EP3031983A1 - Verbessertes lenkverfahren einer einbringvorrichtung von elementen in den boden für die erstellung eines bauwerks, entsprechende einbringvorrichtung und entsprechendes fahrzeug - Google Patents

Verbessertes lenkverfahren einer einbringvorrichtung von elementen in den boden für die erstellung eines bauwerks, entsprechende einbringvorrichtung und entsprechendes fahrzeug Download PDF

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Publication number
EP3031983A1
EP3031983A1 EP15193853.7A EP15193853A EP3031983A1 EP 3031983 A1 EP3031983 A1 EP 3031983A1 EP 15193853 A EP15193853 A EP 15193853A EP 3031983 A1 EP3031983 A1 EP 3031983A1
Authority
EP
European Patent Office
Prior art keywords
arm
optical
insertion device
absolute
reflector
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
EP15193853.7A
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English (en)
French (fr)
Other versions
EP3031983B1 (de
Inventor
Nicolas Rada
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.)
Alstom Transport Technologies SAS
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Alstom Transport Technologies SAS
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Publication date
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Publication of EP3031983A1 publication Critical patent/EP3031983A1/de
Application granted granted Critical
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
    • E01B29/32—Installing or removing track components, not covered by the preceding groups, e.g. sole-plates, rail anchors
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B1/00—Ballastway; Other means for supporting the sleepers or the track; Drainage of the ballastway
    • E01B1/002—Ballastless track, e.g. concrete slab trackway, or with asphalt layers
    • E01B1/004—Ballastless track, e.g. concrete slab trackway, or with asphalt layers with prefabricated elements embedded in fresh concrete or asphalt
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B35/00—Applications of measuring apparatus or devices for track-building purposes
    • E01B35/02—Applications of measuring apparatus or devices for track-building purposes for spacing, for cross levelling; for laying-out curves
    • E01B35/04—Wheeled apparatus
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B2203/00—Devices for working the railway-superstructure
    • E01B2203/16—Guiding or measuring means, e.g. for alignment, canting, stepwise propagation

