the axis of the working device runs exactly through the respective desired 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 from the data processing system be provided with independent facilities. However, these can also be integrated into the data processing system.
  • Figure 1 shows the vehicle 1 for automatic measuring, marking and pre-piercing (predrilling) predetermined target positions for foundation facilities in the field in a perspective view.
  • Fig. 2 shows the vehicle of Figure 1 in side view.
  • FIG. 3 shows the vehicle in plan view; and FIG. 4 shows a grid of nominal positions 2 a - x.
  • Figure 1 shows the vehicle 1 for automatic measuring, 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 (not shown) controls the operating device 4 to the set positions by the predetermined data given thereto. in the positions in which the axis 7 of the working device 4 intersects the setpoint positions, so that the working device 4 can execute the intended work steps with pinpoint precision.
  • Fig. 2 shows the vehicle 1 of 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 soil positions 2a-x, as is the case, for example, when determining the desired positions of the stands of a tilted photovoltaic system in uneven terrain by dropping the solder from its upper points of articulation onto the terrain, as in FIG Applicant has proposed in the aforementioned earlier application.
  • the grid indicates only schematically and without any claim to mathematical accuracy, as in this case results in a plurality of desired positions that do not follow a simple mathematical principle, such as not designed as Rechteckstaiktur, but follow other, more complex laws and thus more 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)
  • Earth Drilling (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

A vehicle (1) operated in a self-propelled program-controlled manner, in particular without a driver, for automatically measuring, marking and/or pre-drilling predetermined desired positions for foundation devices to be introduced into the ground (3), possibly also for introducing the foundation devices themselves, comprising a working device (4), which can be pivoted about pivoting axes (6a, b) and is equipped with a device (8) for automatically detecting and correcting misalignments of the axis (7) thereof and which brings the vehicle (1) to the desired positions (2a-x) by means of a locating device (9), which establishes the actual position thereof, and a data processing system, which is loaded with the desired positions in such a way that it can perform the prescribed working steps there in a program-controlled manner.

Description

PROGRAMMGESTEUERT SELBSTFAHREND BETRIEBENES FAHRZEUG ZUM  PROGRAM CONTROLLED SELF-OPERATING VEHICLE FOR
EINMESSEN, MARKIEREN UND ZUMINDEST VORSTECHEN BZW. VORBOHREN VON  MEASURE, MARK AND AT LEAST PICTURES or. BORING BY
LÖCHERN FÜR FUNDAMENTEINRICHTUNGEN  HOLES FOR FOUNDATION ESTABLISHMENTS
Die Anmeldung betrifft ein programmgesteuert, insbesondere führerlos, selbstfahrend betriebenes Fahrzeug zum selbsttätigen Einmessen vorherbestimmter Sollpositionen für in den Erdboden einzubringende Fundamenteinrichtungen zum selbsttätigen Markieren der eingemessenen vorherbestimmten Sollpositionen, gegebenenfalls auch zum Wiederentfernen der Markierungen, und/oder zum selbsttätigen Vorstechen (Vorbohren) von Löchern im Erdboden zum Einbringen der Fundamenteinrichtungen an den eingemessenen vorherbestimmten Sollpositionen, sowie gegebenenfalls auch zum selbsttätigen Einbringen (Setzen), insbesondere Einschlagen oder Einschrauben, von Fundamenteinrichtungen in den Erdboden an den eingemessenen vorherbestimmten Sollpositionen. 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.
Vorrichtungen zum Vorstechen (Vorbohren) von Löchern zum Einbringen von Fundamenteinrichtungen und zum Einbringen der Fundamenteinrichtungen selbst in den Erdboden sind bekannt. Sie werden im einfachsten Falle vom Bediener in die Positionen manövriert, in denen vorgestochen (vorgebohrt) bzw. die Fundamenteinrichtungen gesetzt werden sollen. 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.
Besondere Erfordernisse ergeben sich, wenn Gruppen von Fundamenteinrichtungen gesetzt werden sollen, etwa Reihen mit gleichbleibenden Abständen. Dabei orientiert sich die Bedienperson im einfachsten Falle an einer vorgegebenen Begrenzungslinie, etwa - beim Setzen von Fundamenteinrichtungen für Straßenbegrenzungspfosten - am Fahrbahnrand, wobei die Be- Stimmung der erforderlichen definierten, einigermaßen gleichbleibenden Abstände eine zusätzlich Messung erfordert. Dabei wird die mit der Messung der Abstände betraute Person im Zweifel die gemessenen Positionen zur Vorbereitung der nachfolgenden Arbeitsschritte markieren. 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 facilities for road boundary posts - at the roadside, the mood 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.
