CIVIL ENGINEERING DEVICE

Abstract

A civil engineering device, in particular a pile-driving or drilling device, has at least one positioner, in particular a working carriage for accommodating an implement, connected with a carrier device by relatively movable links within a kinematic chain and connected by joints and/or linear adjusters and with at least six actuators for changing their corresponding position and/or orientation, and with a control and regulation device for controlling them. The control and regulation device has an input module for specifying a positioner target position, and is connected with a computer module that determines at least one displacement path for moving the positioner from its current (starting) position to the target position, and, using inverse kinematics, the locations of the individual actuators required for implementing the path, and sends these locations to the control and regulation device to control the actuators. A method multi-dimensionally, free positions a civil engineering device positioner.

Claims

1. A civil engineering device comprising: (a) a carrier device; (b) a kinematic chain comprising a plurality of movement links movable relative to one another and connected by way of joints or linear adjusters; (c) at least one positioner connected with a carrier device by way of the plurality of movement links; (d) at least six actuators connected with the movement links for changing a corresponding position or orientation of the at least six actuators; (e) a control and regulation device connected with the movement links for controlling the at least six actuators; and (f) a computer module connected with the control and regulation device; wherein the control and regulation device has an input module for specifying a target position of the at least one positioner; and wherein the computer module is set up for determining at least one displacement path for moving the at least one positioner along the at least one displacement path from a current position to the target position, and, using inverse kinematics, for determining locations of individual actuators of the at least six actuators required for implementing the at least one displacement path of the at least one positioner and for passing location information on to the control and regulation device so as to control the at least six actuators.

2. The civil engineering device according to claim 1, wherein the computer module is set up for determining movement sequences of the individual actuators for achieving the at least one displacement path of the positioner, and for transferring movement sequence information to the control and regulation device for control of the at least six actuators.

3. The civil engineering device according to claim 1, wherein the at least one positioner or the movement links or the joints or the linear adjusters are provided with a sensor connected with the control and regulation device for detection of a position or a location or an angle position.

4. The civil engineering device according to claim 1, wherein a geometrically descriptive model of the civil engineering device or at least one mathematical model of system behavior of the civil engineering device is stored in a memory of the control and regulation device or in a memory of the computer module.

5. The civil engineering device according to claim 1, further comprising a pivoting or tilting apparatus and a leader connected with the carrier device by way of the pivoting or tilting apparatus, wherein the at least one positioner comprises a working carriage arranged on the leader in displaceable manner for accommodating an implement.

6. The civil engineering device according to claim 5, further comprising an evaluation module and at least one system connected with the evaluation module for capture of a work environment, wherein the evaluation module is set up for determination of hindrances and is connected with the computer module, and wherein the computer module is set up for determining the at least one displacement path, while avoiding the hindrances identified by the evaluation module.

7. The civil engineering device according to claim 6, wherein the at least one system for capture of the work environment comprises at least one camera or at least one ultrasound sensor or at least one radar sensor or at least one LIDAR sensor or at least one laser sensor.

8. The civil engineering device according to claim 7, wherein the at least one camera or the at least one ultrasound sensor or the at least one radar sensor or the at least one LIDAR sensor or the at least one laser sensor is arranged on the at least one positioner or on the one implement or on at least one movement link of the plurality of movement links connected with the at least one positioner.

9. The civil engineering device according to claim 6, further comprising a memory module connected with the computer module, wherein the memory module stores defined lockout regions are stored to be treated like the hindrances when determining the at least one displacement path.

10. The civil engineering device according to claim 6, wherein the evaluation module is set up for continuous determination of the hindrances even during positioning of the at least one positioner along the at least one displacement path, and wherein the computer module is set up for continuous collision checking of the hindrances determined along the at least one displacement path and correction of the at least one displacement path due to the hindrances determined along the at least one displacement path.

11. The civil engineering device according to claim 1, further comprising a transformation module, wherein the input module comprises a screen reproducing current surroundings, and wherein the transformation module is set up for converting input instructions into coordinates of a predetermined coordinate system and passing the coordinates on to the control and regulation device as target coordinates.

12. The civil engineering device according to claim 1, wherein at least one actuator of the at least six actuators has a separate actuator regulator assigned to the at least one actuator for controlling the at least one actuator based on a set-point position or a set-point speed or a set-point acceleration as an input value.

13. The civil engineering device according to claim 12, wherein the control and regulation device is set up for direct location regulation and simultaneous specification to the actuator regulator of the set-point position of the joints or of the linear adjusters.