Definitions

  • the invention relates to a method for guiding a device for inserting elements into the ground, for producing a structure. More particularly, the invention relates to a guide method of a saddle insertion device for the realization of a railway track. The invention also relates to a system for implementing such a guiding method.
  • the document FR 2 812 671 discloses a guiding method.
  • the movable arm of the insertion device which makes it possible to bring a saddle into a predetermined position and orientation of implantation, then the implantation of the saddle in the concrete, is provided with a first prism and a second prism.
  • Each prism is able to reflect a beam of laser light emitted by a remote total measurement station, placed along the railroad track to achieve.
  • the guiding method then consists in installing a total measurement station near the railway track to be carried out and in determining the coordinates of the geographical point of installation of the total measuring station. These coordinates are absolute in the sense that they are given relative to an absolute reference XYZ.
  • a total measurement station includes an optical device capable of emitting a laser beam towards a reflecting target. From the reflected beam, the total measuring station is able to determine the distance between the total measuring station and the target, as well as the angle that forms the direction between the total measuring station and the target, with a plane of measurement. reference, which is a horizontal plane passing through the optical device.
  • positioning of an object in the present patent application is meant both the position of a reference point of this object (three coordinates), and the orientation of a reference segment of this object ( three angles).
  • the absolute positioning of the arm that is to say the positioning in the absolute reference XYZ, is for example given by the position of the first prism, as a reference point, and the orientation of the segment between the first prism and the second prism, as a reference segment.
  • the method consists in manually directing the total measuring station so that its laser beam points towards the first prism and to measure the distance and the angle between the total measurement station and this first one. prism, then manually steer the total measuring station so that its laser beam points to the second prism and measure the distance and angle between the total measuring station and the second prism.
  • Such a guiding method remains difficult to implement.
  • 30 seconds correspond to the actual implantation of the saddle in the fresh concrete of the railroad track, while the other 60 seconds are devoted to a single determination of the absolute positioning of the arm. That is, if the positioning of the saddle before implantation is not within the required tolerance interval, it is necessary to resume the step of determining the absolute positioning of the arm.
  • the optical device of a total measurement station has a range of only about 100 meters. It is therefore necessary to move the total measuring station as and when the vehicle 1 and the progress of the realization of the route of railway. With each movement of the total measurement station, the step of installing the total measuring station and determining its absolute position must be carried out again, before transmitting this information to the on-board computer so that a new set of stool delivery cycles can not begin.
  • the step of setting up a total measurement station is not easy. Indeed, it is necessary that the optical device is very precisely placed in a horizontal plane. If this is not the case, the optical device does not work and the total measurement station delivers erroneous measurements.
  • the invention therefore aims to overcome these problems.
  • the subject of the invention is a method of guiding an insertion device for the insertion of elements into the ground for the production of a structure, characterized in that it comprises the following steps: surveying a plurality of geographical points in proximity to the work to be performed, the position of each point being determined in an absolute reference XYZ; installing a plurality of reflectors, each reflector being placed at a geographical point of the topographic survey; measuring, with the aid of at least three optical devices, located on a movable arm of the insertion device which carries the element to be inserted, distances between reflectors and optical devices; calculating, by trilateration, the absolute positioning of the arm of the insertion device from the measured distances and the known position of each optical reflector; and moving the arm of the insertion device according to the calculated absolute positioning, so as to bring the element to be implanted, in a predetermined implantation position.
  • the invention also relates to an insertion device for inserting an element into the ground, intended to be guided by the implementation of a guiding method according to the preceding method, comprising an arm, movable in translation and rotation along three axes orthogonal to each other and carrying the element to be inserted in the ground, actuators of said arm, an automaton for controlling said actuators and a control computer of said automaton, characterized in that it comprises at least three optical devices, implanted on the arm of the insertion device, each optical device being able to measure a distance between its point of implantation on the arm and a remote optical reflector placed in the environment of the work to be performed, in one known installation position, and in that said computer is programmed to calculate an absolute positioning of said arm, by implementing a trilateration algorithm, starting from measurements transmitted by the optical devices and the known positions of the optical reflectors.
  • the invention also relates to a vehicle characterized in that it comprises an insertion device according to the preceding device.
  • a vehicle 1 equipped with an insertion device 2 of elements in the ground for the realization of a structure.
  • the structure is a portion of a railway track, for example for a tramway, metro or mainline line.
  • the elements to be inserted are then saddles 3, sealed in the concrete of the raft 4 of the track and intended to maintain rails.
  • the saddles 3 are of conventional type and respectively comprise a plate of rigid material, such as cast iron, and two anchors.
  • the saddles 3 are held in the concrete slab once it has hardened. They each have a device for fixing a rail.
  • the vehicle 1 is mounted on four wheels 5, two of which are steered and the other two are driving. It comprises propulsion and steering means (not shown in the figure) for moving the vehicle 1 in a given direction, essentially the direction D of the track to achieve.
  • the vehicle 1 is moved above the raft 4 whose concrete, just poured, has not yet hardened.
  • the insertion device 2 comprises, mounted at the rear of the vehicle 1, an arm 6. Alternatively, the insertion device comprises several arms.
  • the arm 6 has on its lower part gripping systems at the end of which are placed two saddles 2 intended to be inserted into the concrete of the raft 4 freshly poured, each saddle corresponding to a track wire of the track.
  • the arm 6 of the insertion device is movable. It is moved, in translation along three axes and in rotation along three axes, with respect to a chassis of the vehicle 1, by a set of actuators (not shown in the figure).