Falls solche Orientierungen - etwa im freien Gelände - fehlen, können sie durch andere Hilfsmit- tel, etwa durch Festlegung von Orientierungslinien und -punkten mittels Theodoliten ersetzt werden. Dies erfordert allerdings einen erheblichen Arbeitsaufwand, insbesondere, wenn nicht nur einzelne Reihen von Fundamenteinrichtungen, sondern ganze Felder gesetzt werden sollen, wie dies etwa bei der Installation von photovoltaischen Anlagen im Gelände heute vielfach geschieht. If such orientations are lacking - for example, in open terrain - they can be replaced by other aids, for example by defining orientation lines and points using 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.
Zwar können auch hier theoretisch die Positionen der (gegebenenfalls Hunderten von) Funda- menten einzeln eingemessen werden. Der Aufwand hierfür ist jedoch immens. Hinzukommt, dass die Aufständerung solcher Anlagen eine Präzision und insbesondere eine Genauigkeit der Positionierung der Fundamente erfordert, die mit herkömmlichen Messverfahren nur schwer eingehalten werden kann, Dabei mag dies noch angängig sein, wenn eine solche Anlage im ebenen Gelände aufgestellt werden soll, weil die Fundamente dann in einem Rechteckraster zu positionieren sind, das sich noch verhältnismäßig leicht in der Fläche einmessen lässt. Although theoretically, the positions of the (possibly hundreds of) foundations can also be measured individually. The effort is immense. In addition, the erection of such facilities 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 should be installed in level terrain, because the foundations then be positioned in a rectangular grid, which can still measure relatively easily in the area.
Dies wird jedoch deutlich schwieriger, wenn die Aufständerung im unebenen Gelände erfolgen soll, wie dies angesichts des Flächenverbrauchs von solchen Anlagen heute zunehmend gefordert ist. Denn dann wandern die Fundamentpositionen unter Umständen aus dem Rechteckraster aus und verschieben sich stattdessen zu einem - je nach Geländegefälle - mehr oder weniger ausgeprägten, unregelmäßigen Rautenmuster, wie dies die Anmelderin zum Thema ihrer Anmeldung DE 10 2010 005 098.9 gemacht hat. 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. Because then the foundation positions may migrate out of the rectangular grid and instead shift to a - depending on terrain gradient - more or less pronounced, irregular diamond pattern, as the Applicant has made to the subject of their application DE 10 2010 005 098.9.
Dies bedeutet, dass in einem solchen Falle sogar jede einzelne Fundamentposition individuell an Hand eines aufzunehmenden Geländeprofils errechnet und individuell eingemessen werden muss. Dabei ist das Errechnen der Fundamentpositionen an Hand eines Geländeprofils mit einem geeigneten EDV-Programm an sich unproblematisch. Auch hierzu kann auf die genannte eigene Anmeldung der Anmelderin verwiesen werden. Höchst arbeitsaufwendig und fehleranfällig ist jedoch das Einmessen der errechneten Positionen im Gelände. Dies geschieht heute üblicherweise mit Hilfe eines satellitengesteuerten Lotstabes, den der Be- diener an der angezeigten Stelle am Boden zu positionieren hat. 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 aid of a satellite-controlled pole, which the operator has to position at the indicated point on the ground.
Schon hierbei kommt es aber zu Ungenauigkeiten, die sich fortsetzen, wenn alsdann die gefundene Position - beispielsweise mit Hilfe eines eingeschlagenen Pflockes - markiert wird. Weite- re Fehlerquellen addieren sich hinzu, wenn der Pflock anschließend zum Vorstechen (Vorbohren) des Lochs für das Fundament entfernt und die Vorstech- (Vorbohr) Vorrichtung und/oder das einzubringend© Fundament mehr oder weniger präzise positioniert werden. Already here, however, there are inaccuracies that continue when then the found position - for example, with the help of a struck peg - is marked. Additional 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 to be introduced © foundation more or less precisely positioned.
Zusammengenommen kann es hier zu Abweichungen kommen, die die bei dem Aufbau solcher Anlagen hinnehmbaren Toleranzen bei Weitem übersteigen. Taken together, this can lead to deviations that exceed the tolerable in the construction of such systems tolerances by far.
Hieraus folgt die Aufgabe, ein Fahrzeug anzugeben, das vorherbestimmte (errechnete) Sollpositionen für in den Erdboden einzubringende Fundamenteinrichtungen im Gelände mit geringstmöglicher Toleranz zuverlässig und schnell einmisst und die für das Einbringen der Fun- damenteinrichtungen erforderlichen weiteren Schritte (Markieren, Vorstechen, gegebenenfalls auch das Setzen der Fundamenteinrichtungen selbst) ebenso schnell und zuverlässig unter wertgehender Ausschaltung vermeidbarer Zwischenschritte und Fehlerquellen ausführt. 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 lowest possible tolerance and the further steps required for the introduction of the foundations (marking, piercing, possibly also the Setting the foundation devices themselves) just as quickly and reliably performs worthy elimination avoidable intermediate steps and sources of error.