14. The civil engineering device according to claim 12, wherein the at least one actuator is controlled based on the set-point position, wherein the control and regulation device is set up for cascade regulation, wherein a time-dependent speed profile with defined acceleration and speed is calculated from a target position specification for approaching the set-point position at the defined acceleration and speed, and wherein the time-dependent speed profile is passed on to the actuator regulator assigned to the at least one actuator.

15. The civil engineering device according to claim 14, further comprising a position regulation circuit for monitoring the current position and for adjusting the set-point position corresponding to the current position at a corresponding point in time resulting from the time-dependent speed profile.

16. A method for multi-dimensional, free positioning of a positioner of a civil engineering device, comprising: (a) providing a civil engineering device comprising a carrier device, a kinematic chain comprising a plurality of movement links movable relative to one another by way of a plurality of joints and linear adjusters, a positioner connected with the carrier device by way of the plurality of movement links, and at least six actuators connected with the movement links or the linear adjusters for changing a respective position or orientation of each of the at least six actuators; (b) determining a displacement path based on a target position of the positioner; (c) determining individual joint positions of individual joints of the plurality of joints and linear positions of the linear adjusters based on the displacement path to implement actuator movements required for the individual joint positions and the linear positions; and (d) subsequently controlling individual actuators of the at least six actuators to carry out the actuator movements determined.

17. The method according to claim 16, further comprising: providing at least one system for capture of a work environment; detecting hindrances using an evaluation module; and determining the displacement path taking into consideration collision avoidance with the hindrances detected.

18. The method according to claim 16, further comprising: determining a plurality of possible displacement paths; and subsequently selecting the displacement path by comparison of the possible displacement paths based on predetermined parameters.

19. The method according to claim 16, further comprising using an algorithm based on inverse kinematics to determine the individual joint positions of the individual joints and the linear positions of the linear adjusters.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Other objects and features of the invention will become apparent from the following detailed description considered in connection with the accompanying drawings. It is to be understood, however, that the drawings are designed as an illustration only and not as a definition of the limits of the invention.

[0030] In the drawings,

[0031] FIG. 1 shows s schematic representation of a drilling rig;

[0032] FIG. 2 shows a representation of the drilling rig from FIG. 1 in a simplified replacement representation;

[0033] FIG. 3 shows a detail representation of the support strut cylinder arrangement of the drilling rig from FIG. 2;

[0034] FIGS. 4A-4C show further simplified replacement representations of the drilling rig from FIG. 2 with

[0035] FIG. 4A showing the drilling rig in the position “leader raised”;

[0036] FIG. 4B showing the drilling rig in the position “leader lowered”; and

[0037] FIG. 4C showing the drilling rig in the position “leader inclined”;

[0038] FIG. 5 shows a representation of a simplified joint diagram of the drilling rig from FIG. 2; and

[0039] FIG. 6 shows a schematic representation of the position regulation of the control and regulation device of the drilling rig from FIG. 1, connected with the computer module.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0040] The drilling rig selected as an exemplary embodiment essentially consists of a carrier device 1, which is connected with a leader 3 by way of a swing arm 2, on which leader a working carriage 4 is arranged in displaceable manner, on which carriage a drilling device 5 is attached.

[0041] The swing arm 2 comprises two swing arm plates 21, arranged parallel to one another and configured essentially in triangular shape, with rounded corners. The swing arm plates 21 of the swing arm 2, lying opposite one another, are connected with a corner of a boom 22, in each instance, with one corner; the boom is fastened to the carrier device 1 so as to pivot. With a second corner, the swing arm plates 21, lying opposite one another, are connected with the leader 3 so as to pivot. The third corner of the swing arm plates 21 is connected with a boom cylinder 23, which is arranged on the carrier device 1. At a distance from the boom cylinder 23, in the region of the third corner of the swing arm plates 21, a support strut cylinder 24 is attached so as to pivot, in each instance; the cylinder piston of this cylinder is attached to the leader 3 so as to pivot, in each instance.

[0042] Between the swing arm plates 21 and the pistons of the support strut cylinder 24, an advancing winch 31 is arranged on the leader 3. By way of this advancing winch 31, the carriage 4 can be displaced along the leader 3. At a distance from the advancing winch 31, on the opposite side of the swing arm plates 21, an auxiliary winch 32 is arranged on the leader 3, and, at a distance from it, a Kelly winch 33 is also arranged on the leader 3. The Kelly cable 34 of the Kelly winch 33 is guided over a cable roller head 35 arranged on the leader 3, and connected with the Kelly rod 51 of the drilling device 5 on the end side. The drilling device 5, in known manner, has a drilling drive 52, as well as a pressure pipe 53 that can be connected with a drilling pipe 54.