  • actuators are controlled by an embedded controller (not shown in the figure), itself controlled by an on-board computer.
  • the computer 10 provides in particular the calculation of the absolute positioning of the arm 6, that is to say the absolute position of a reference point P of the arm and the absolute orientation of a reference segment A associated with the arm 6
  • a reference segment is parallel to the central bar of the "H" shaped arm and derived from the reference point P.
  • the automaton as a function of the absolute positioning of the arm 6 and of an absolute position of implantation of a saddle 3 (that is to say an absolute position of implantation of a saddle and an absolute orientation of implantation of this saddle) actuates the means of propulsion and direction of the vehicle 1 to approach the absolute position of implantation, then actuates the displacement of the arm 6 to bring the saddle into the absolute positioning of implantation (to an uncertainty ready).
  • the controller is able to actuate the cylinders so as to insert the two saddles in the fresh concrete, then to release the stool implanted and to control the jacks and the arm to return to the position of rest for a next cycle.
  • the arm 6 For guiding the insertion device 2, the arm 6 carries three optical devices 12, 13 and 14.
  • the first optical device 12 is implanted at a point P1
  • the second optical device 13 is implanted at a point P2
  • the third device Optical 14 is implanted at a point P3 of the arm.
  • the points of implantation are determined by construction of the arm with great precision. In particular the segments separating each pair of points are known with great precision.
  • Each optical device is equipped with an emitting optic capable of emitting a laser beam 22, 23, 24.
  • Each optical device is equipped with a receiving optics for collecting the beam reflected by a target. From the flight time separating the emission from the reception of a laser pulse, an optical device is able to determine a distance between the implantation point of the laser device and the target.
  • the operating frequency of an optical device is high: between 200 and 100 Hz.
  • a plurality of reflective prisms such as prisms 32, 33, 34, are disposed in the environment.
  • a prism is able to reflect the laser beam emitted by an optical device, such as the devices 12, 13, 14.
  • the prisms are placed at geographical points of a topographic survey.
  • the absolute position of each prism is known.
  • the qualifier of "absolute” we mean information relative to an absolute reference XYZ.
  • Each optical device 12, 13, 14 of the insertion device 2 is adapted to follow a particular target.
  • the first device 12 follows the prism 32
  • the second device 23 follows the prism 33
  • the third device 14 follows the prism 34.
  • each optical device 12, 13, 14 are equipped with a motor and a target tracking system.
  • the distance between the implantation point of a device and the prism that it follows is delivered at each instant by the optical device and transmitted to the on-board computer 10.
  • optical device having a range of only about 100 meters, it is necessary to associate the optical devices equipping the arm 6 with new prisms of the environment as the vehicle moves 1 and the advancement of the railroad track.
  • a topographic survey is performed to define the absolute position of a plurality of geographical points located successively along the profile of the railway track to achieve.
  • these geographical points are distributed at intervals of the order of 50 m to 100 m. They are marked by terminals 30 placed stably along the path to achieve.
  • the vehicle 1 is moved over the portion of the slab 4 whose concrete, just poured, is not yet hardened.
  • Prisms are then accurately placed on visible terminals 30 and within reach of the optical devices 12, 13, 14 embedded on the vehicle 1.
  • the prisms 32, 33 and 34 are thus positioned.
  • the optical devices 12, 13 and 14 are then set to follow the prisms 32, 33 and 34 respectively.
  • the identifier of the prism followed by an optical device is entered in the computer 10. From this identifier, by consulting a database of the geographical points of the topographic survey memorized by the computer 10, the latter knows the absolute position of each of the bonuses 32, 33, 34.
  • the computer 10 calculates the absolute positioning of the arm 6 in the absolute reference XYZ.
  • Trilateration is a mathematical method for determining the position of a point, in this case each point P1, P2 and P3, using the geometry of triangles, just like triangulation. But, unlike triangulation, which uses both angles and distances to determine the position of the point, trilateration uses only distances.
  • the insertion device comprises at least three optical devices, also knowing the geometry of the implantation of these devices (vectors P1 P2 and P1 P3 for example). ).
  • This absolute positioning of the arm 6 is transmitted by the computer 10 to the automaton.
  • each saddle controls the movement of the vehicle 1 to bring the arm 6, in a rest position with respect to a chassis of the vehicle 1, substantially in line with the position of implantation of the saddles 3.
  • the controller controls the actuators of the arm 6 to bring, at a ready uncertainty, the saddles 3 carried by the arm 6 in the absolute positioning of each saddle implantation.
  • the controller then controls the jacks of the arm 6 to insert the saddle 2 in the concrete raft 4.
  • the automaton controls the release by the arm 6 of the saddles 3 and brings the arm back to its rest position relative to the chassis of the vehicle 1.
  • Such a guiding method has the advantage of being very rapid, since, during a stool implantation cycle, the optical devices operate automatically and constantly follow the prism on which they perform the measurement of distance. Absolute positioning of the arm can be obtained at any time, which facilitates and improves the accuracy of the movement of the movable arm.
  • the optical devices of the present invention are able to determine only a distance measurement. Since they do not have to issue angle measurements, these optical devices do not have to be held in a horizontal plane. This is the reason why they can be embedded in the vehicle 1. Such optical device delivers a distance measurement with very good accuracy regardless of the movements of its support.
  • the present guiding method makes it possible to gain the necessary 30 seconds for the reorientation of the measuring station and the acquisition of the distance and from the angle of the other prism.
  • the stool implantation rate can be increased.
  • the positioning of prisms in the environment for the realization of a portion of the railway track can be done in parallel with the use of the insertion device for the realization of the previous portion of the track a railway.
  • the prisms placed in the environment encumber only very slightly the site. Since their use does not require the intervention of an operator, the safety of the operators is improved.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Mechanical Engineering (AREA)
EP15193853.7A 2014-11-10 2015-11-10 Verbessertes lenkverfahren einer einbringvorrichtung von elementen in den boden für die erstellung eines bauwerks, entsprechende einbringvorrichtung und entsprechendes fahrzeug Active EP3031983B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1460850A FR3028267B1 (fr) 2014-11-10 2014-11-10 Procede ameliore de guidage d'un dispositif d'insertion d'elements dans le sol pour la realisation d'un ouvrage ; dispositif d'insertion et vehicule associes.