Diese Aufgabe löst ein Fahrzeug nach Anspruch 1. Die Unteransprüche geben nähere Einzel- heiten ihrer Gestaltung an. This object is achieved by a vehicle according to claim 1. The subclaims specify more details of their design.
Das Fahrzeug ist ein programmgesteuertes, insbesondere führerlos, selbstfahrendes Fahrzeug, das seine Sollpositionen, d.h. die Punkte, an denen Markierungen gesetzt oder gegebenenfalls wieder entfernt bzw. Fundamenteinrichtungen gesetzt oder Löcher dafür vorgestochen werden sollen, eigenständig und selbsttätig, insbesondere ohne Eingriff einer Bedienperson anfährt und auch die dort vorzunehmenden weiteren Arbeitsschritte, gegebenenfalls bis hin zum Einbringen des Fundaments selbst, eigenständig und selbsttätig durchführt. 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.
Unter der Bezeichnung„programmgesteuertes, insbesondere führerlos selbstfahrendes Fahr- zeug" soll im Rahmen dieser Anmeldung ein Fahrzeug verstanden werden, das sozusagen als ein Fahrzeug mit Autopilot gesteuert wird. Sobald der Autopilot eingeschaltet ist, übernimmt die Automatik die Steuerung des Fahrzeuges hinsichtlich Richtung und Geschwindigkeit zu den jeweiligen, anzufahrenden Sollwertepositionen. Das Fahrzeug tut das, selbst wenn eine Bedienperson in der Führerkabine noch sitzt. Aus Sicherheitsgründen ist es ohnehin vorzuziehen, dass die Führerkabine trotz Autopilot dennoch besetzt ist. Im Übrigen ist dies auch der Besetzung des Cockpits eines Flugzeuges entlehnt, das bekanntermaßen mit Autopilot häufig gesteuert wird, ohne dass das Cockpit personenlos ist. Die in der Führerkabine sitzende Bedienperson greift in die Automatik nur bei Sondersituationen ein. Dies können unvorhergesehene Hindernisse, Begrenzungen oder ggf. auch ein Ausfall der Automatik, d.h. des Autopiloten sein. In the context of this application, the term "program-controlled, in particular driverless, self-propelled vehicle" is understood to mean a vehicle which is controlled as a vehicle with autopilot, so to speak.As soon as the autopilot is switched on, the automatic system takes over control of the vehicle in terms of direction and speed The vehicle does this, even if an operator in the driver's cabin is still sitting For safety reasons, it is anyway preferable that the driver's cab is still occupied despite autopilot.Also, this is 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 can unforeseen obstacles, limitations or possibly also a failure of the automatic, ie the autopilot be iloten.
Dies bedeutet, dass das Fahrzeug die vorherbestimmten Positionen für die in den Erdboden einzubringenden Fundamenteinrichtungen im Gelände selbständig programmgesteuert ein- misst, gegebenenfalls markiert, die Markierungen gegebenenfalls auch zum Einbringen derThis means that the vehicle autonomously programmatically controls the predetermined positions for the foundation devices to be introduced into the ground in the terrain. measures, optionally marked, the markings, if necessary, also for introducing the
Vorstech- (Vorbohr) einrichtung bzw. der Fundamenteinrichtungen selbst wieder entfernt, weiter gegebenenfalls selbständig programmgesteuert eine Vorrichtung zum Vorstechen (Vorbohren) von Löchern im Erdboden zum Einbringen der Fundamenteinrichtungen an den eingemessenen vorherbestimmten Positionen betätigt und/oder schließlich eine Vorrichtung zum Einschlagen oder Einschrauben von Fundamenteinrichtungen in den Erdboden an den eingemessenen vorherbestimmten, gegebenenfalls vorgebohrten Positionen in Betrieb setzt. Vorstech- (pre-drilling) device or the foundation devices themselves removed, further optionally independently programmatically actuated a device for pre-drilling holes in the ground for introducing the foundation devices at the measured predetermined positions and / or finally a device for driving or screwing Foundation devices in the ground at the set predetermined, possibly pre-drilled positions in operation sets.
Zu diesem Zwecke weist das Fahrzeug, etwa ein Raupenfahrzeug, eine Arbeitseinrichtung auf. Die Arbeitseinrichtung kann wahlweise nur zum Einmessen und Markieren der eingemessenen vorherbestimmten Solipositionen ausgelegt sein, sie kann gegebenenfalls aber auch das Wiederentfernen der Markierung, etwa von eingeschlagenen oder eingedrehten Pflöcken, die bei den weiteren Arbeitsschritten im Wege wären, übernehmen. Alternativ oder zusätzlich kann die Arbeitseinrichtung auch zum Einmessen und Vorstechen (Vohrbohren) von Löchern im Erdboden zum Einbringen der Fundamenteinrichtungen an den eingemessenen vorherbestimmten Sollpositionen ausgelegt sein. 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 soli 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.
