Remote operated computer assisted precise pile driving and rig drilling system

• US 5,610,818 A
• Filed: 11/22/1995
• Issued: 03/11/1997
• Est. Priority Date: 11/22/1995
• Status: Expired due to Fees

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Culling, Robert G., Ackroyd, Neil, Chisholm, Gary S., Smith, Steve, O'Meagher, Brent
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): WALDER, STEPHEN JOSEPH
• Application Number:
  US08/561,699
• Time in Patent Office: 475 Days
• Field of Search: 364/424.07, 364/449, 356/141.1
• US Class Current: 455/456.3
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network

Abstract

The system for the remote computer assisted precise pile driving and rig drilling operations is disclosed. The system includes a base station, a computer assisted precise pile driving and rig drilling (CAPPDARD) system, and a communication link. The CAPPDARD system includes a moving platform including a piling rig and a mast, a location determination means, a computer, and a communication means. The CAPPDARD system can be operated manually or remotely from the base station.

Claims

1. A method for remote computer assisted precise pile driving and rig drilling, said method employing a base station including a base station computer, and a base station software including a job database (JD);

a CAPPDARD system; and

a communication link;

said CAPPDARD system further comprising a moving platform, a location determination means, a piling rig for performing the rig-drilling and the pile-driving operations, said piling rig further including a mast, a computer attached to said platform, and a receiving-transmitting means, said computer further comprising, a graphical computer map display, a centering computer map display, a verticality tilt display, and a computer memory;

said method comprising the steps of;

updating said JD, wherein an updated job database (UJD) is created;

transferring said UJD from said base station to said CAPPDARD system using said communication link;

reading said UJD by said CAPPDARD system;

continuously determining its position locations by said CAPPDARD system;

driving said new piles to said new piles target positions by said CAPPDARD system according to said UJD;

drilling said new rig target positions by said CAPPDARD system according to said UJD;

generating by said CAPPDARD system an As-Placed database (APD) of As-Placed coordinates of said new piles and said new rig target positions; and

sending said APD back to said base station using said communication link.

2. The method of claim 1, wherein said step of updating said JD further includes the steps of:

adding the initial coordinates of new piles to said JD;

selecting and adding to said JD the coordinates of said new piles target positions and the coordinates of said new rigs target positions; and

selecting the configuration parameters for navigation and adding said configuration navigation parameters to said JD.

3. The method of claim 2, wherein said step of adding the initial coordinates of new piles and new rigs to said JD further includes the step of keying in said JD by the operator the initial coordinates of each said new pile.

4. The method of claim 2, wherein said step of adding the initial coordinates of new piles to said JD further includes the step of loading in said JD a PILE FILE containing the initial coordinates of each said new pile.

5. The method of claim 2, wherein said step of selecting and adding to said JD the coordinates of said new piles target positions and the coordinates of said new rigs target positions further includes the step of generating a TARGET POSITIONS FILE.

6. The method of claim 5, wherein said step of generating said TARGET POSITIONS FILE further includes the steps of:

generating the coordinates of each said new pile and rig target positions;

generating the points that form the target position boundary for each said new pile target position and for each said rig target position;

generating the pile code for each said new pile;

generating the required depth tolerances for each said new pile target position and for each said rig target position; and

generating the required tilt tolerances for each said new pile target position and for each said rig target position.

7. The method of claim 2, wherein said step of selecting the configuration parameters for navigation and adding said configuration parameters to said JD further includes the steps of:

introducing the parameters including the units of measurements that are used by said CAPPDARD computer display;

introducing the parameters that control the calculation by said CAPPDARD computer the coordinates of each said new target positions, wherein said coordinates of each said new target position are determined using said location determination means;

introducing the tilt tolerances parameters for each said new pile target position and for each said rig target position;

introducing the depth tolerance parameters for each said new rig target position;

selecting the parameters that control the displayed graphical information on said CAPPDARD computer map display; and

selecting the parameters that control the displayed text information on said CAPPDARD computer map display.

8. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by an inertial navigation system.

9. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a gyroscope system.

10. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a local magnetic field sensor system.

11. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a Global Positioning System Receiver.

12. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a Global Orbiting Navigational Satellite System Receiver.

13. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a ground-based location determination system including a Loran system.

14. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a ground-based location determination system including a Tacan system.

15. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a ground-based location determination system including a Decca system.

16. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a ground-based location determination system including an Omega system.

17. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a ground-based location determination system including a JTIDS Relnav system.

18. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a ground-based location determination system including a PLRS system.

19. The method of claim 1, wherein said step of continuously determining its position locations by said CAPPDARD system further includes the step of determining its position locations by a ground-based location determination system including a VOR/DME Receiver.

20. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using a mechanical means for transferring said UJD from said base station to said CAPPDARD system.

21. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using a radiowave frequency band.

22. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using an infrared frequency band.

23. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using a microwave frequency band.

24. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using the ISM (industrial scientific medical) unlicensed operation band, and wherein the ISM band range is selected from a class of frequency range consisting of 900 MHz, 2.4 GHz, and 5.8 GHz;

and wherein the user can own the both ends of the ISM communication system.

25. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using a real time circuit switched communication link.

26. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using a 1.8 GHz band, wherein said 1.8 GHz band supports the personal communications services (PCS).

27. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using a Low Earth Orbiting Satellites (LEOS), wherein said LEOS is used to store and to forward digital packet data.

28. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using a communication means, and wherein said communication means is selected from a class of radiowave communication means consisting of a cellular telephone communication means, paging signal receiving means, a wireless messaging services, a wireless application services, a wireless WAN/LAN station, and an Earth-satellite-Earth communication module that uses at least one satellite to relay a radiowave signal.

29. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using a communication means, and wherein said communication means includes an Advanced Mobile Phone System (AMPS) including a modem, and wherein said modem is selected from a class consisting of a DSP (digital signal processor) modem, and a cellular digital packet data (CDPD) modem.

30. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using a communication means, and wherein said communication means includes a digital cellular telephone communication means, and wherein said digital cellular telephone communication means includes a means of modulation of digital data over a radiolink selected from a class consisting of a time division multiple access (TDMA) system, and a code division multiple access (CDMA) system.

31. The method of claim 1, wherein said step of transferring said UJD from said base station to said CAPPDARD system using said communication link further includes the step of using a communication means, and wherein said communication means includes a fax wireless communication means.

32. The method of claim 1, wherein said step of driving said new piles to said new piles target positions by said CAPPDARD system according to said UJD further includes the steps of:

selecting from said UJD a first new pile to place and a target position for said first new pile;

moving said piling rig of said CAPPDARD system to said target position of said first pile using a map display information and a text display information;

adjusting said piling rig into said target position;

adjusting the verticality of said mast within said predetermined tolerance;

placing said first pile into said first target position;

generating and recording the As-Placed coordinates of said first placed pile; and

repeating the above mentioned steps for each said pile to be placed according to said UJD.

33. The method of claim 32, said CAPPDARD system further including a depth meter and a tilt meter, wherein said step of adjusting said piling rig into said target position further includes the steps of:

changing said graphical map display into said centering target display when said piling rig gets closer than a predetermined distance from said target position;

measuring the depth of said first placed pile by said depth meter;

measuring the verticality of said first pile graphically by using said tilt meter; and

displaying said verticality tilt of said first pile using said verticality tilt display.

34. The method of claim 1, wherein said step of drilling said new rig target positions by said CAPPDARD system according to said UJD further includes the steps of:

selecting from said UJD a first new rig target position;

moving said piling rig of said CAPPDARD system to said first rig target position using a map display information and a text display information;

adjusting said piling rig into said target position;

adjusting the verticality of said mast within said predetermined tolerance;

drilling said piling rig into said first rig target position;

generating and recording the As-Drilled coordinates of said first rig target position; and

repeating the above mentioned steps for all said rig target positions to be drilled according to said UJD.

35. The method of claim 34, said CAPPDARD system further including a depth meter and a tilt meter, wherein said step of adjusting said piling rig into said target position further includes the step of:

changing said graphical map display into a centering target display when said piling rig gets closer than a predetermined distance from said target position;

measuring the depth of said first rig target position by said depth meter;

measuring the verticality of said piling rig by using said tilt meter; and

displaying said measured verticality tilt of said first rig target position using said tilt display.