Publications (2)

Publication Number Publication Date
EP3031983A1 true EP3031983A1 (de) 2016-06-15
EP3031983B1 EP3031983B1 (de) 2017-07-19

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EP15193853.7A Active EP3031983B1 (de) 2014-11-10 2015-11-10 Verbessertes lenkverfahren einer einbringvorrichtung von elementen in den boden für die erstellung eines bauwerks, entsprechende einbringvorrichtung und entsprechendes fahrzeug

Country Status (3)

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US (1) US9909263B2 (de)
EP (1) EP3031983B1 (de)
FR (1) FR3028267B1 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10234279B2 (en) * 2014-07-16 2019-03-19 Politecnico De Torino Mobile unit for measuring running paths for handling device, system and process for measuring through such mobile unit
FR3055907B1 (fr) * 2016-09-12 2018-10-05 Metrolab Vehicule d'installation de balises et procede correspondant

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DE4038860A1 (de) * 1990-11-30 1992-06-04 Verkehrswesen Hochschule Steuersystem fuer baumaschinen
EP0803609A2 (de) 1996-04-23 1997-10-29 Cegelec Verfahren zum lagegenauen Hinsetzen einer Einlage in Beton, Einrichtung zur Durchführung dieses Verfahrens, und durch das Verfahren erhaltenes Gleis
EP1178153A1 (de) * 2000-08-01 2002-02-06 Alstom Führungsmethode und -einrichtung zum Einbringen von Gegenständen in den Grund

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Publication number Priority date Publication date Assignee Title
DE4038860A1 (de) * 1990-11-30 1992-06-04 Verkehrswesen Hochschule Steuersystem fuer baumaschinen
EP0803609A2 (de) 1996-04-23 1997-10-29 Cegelec Verfahren zum lagegenauen Hinsetzen einer Einlage in Beton, Einrichtung zur Durchführung dieses Verfahrens, und durch das Verfahren erhaltenes Gleis
EP1178153A1 (de) * 2000-08-01 2002-02-06 Alstom Führungsmethode und -einrichtung zum Einbringen von Gegenständen in den Grund
FR2812671A1 (fr) 2000-08-01 2002-02-08 Alstom Procede de guidage d'un dispositif destine a inserer des elements dans le sol pour la realisation d'un ouvrage et dispositif d'insertion d'au moins un element dans le sol utilisant un tel procede de guidage

Also Published As

Publication number Publication date
US9909263B2 (en) 2018-03-06
EP3031983B1 (de) 2017-07-19
FR3028267A1 (fr) 2016-05-13
FR3028267B1 (fr) 2016-12-23
US20160130767A1 (en) 2016-05-12

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