Schließlich kann die Arbeitseinrichtung als Vorrichtung zum Einmessen und zum Einschlagen oder Einschrauben der Fundamenteinrichtungen in den Erdboden an den eingemessenen vorherbestimmten, gegebenenfalls vorgestochenen (vorgebohrten) Sollpositionen ausgelegt sein. 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.
Dabei versteht sich, dass das Markieren der vorherbestimmten Position entfallen kann, wenn stattdessen alsbald vorgestochen (vorgebohrt) wird, und dass auch das Vorstechen (Vorbohren) nicht immer erforderlich ist, etwa wenn das Erdreich leicht ist, und in einem solchen Falle lediglich an der eingemessenen vorbestimmten Stelle das Fundament eingeschlagen oder eingeschraubt wird, in welchem Falle auf die nicht benötigten Teile der Arbeitseinrichtung verzichtet werden kann. Umgekehrt versteht es sich, dass die Arbeitseinrichtung auch auf das Markieren, gegebenenfalls mit dem Entfernen der Markierung und/oder auf das Vorstechen (Vorbohren) beschränkt werden kann, wenn für die weiteren Schritte, etwa für das Einschrauben an den markierten Stellen, eigene Gerätschaften zur Verfügung stehen. Zusammengefasst kann gesagt werden, dass die Arbeitseinrichtung je nach den Bedürfnissen unterschiedliche Komponenten aufweisen kann, die gegebenenfalls auch als Zusatzgeräte je nach Gebrauchszweck austauschbar oder als Wechselgerätschaft nach Art einer Revolverkon- struktion vorgehalten werden können, wobei aber die Vorrichtung in jedem Falle das programmgesteuerte selbsttätige Einmessen der vorbestimmten Positionen mit mindestens einer Komponente der Arbeitseinrichtung (für das Markieren oder Vorstechen (Vorbohren) oder Einbringen der Fundamenteinrichtung) in sich vereinigt. 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 can have different components depending on the needs, which may also be exchangeable as accessories depending on the purpose of use or as exchangeable equipment in the manner of a turret assembly. 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 piercing (pre-drilling) or introducing the foundation device).
Die einzubringenden Fundamenteinrichtungen sollen in aller Regel senkrecht in den Erdboden eingebracht werden. Gleiches gilt entsprechend für die vorgestochenen (vorgebohrten) Löcher, die nur das Einbringen der Fundamenteinrichtung vorbereiten und erleichtern und dementsprechend identisch ausgerichtet sein müssen. Dasselbe gilt aus praktischen Gründen ebenso für etwa als Markierung einzubringende Pflöcke. 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.
Es kann aber auch erwünscht sein, die Fundamenteinrichtungen und dementsprechend die vorgestochenen (vorgebohrten) Löcher mit einer vorbestimmten Neigung zu setzen. Damit diese vorgesehene Neigung auch im Falle eines Schiefstandes des Fahrzeugs, wie er sich im Gelände oft ergeben wird, zuverlässig gehalten werden kann, ist die Arbeitseinrichtung an dem Fahrzeug mit einer Lagerung montiert, die ihr Verschwenken in der Längs- und der Querachse des Fahrzeugs derart ermöglicht, dass Fehlneigungen der Längsachse der Arbeitseinrichtung, die durch eine Längs- oder Seitenneigung des Fahrzeugs im Gelände entste- hen, korrigierbar sind. 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 makes it possible to correct misalignments of the longitudinal axis of the working device caused by longitudinal or lateral inclination of the vehicle in the terrain.
Damit die Korrektur beim Einsatz der Gerätschaft jederzeit selbsttätig erfolgen kann, ist die Vorrichtung mit einer Einrichtung zum selbsttätigen Erfassen und Korrigieren solcher Fehlneigungen ausgestattet. Hierzu können in einfachster Weise Neigungssensoren an der Arbeitseinrich- tung oder an dem Fahrzeug vorgesehen sein, deren Signale zur Korrektur der Achse der Arbeitseinrichtung verwendet werden. 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 einer besonders vorteilhaften Ausführungsform sind die verwendeten Neigungssensoren sog. gyroskopische Neigungssensoren. Diese Neigungssensoren sind in der Lage, Informationen aller sechs Freiheitsgrade zur Verfügung zu stellen. Dies sind Sensoren zur Messung geradliniger Beschleunigungen in Richtung der x-, y- und der z-Achse sowie Sensoren zur Erfassung von Drehbeschleunigungen um die x-, y- und z-Achsen. Damit die Informationen aller Sensoren über die sechs Freiheitsgrade zuverlässig ausgewertet werden können, weisen derartige gyroskopische Neigungssensoren intern eine Logikschaltung bzw. eine Berechnungseinheit auf. Die Einrichtung zum selbsttätigen Erfassen und Korrigieren der Fehlneigungen kann in unterschiedlichen Konfigurationen ausgebildet sein. Vorzugsweise ist ein solcher Neigungssensor am Fahrzeug angebracht, und zusätzlich sind zwei Winkelsensoren für die zwei Verschwenkachsen der Arbeitseinnchtung vorgesehen. Damit ist es möglich die Arbeitseinrichtung unter Berücksichtigung der Neigung des Fahrzeuges stets in Richtung zum Erdmittelpunkt, d.h. senkrecht oder in eine anders gewollte Achsrichtung anzuordnen. Es ist jedoch auch möglich, dass ein Neigungssensor an der Arbeitseinrichtung angeordnet ist, wobei gleichermaßen je ein Winkelsensor einer Verschwenkachse der Arbeitseinrichtung zugeordnet ist. Die Winkelsensoren für die Verachwenkachsen der Arbeitseinrichtung sind bei dieser Konfiguration in der Lage und werden ebenfalls dazu verwendet, die entsprechenden Winkelabweichungen zum Fahrzeug zu bestimmen. Damit ist es auch möglich, die Arbeitseinnchtung in Richtung auf den Erdmittelpunkt, d.h. senkrecht oder in eine anders gewollte Achsrichtung auszurichten. 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 Intention 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 Verachwenkachsen the work equipment are capable of this configuration and are also used to determine the corresponding angular deviations to the vehicle. Thus, it is also possible to align the direction of the work in the direction of the center of the earth, that is to say vertically or in an otherwise desired axial direction.