36. The method of claim 1, wherein said step of generating by said CAPPDARD system an As-Placed database (APD) of said new piles and said new rig target positions further includes the step of:

recording into one said As-Placed database As-Placed coordinates for each said placed pile and As-Drilled coordinates for each said drilled rig target position.

37. A system for remote computer assisted precise pile driving and rig drilling;

said system further comprising;

a computer assisted pile driving and rig drilling system (CAPPDARD);

a base station; and

a communication link connecting said CAPPDARD system and said base station.

38. The system of claim 37, wherein said CAPPDARD system further comprises:

a moving platform;

said moving platform further including;

a piling rig connected to said moving platform; and

a mast connected to said piling rig;

wherein said mast includes a nominally vertical axis passing through the center of operation of said piling rig at ground level;

a location determination means attached to said moving platform;

a computer attached to said platform;

said computer further comprising;

a computer display;

a computer memory connected to said computer display; and

a computer software loaded into said computer memory; and

a communication means connected to said computer.

39. The system of claim 38, wherein said CAPPDARD system further comprises:

a tilt meter connected to said moving platform;

a depth meter connected to said moving platform;

a centering map display connected to said computer; and

a verticality tilt display connected to said computer.

40. The system of claim 37, wherein said base station further comprises:

a base station computer;

a base station communication means connected to said base station computer; and

a base station software including an initial job database (JD) and an updated job database (UJD), wherein said base station software is installed into said base station computer.

41. The system of claim 38, wherein said location determination means is selected from a class of self-contained location determination systems, mounted on said moving platform, consisting of an inertial navigation system, a gyroscope system, and a local magnetic field sensor system.

42. The system of claim 38, wherein said location determination means is selected from a class of satellite-based location determination systems consisting of a Global Positioning System Receiver and a Global Orbiting Navigational Satellite System Receiver.

43. The system of claim 38, wherein said location determination means is selected from a class of ground-based location determination systems consisting of Loran, Tacan, Decca, Omega, JTIDS Relnav, PLRS, and VOR/DME Receiver.

44. The system of claim 37, wherein said communication link includes a mechanical means for transferring said UJD from said base station to said CAPPDARD system.

45. The system of claim 37, wherein said communication link includes a radiowave frequency band.

46. The system of claim 37, wherein said communication link includes an infrared frequency band.

47. The system of claim 37, wherein said communication link includes a microwave frequency band.

48. The system of claim 37, wherein said communication link includes the ISM (industrial scientific medical) unlicensed operation band, and wherein the ISM band range is selected from a class of frequency range consisting of 900 MHz, 2.4 GHz, and 5.8 GHz;

and wherein the user can own the both ends of the ISM communication system.

49. The system of claim 37, wherein said communication link includes a real time circuit switched communication link.

50. The system of claim 37, wherein said communication link includes a 1.8 GHz band, wherein said 1.8 GHz band supports the personal communications services (PCS).

51. The system of claim 38, wherein said communication means includes a Low Earth Orbiting Satellites (LEOS), wherein said LEOS is used to store and to forward digital packet data.

52. The system of claim 38, wherein said communication means is selected from a class of radiowave communication means consisting of a cellular telephone communication means, paging signal receiving means, a wireless messaging services, a wireless application services, a wireless WAN/LAN station, and an Earth-satellite-Earth communication module that uses at least one satellite to relay a radiowave signal.

53. The system of claim 38, wherein said communication means includes an Advanced Mobile Phone System (AMPS) including a modem, and wherein said modem is selected from a class consisting of a DSP (digital signal processor) modem, and a cellular digital packet data (CDPD) modem.

54. The system of claim 38, wherein said communication means includes a digital cellular telephone communication means, and wherein said digital cellular telephone communication means includes a means of modulation of digital data over a radiolink selected from a class consisting of a time division multiple access (TDMA) system, and a code division multiple access (CDMA) system.

55. The system of claim 38, wherein said communication means includes a fax wireless communication means.

56. The system of claim 38, wherein said CAPPDARD system is operated by a human operator.

57. The system of claim 38, said CAPPDARD system further including a navigational computer attached to said moving platform, and wherein said CAPPDARD system is operated by said navigational computer.