[0043] A control and regulation device 6, which has an input module 61 for specifying a target position of the working carriage 4 as a positioner, and is connected with a computer module 62, is arranged in the carrier device 1. It can also be provided to select a specific point or a specific element of the drilling device, for example of the drilling tool of the drilling device 5 or of the cable roller head 35 that holds the Kelly cable and the auxiliary cable as a positioner for which a target position is indicated, by way of the input module. In the exemplary embodiment, the input device comprises a touch screen 66 on which the virtual environment of the drilling rig can be represented. A transformation module 67 is set up for converting input instructions into coordinates of a predetermined coordinate system and passing the coordinates on to the control and regulation device 6.

[0044] The control and regulation device 6 is connected with the boom cylinders 23, the support strut cylinders 24, the advancing winch 31, the Kelly winch 33, the auxiliary winch 32, and also (see FIG. 2) the pivoting unit of the upper carriage 11 and the travel drive of the chassis 12 of the carrier device 1, which form actuators that can be controlled by way of the control and regulation device. The position of a positioner, in the present case the working carriage 4 with the drilling device accommodated on it, can be changed by way of controlling one or more of these actuators.

[0045] By way of the actuators, positioning of the drilling device in six degrees of freedom is made possible: displacement of the chassis 12 (wherein here, for the sake of simplicity, only linear forward and reverse travel is assumed), rotation of the upper carriage 11, inclination of the leader 3 (forward and back), inclination of the leader 3 (to the left, to the right), advancing of the working carriage 4 along the leader 3, pivoting of the boom 22 that forms the base arm, to change the reach.

[0046] The control and regulation device 6 is connected with sensors 7 that are provided on the working carriage 4 for detection of position, location, and angle position. In addition, sensors 7 can be provided on further elements of the drilling device. Furthermore, the control and regulation device is connected with a computer module 62 that is set up for determining displacement paths and the positions of the individual actuators required for their implementation, by means of inverse kinematics. For this purpose, in the exemplary embodiment a geometrically described model of the drilling rig and a mathematical model of the system behavior of the drilling rig are stored in the computer module 62.

[0047] The computer module 62 is connected with an evaluation module 63 that is set up for determining hindrances and, for this purpose, is connected with a system 60 for capture of the work environment. In the exemplary embodiment, the system 60 for capture of the work environment comprises cameras 81 as well as LIDAR sensors 82, which are arranged on the carrier device 1 and on the working carriage 4, and are connected with the evaluation module 63. The system 60 for capture of the work environment may include sensors 7 such as ultrasound sensors, radar sensors, or laser sensors.

[0048] The computer module 62 is furthermore connected with a memory module 64 in which defined lockout regions are stored, which regions are to be treated like hindrances in the determination of displacement paths. Corresponding lockout regions can be defined by way of the input module 61. The computer module 62 is set up for continuous collision checking of determined and defined hindrances against determined displacement paths, and, if necessary, correction of a displacement path.

[0049] In FIG. 2, a simplified illustration of the drilling rig is shown, in which the significant functional components for positioning the working carriage 4 are shown. The location of the leader 3, with the working carriage 4 arranged on it in displaceable manner, can be changed by way of the position of the swing arm 2, which is connected with the upper carriage 11 of the carrier device 1 by way of the booms 22. The booms 22 form movement links that are connected with the swing arm 2 and with the upper carriage 11 of the carrier device 1 by way of joints, so as to pivot about a horizontal axis. The swing arm 2 is compulsorily guided by way of the booms 22 and can be moved along a curve path by way of the boom cylinders 23. The booms 22 and the boom cylinders 23 can be pivoted about a vertical axis together with the upper carriage 11, on the chassis 12. They can be displaced horizontally, in linear manner, by means of the chassis 12.

[0050] The leader 3 is connected with the swing arm 2 by way of joints, so as to pivot about two horizontal axes. Setting of the pivot position of the leader 3 on the swing arm 2 takes place by way of the support strut cylinders 24, which are connected with the leader 3 and with the swing arm 2 by way of joints, so as to pivot about two horizontal axes. Positioning of the working carriage 4, which is connected with the leader 3 by way of a linear adjuster, takes place by way of linear displacement along the leader 3, by way of the advancing winch 31.