Gemäß einer dritten Konfiguration ist je ein Neigungssensor am Fahrzeug und an der Arbeitseinrichtung vorgesehen. In diesem Falle ist es nicht mehr erforderlich, die Verschwenkach- sen der Arbeitseinrichtung mit Winkelsensoren zu versehen. 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 pivoting axes of the working device with angle sensors.
Des Weiteren verfügt die erfindungsgemäße Vorrichtung über eine Ortungseinrichtung zur Bestimmung der Istpositjon (der Ortskoordinaten) der Arbeitseinrichtung im Gelände. Diese kann in bekannter Weise erdgestützt ausgelegt sein, wird aber heute praktischerweise eine der ge- bräuchlichen satellitengestützten Ortungen, (GPS, GNSS) sein, die den Genauigkeitsanforderungen beim Setzen von Fundamenteinrichtungen für Photovoltaikanlagen u.a. hervorragend entsprechen, weil sie bei entsprechender Auslegung einschließlich von entsprechender Software inzwischen mit einer Genauigkeit von +/- 1 cm und mehr arbeiten. Furthermore, the device according to the invention has a locating device for determining the Istpositjon (the location coordinates) of the working equipment in the field. This may be ground based in a known manner, but today it will conveniently be one of the common satellite based positioners (GPS, GNSS) that meets the accuracy requirements in setting foundation installations for photovoltaic systems, among others. excellent, because they now work with an appropriate design, including appropriate software with an accuracy of +/- 1 cm and more.
Vorzugsweise sind für das Fahrzeug gemäß Erfindung zwei GPS-Antennen vorgesehen. Eine G PS-Antenne dient dabei der Bestimmung der Position des Fahrzeuges, und die zweite GPS- Antenne zeigt die Richtung an, in der das Fahrzeug steht. Prinzipiell wäre bei der Bewegung des Fahrzeuges eine einzelne Antenne ausreichend. Die zweite Antenne erleichtert jedoch die exakte Bestimmung des Fahrzeuges im Raum. Preferably, two GPS antennas are provided for the vehicle according to the invention. A G PS 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.
Die Verwendung einer solchen satel I itengestützten Ortung bietet sich auch deshalb an, weil sie die Ortskoordinaten der Arbeitseinnchtung in Form von Daten liefert, die die weiter vorgesehene Datenverarbeitungslage verarbeiten kann. Diese Datenverarbeitungsanlage steuert das Fahrzeug derart selbsttätig, insbesondere führerlos, dass die Arbeitseinrichtung in die jeweilige Arbeitsposition verbracht wird. Das heißt, dass die Datenverarbeitungsanlage das Fahrzeug so steuert, dass die Istposition der Arbeitseinrich- tung zur Deckung mit der jeweiligen vorherbestimmten Sollposition gebracht wird, in der sie die für das Einbringen der Fundamenteinrichtung an der eingemessenen vorherbestimmten Stelle vorgesehenen Arbeitsschritte (Markieren, gegebenenfalls Entfernen der Markierung, und/oder Vorstechen Vorbohren und/oder Einbringen der Fundamenteinrichtungen) ausführen kann. The use of such satellite-assisted locating is also useful because it provides the locational coordinates of the labor force in the form of data that can process the further-provided data processing situation. 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 workstation tion can be brought to cover the respective predetermined target position in which they can carry out the intended for the introduction of the foundation device at the measured predetermined place operations (marking, possibly removing the marking, and / or pre-piercing pre-drilling and / or introduction of the foundation facilities).
Hierfür sind der Datenverarbeitungsanlage die vorherbestimmten Sollpositionen für die in den Erdboden einzubringenden Fundamenteinrichtungen im Gelände vorgegeben. For this purpose, the data processing system, the predetermined target positions for the introduced into the ground foundation devices are specified in the area.
Da dabei im Bedarfsfälle mit einer satellitengestützten Ortung mit einer Genauigkeit von +/- 1 cm gearbeitet wird, erreicht die Vorrichtung eine praktisch punktgenaue Positionierung der Fundamente, wie sie für besondere Zwecke wie das Aufständern von Photovoltaikanlagen erwünscht ist. 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.
Dies gilt insbesondere wenn - wie gemeinhin bei derartigen Anlagen - die Fundamente senk- recht eingebracht werden und etwaige Neigungsfehier durch einen Schiefstand des Fahrzeugs zuvor korrigiert worden sind, wie dies erfindungsgemäß vorgesehen ist. Denn dann arbeitet die Vorrichtung praktisch punktgenau und fehlerfrei. This is especially true when - as is common in such systems - the foundations are introduced vertically and any tilting errors have been previously corrected by an obliquity of the vehicle, as provided for by the invention. Because then the device works practically pinpoint and error-free.
Sollte es ausnahmsweise erwünscht sein, Fundamenteinrichtungen in einer von der Senkrech- ten abweichenden Schrägstellung einzubringen, so kann die erfindungsgemäße Vorrichtung bei entsprechender Programmierung der Datenverarbeitungsanlage auch dem gerecht werden. Um in diesem Falle eine punktgenaue Ausrichtung der Arbeitseinrichtung auf die vorgegebene Sollposition sicherzustellen, ist dann freilich erforderlich, dass die Schrägstellung im Re- chenprogram berücksichtigt und so sichergestellt wird, dass die Achse der Arbeitseinrichtung bei deren Einsatz exakt durch die jeweilige Sollposition verläuft. Should it be exceptionally desirable to incorporate foundation devices in an inclined position deviating from the vertical axis, then the device according to the invention can also do justice to this with appropriate programming of the data processing system. 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 runs exactly through the respective desired position when they are used.
Das Fahrzeug kann dann die Sollpositionen fehlerfrei anfahren, ohne dass eine Nachjustierung durch die Arbeitseinrichtung erforderlich wäre. Eine solche Nachjustierung ist deshalb erfindungsgemäß auch nur fakultativ in Form einer Einrichtung vorgesehen, die zusätzlich zu dem Verschwenken der Arbeitseinrichtung zur Korrektur ihrer Achse eine waagerechte Verschiebung der Arbeitseinrichtung in Längs- und Querrichtung zur Feinabstimmung der Ist- auf die Sollposition vorsieht. 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.
Zur Erfassung und zur Korrektur von Fehlneigungen der Längsachse der Arbeitseinrichtung und gegebenenfalls auch zum Feinjustieren der Arbeitseinrichtung auf ihre jeweilige Soliposition kann das Fahrzeug oder die Arbeitseinrichtung mit eigenen, von der Datenverarbeitungsanlage unabhängigen Einrichtungen versehen sein. Diese können aber auch in die Datenverarbeitungsanlage integriert sein. For detection and correction of misalignments of the longitudinal axis of the working device and optionally also for fine adjustment of the working device to their respective soliposition, 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.
Der Gegenstand der Anmeldung wird nachstehend anhand der Zeichnungen näher beschrie- ben. Dabei zeigen The subject of the application will be described in more detail below with reference to the drawings. Show
Fig. 1 das Fahrzeug 1 zum selbsttätigen Einmessen, Markieren und Vorstechen (Vorbohren) vorbestimmter Sollpositionen für Fundamenteinrichtungen im Gelände in perspektivischer Sicht; Figure 1 shows the vehicle 1 for automatic measuring, marking and pre-piercing (predrilling) predetermined target positions for foundation facilities in the field in a perspective view.
Fig. 2 das Fahrzeug nach Fig. 1 in Seitenansicht; Fig. 2 shows the vehicle of Figure 1 in side view.
Fig. 3 das Fahrzeug in Draufsicht; und Fig. 4 ein Raster von Sollpositionen 2a - x. 3 shows the vehicle in plan view; and FIG. 4 shows a grid of nominal positions 2 a - x.
Figur 1 zeigt das Fahrzeug 1 zum selbsttätigen Einmessen, Markieren und Vorstechen (Vorbohren) vorbestimmter Sollpositionen für Fundamenteinrichtungen im Gelände 3 in perspektivischer Sicht. Gezeigt ist die Arbeitseinrichtung 4, die eine Lagerung 5 am Fahrzeug 1 aufweist, mittels derer sie zur Ausrichtung ihrer Achse 7 um die Verschwenkachsen 6a und 6b verschwenkbar ist. Eine Einrichtung 8 erfasst Fehlneigungen und steuert deren Korrektur. Eine Ortung seinrichtung 9 bestimmt die Istposition der Arbeitseinrichtung 4, und eine (nicht gezeigte) Datenverarbeitungsanlage steuert die Arbeitseinrichtung 4 an Hand der ihr aufgegebenen vorherbestimmten Daten in die Sollpositionen, d.h. in die Positionen, in denen die Achse 7 der Ar- beitseinrichtung 4 die Sollpositionen schneidet, so dass die Arbeitseinrichtung 4 die vorgesehenen Arbeitsschritte punktgenau ausführen kann. Figure 1 shows the vehicle 1 for automatic measuring, 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 (not shown) controls the operating device 4 to the set positions by the predetermined data given thereto. in the positions in which the axis 7 of the working device 4 intersects the setpoint positions, so that the working device 4 can execute the intended work steps with pinpoint precision.