[0051] In FIG. 4A, this diagram is shown with further simplification, without the boom cylinder 23, the support strut cylinders 24, and the advancing winch 31, to illustrate the kinematics. In FIG. 4B, lowering of the base arm formed by the booms 22 is shown as an example. In this regard, the working carriage 4 moves on a circular track about the point of rotation of the booms 22. As a result, the working carriage 4 experiences changes in position by means of increasing the distance from the carrier device 1 (increasing the reach) and, at the same time, a change in position due to decreasing the distance from the ground. If only the horizontal position of the working carriage 4 (delta y) is supposed to be changed during lowering of the booms 22, whereas its vertical position (delta z) is supposed to remain the same, the working carriage 4 must be moved upward in linear manner, along the leader 3, by way of the advancing winch 31, for equalization of the vertical change in position. In FIG. 4C, in addition the leader 3 is set at an angle to the ground by way of the support strut cylinders 24. As a result, the horizontal and also the vertical position of the working carriage 4 are changed.

[0052] In FIG. 5, the kinematic chain of the arrangement from FIG. 4 is shown, which is composed of movement links connected by way of joints and linear adjusters. According to this arrangement, the six degrees of freedom indicated above for positioning of the drilling device 5 arranged on the working carriage 4 occur in the present case.

[0053] Mathematically, positioning of a positioner, used as a basis in the form of a defined point, in the present case of the working carriage 4, which holds the drilling device 5, is depicted by means of the basic principle of an inverse kinematographic algorithm in the control and regulation device. In this regard, the set-point position of this point relative to a selected basic coordinate system, for example of the carrier device, is passed on to the algorithm. Then the set-point values of the individual actuators for the desired positioning are calculated by way of algebraic, geometric, and numeric methods. Direct position variables for the actuators can result as the output of the algorithm. Derivations of the position variables over time, for example speed or acceleration, can also be used. Algorithms of inverse kinematics are known from the sectors of machine tool construction and of robotics, for positioning in the case of complex joint relationships. A position regulation circuit 68 monitors current position and adjusts the set-point position corresponding to the current position at a corresponding point in time resulting from a time-dependent profile.

[0054] For simplification of the system design, separate regulation modules, which are referred to as actuator regulators 65, are programmed for individual joints and linear adjusters, in the control and regulation device 6 and in the computer module 62 connected with this device. These modules, in which the particularities of the corresponding joint or linear adjuster or of the actuator connected with it are taken into consideration, are given a set-point position or a set-point speed as an input value.

[0055] The location regulation of the positioner is outlined in FIG. 6. The set-point positions of the joints and linear adjusters are given to the actuator regulators at the same time. By way of a PID (Proportional-Integral-Differential) regulator, the individual actuators are regulated, and thereby the system is regulated to the predetermined set-point position. In this regard, the positioning times of the individual actuators can differ greatly.

[0056] If the drilling device is supposed to be placed closer to the carrier device 1, for example, the base arm formed by the booms 22 must move up at the same time, and the advancing winch 31 must move down. Because advancing brings with it higher displacement speeds than the base arm, a default value is given by the slowest actuator. The maximum speed of all the actuators is known. Before positioning, it can be calculated how much time the slowest actuator requires as a maximum. With this time value, the speed value and acceleration value is adapted in linear manner for all the other actuators, so that these values require the same time. As a result, unnecessarily high speeds and accelerations are prevented. At the same time, simultaneous positioning of all the joints is made possible.

[0057] When using the Kelly drilling method, it is necessary, for example, to pull the drilling tool out of the borehole in regular cycles and to position it in a suitable location for spin-off. For this purpose, the operator selects a target position of the drilling device by way of the touch screen of the input module, and this position is passed on to the computer module as coordinates. On the basis of these coordinates, the computer module determines possible displacement paths. For this purpose, the input module detects hindrances on the basis of real-time data transmitted by the cameras 81 and the sensors 82, and these are passed on to the computer module.

[0058] On the basis of previously established selection criteria, such as, for example, minimized number of direction changes or fastest path, a displacement path is selected by the computer unit.

[0059] Subsequently, the computer module determines the joint positions and linear adjuster positions and the actuator movements required for them, over time, by using algorithms of inverse kinematics, and passes them on to the control and regulation device, which undertakes control of the actuators (boom cylinder 23, support strut cylinder 24, advancing winch 31, pivot drive of the upper carriage 11, chassis 12) for implementing the displacement path determined for spin-off from the drilling tool.

[0060] In the exemplary embodiment, return movement of the drilling tool to the borehole can be triggered on the same displacement path, by way of the input module.

[0061] Although only a few embodiments of the present invention have been shown and described, it is to be understood that many changes and modifications may be made thereunto without departing from the spirit and scope of the invention.