Fig. 2 zeigt das Fahrzeug 1 nach Fig. 1 in Seitenansicht mit allen bereits erwähnten Einzelheiten. Fig. 2 shows the vehicle 1 of FIG. 1 in side view with all the details already mentioned.
Fig. 3 zeigt das Fahrzeug 1 in Draufsicht mit allen bereits erwähnten Einzelheiten. Fig. 3 shows the vehicle 1 in plan view with all the details already mentioned.
Fig. 4 zeigt ein Raster von Soilpositionen 2a - x, wie es sich beispielhaft ergibt, wenn man die Sollpositionen der Ständer einer geneigt aufgestellten photovoltaischen Anlage im unebenen Gelände ermittelt, indem man das Lot von ihren oberen Anlenkpunkten auf das Gelände fällt, wie dies die Anmelderin in der erwähnten früheren Anmeldung vorgeschlagen hat. Das Raster deutet lediglich schematisch und ohne Anspruch auf rechnerische Genauigkeit an, wie sich in diesem Falle eine Vielzahl von Sollpositionen ergibt, die keinem einfachen mathematischen Prinzip folgen, etwa nicht als Rechteckstaiktur angelegt sind, sondern anderen, komplexeren Gesetzmäßigkesten folgen und dementsprechend schwieriger zu ermitteln (zu errechnen) und einzumessen sind. FIG. 4 shows a grid of soil positions 2a-x, as is the case, for example, when determining the desired positions of the stands of a tilted photovoltaic system in uneven terrain by dropping the solder from its upper points of articulation onto the terrain, as in FIG Applicant has proposed in the aforementioned earlier application. The grid indicates only schematically and without any claim to mathematical accuracy, as in this case results in a plurality of desired positions that do not follow a simple mathematical principle, such as not designed as Rechteckstaiktur, but follow other, more complex laws and thus more difficult to determine ( to be calculated) and to be measured.
Bezugszeichen reference numeral
1 Fahrzeug 1 vehicle
2 a - x Sollpositionen  2 a - x nominal positions
3 Gelände  3 terrain
4 Arbeitseinrichtung  4 working equipment
5 Lagerung der Arbeitseinrichtung  5 Storage of the working equipment
6 a, b Verschwenkachsen der Arbeitseinrichtung  6 a, b pivot axes of the working device
7 Achse der Arbeitseinrichtung  7 axis of the working device
8 Einrichtung zum selbsttätigen Erfassen und Korrigieren von Fehlneigungen 8 Device for the automatic detection and correction of misalignments
9 Ortungseinrichtung 9 locating device

Claims

Patentansprüche claims
1. Programmgesteuert, insbesondere führerlos, selbstfahrendes Fahrzeug ( ) zum selbsttätigen Einmessen, Markieren und Vorstechen (Vorbohren) vorbestimmter Sollpositionen (2 a - x) für Fundamenteinrichtungen im Gelände (3), mit einer Arbeitseinrichtung (4) zum Markieren der Sollpositionen (2 a - x), gegebenenfalls auch zum Wiederentfernen der Markierungen, und/oder zum Vorstechen (Vorbohren) von Löchern zum Einbringen der Fundamenteinrichtungen in den Erdboden an den Sollpositionen (2 a - x), mit einer Lagerung (5) der Arbeitseinrichtung (4), die deren Verschwenken um eine Längs- und Querachse (6a, b) derart erlaubt, dass Fehlneigungen der Achse (7) der Arbeitseinrichtung (4), die durch eine Längs- und/oder Seitenneigung des Fahrzeugs (1 ) im Gelände (3) entstehen, korrigierbar sind, sowie mit einer Einrichtung (8) zur selbsttätigen Erfassung und Korrektur solcher Fehlneigungen, weiter mit einer Ortungseinrichtung (9) zur Bestimmung der Istposition der Arbeitseinrichtung (4) sowie mit einer Datenverarbeitungsanlage, die das Fahrzeug (1 ) derart steuert, dass die Istposition der Arbeitseinrichtung (4) jeweils mit den Sollpositionen (2a - x) zur Deckung gebracht wird, und die die Arbeitseinrichtung (4) in diesen Positionen bei der Ausführung der vorgegebenen Arbeitsschritte steuert. 1. Programmatically, in particular driverless, self-propelled vehicle () for automatic calibration, marking and pre-drilling (predrilling) predetermined target positions (2 a - x) for foundation facilities in the area (3), with a working device (4) for marking the desired positions (2 a - x), possibly also for removing the markings again, and / or for pre-drilling holes for introducing the foundation devices into the ground at the desired positions (2 a-x), with a bearing (5) of the working device (4), the pivoting about a longitudinal and transverse axis (6a, b) allows such that misalignments of the axis (7) of the working device (4) caused by a longitudinal and / or lateral inclination of the vehicle (1) in the area (3) , are correctable, and with a device (8) for the automatic detection and correction of such misalignments, further with a locating device (9) for determining the actual position of the working device (4) so as with a data processing system, which controls the vehicle (1) such that the actual position of the working device (4) in each case with the target positions (2a - x) is made, and the working device (4) in these positions in the execution of controls predetermined work steps.
2. Fahrzeug nach Anspruch 1 , bei dem die Arbeitseinrichtung (4) zum Einbringen (Einschlagen, Einschrauben) der Fundamenteinrichtung als weiterem Arbeitsschritt ausgebildet ist. 2. Vehicle according to claim 1, wherein the working device (4) for introducing (driving, screwing) of the foundation device is designed as a further step.
3. Fahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Lagerung (5) zur Feinabstimmung der Istposition auf die Sollpositionen (2a -x) eine Verschieblichkeit der Arbeitseinrichtung (4) in Richtung der Längs- und Querachse (6a, b) vorsieht. 3. Vehicle according to one of the preceding claims, characterized in that the bearing (5) for fine-tuning of the actual position to the desired positions (2a -x) provides a displaceability of the working device (4) in the direction of the longitudinal and transverse axis (6a, b) ,
4. Fahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Einrichtung (8) zum selbsttätigen Erfassen und Korrigieren von Fehlneigungen der Achse (7) der Arbeitsein richtung sowie eine Einrichtung zur Feinabstimmung der Istposition auf die Sollpositionen (2a -x) Teil der Datenverarbeitungsanlage ist. 4. Vehicle according to one of the preceding claims, characterized in that the means (8) for automatically detecting and correcting misalignments of the axis (7) of the Arbeitsein direction and a device for fine-tuning the actual position to the desired positions (2a-x) part of Data processing system is.
5. Fahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Ortungseinrichtung (9) eine Satellitenortung mit einer Genauigkeit > +/- 1 cm ist. 5. Vehicle according to one of the preceding claims, characterized in that the locating device (9) is a satellite positioning with an accuracy> +/- 1 cm.
6. Fahrzeug nach den Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Ortungseinrichtung ein, insbesondere ferngesteuertes, Tachymeter ist. 6. Vehicle according to claims 1 to 5, characterized in that the locating device is a, in particular remotely controlled, Tachymeter.
7. Fahrzeug nach den Ansprüche 1 bis 6, dadurch gekennzeichnet, dass ein Neigungssensor am Fahrzeug oder der Arbeitseinrichtung (4) sowie ein Winkelsensor für je eine Ver- schwenkachse (6a und 6b) der Arbeitseinrichtung (4) vorgesehen sind. 7. Vehicle according to claims 1 to 6, characterized in that an inclination sensor on the vehicle or the working device (4) and an angle sensor for each pivot axis (6a and 6b) of the working device (4) are provided.
8. Fahrzeug nach den Ansprüche 1 bis 6, dadurch gekennzeichnet, dass je ein Neigungssensor am Fahrzeug und an der Arbeitseinrichtung (4) vorgesehen ist. 8. Vehicle according to claims 1 to 6, characterized in that each a tilt sensor on the vehicle and on the working device (4) is provided.
9. Fahrzeug nach den Ansprüche 7 oder 8, dadurch gekennzeichnet, dass der Neigungssensor alle sechs Freiheitsgrade auswertet. 9. Vehicle according to claims 7 or 8, characterized in that the inclination sensor evaluates all six degrees of freedom.
EP12746059.0A 2011-08-05 2012-07-25 Vehicle for making foundations in a soil Active EP2582884B1 (en)

Applications Claiming Priority (2)

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DE102011109654 2011-08-05
PCT/EP2012/064604 WO2013020812A1 (en) 2011-08-05 2012-07-25 Vehicle operated in a self-propelled program-controlled manner for measuring, marking and at least pre-punching or pre-drilling holes for foundation devices

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EP2582884A1 true EP2582884A1 (en) 2013-04-24
EP2582884B1 EP2582884B1 (en) 2014-06-04

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US11015635B2 (en) 2018-07-24 2021-05-25 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

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US9002539B2 (en) 2015-04-07
US20140172199A1 (en) 2014-06-19
WO2013020812A1 (en) 2013-02-14
EP2582884B1 (en) 2014-06-04

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