Production method using global positioning system

• US 6,671,600 B1
• Filed: 03/25/2002
• Issued: 12/30/2003
• Est. Priority Date: 02/12/1999
• Status: Expired due to Fees

• Current Assignee: Vinci Construction France (Vinci)
• Original Assignee: GTM Construction (VINCI SA)
• Inventors: Hintzy, Gaëtan
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): To, Tuan C
• Application Number:
  US09/913,777
• Time in Patent Office: 645 Days
• Field of Search: 701/50, 701/208, 701/300, 701/211, 701/101, 701/102, 701/104, 701/207, 701/213, 701/214, 340/988, 367/69, 342/357
• US Class Current: 701/50
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method of producing a projected useful form from an existing body delimited by a three-dimensional envelope using a tool mounted on a machine cooperating with a global satellite positioning system of the bifrequency, differential, kinematic and real time type such as GPS, the machine having at least one global positioning receiver in order to be moved according to a theoretical model of the form, is provided.

Claims

1. A method of producing a projected useful form (7) such as a road project surface, from an existing body (5) delimited by a three-dimensional envelope, such as a construction site, a building or the like, using a tool (4) mounted on a machine (2), for example an earthwork machine for a construction site )or the like;

this machine (2) cooperating with a global satellite positioning system of the bifrequency, differential, kinematic and real time type such as GPS;

the machine (2) having at least one global positioning receiver (10;

1A;

10B), for example on its tool (4), in order to be moved according to a theoretical model (6) of the form (7);

characterised in that it includes the steps making provision for;

storing fixed geometric curves (28, 30) peculiar to the useful form, including at least one substantially longitudinal arch axis (28) and at least one cross-sectional profile (29);

measuring, at at least one moment (N), the elevation (z(P)), longitudinal (x(P)) and transverse (y(P)) position of the tool, using a receiver (10;

10A;

10B) when the tool is moved, for example at a predetermined frequency (F);

associating a position along the arch axis (28) with this measured position;

locally calculating the theoretical model (6) whilst making a cross-sectional profile (29) of the useful form (7) correspond to this location;

activating in memory a standard deviation (ET) signifying an uncertainty characteristic of the global positioning system, possibly after it is determined during a phase of calibrating the receiver (10;

10A;

10B);

comparing, during the movement of the tool (4), for example at the predetermined frequency (F), a measured elevation position (z(P)) of the tool with a theoretical altitude (Z_TH(P)) defined from the model (6);

deducing from this comparison a deviation (E(N)) in elevation at the time of measurement (N), such that this deviation is said to be a zero deviation (E0) when the measured elevation position (z(P)) is substantially the same as the theoretical altitude (Z_TH(P));

defining on the one hand at least from the zero deviation (E0) at least two analysis bands, for example two centre bands respectively upper (31) and lower (34), two median bands respectively upper (32) and lower (35), and two external bands respectively upper (33) and lower (36), these bands being for example symmetrical in pairs, lower and/or upper delimiters of these analysis bands being proportional to the standard deviation (ET);

identifying an active analysis band (31, 36) to which this deviation in elevation (E(N)) belongs;

calculating, according to the deviation (E(N)) and the active analysis band, an elevation slaving reference (C(P)), a ceiling for whose value is set according to the active analysis band identified; and

controlling the elevation position of the tool (4) according to the calculated reference (C(P)), so that this tool is either momentarily left in position, or brought closer, in a limited manner, to the model (6) by an elevation distance substantially proportional to the absolute value of the reference (C(P)).

2. A production method according to claim 1, characterised in that the theoretical model (6) of the useful form (7) is calculated locally from notably at least:

the arch axis (28), defined mathematically, notably by a line known as the axis in the horizontal plane and by a longitudinal profile, defined themselves by at least one continuous and derivable parameterised function, and including at least part of a geometric curve (30), and for example a succession of such parts, each being defined mathematically by a continuous parameterised function, such as a straight line, arc of a circle, parabola, clothoid or the like; and

a cross-sectional profile (29), defined mathematically by a continuous parameterised function, for example each cross-sectional profile is a succession of end to end straight line segments.

3. A production method according to claim 1, characterised in that it is intended for re-establishing an existing useful form (7), and including, at the time of storage of the geometric curves (30), at least one phase making provision notably for a measuring pass over the existing useful form, for example with a machine (2) similar to the one provided for effecting the re-establishment.

4. A production method according to claim 1, characterised in that a step of lateral or directional control of the longitudinal path of the machine (2) and/or of the tool (4) is provided during the production of the useful form (7), this step including the phases making provision for:

defining an auxiliary guidance line (38) which must be followed by the machine (2) during a given pass of the production, this guidance line being for example at a substantially constant distance from the arch axis (28);

analysing the measured lateral position in the horizontal plane of the tool (4) according to measurements supplied by the receiver (10;

10A;

10B); and

according to the parameters obtained by this analysis, calculating a lateral slaving control of the machine (2) able to make a trajectory of the machine (2) in the horizontal plane coincide with the auxiliary guidance line (38).

5. A production method according to claim 1, characterised in that, from at least part of the zero deviation (E0), three analysis bands are provided, namely:

a first analysis band close to the zero deviation (E0), said to be centre (31) and defined by a set of deviations;

a second analysis band, said to be median (32) and defined by deviations greater than those of the centre band; and

a third analysis band, further away from the zero deviation (E0) than the centre and median bands, said to be external (33) and defined by a set of deviations greater than those of the median band;

possibly from another part of the zero deviation (E0), other analysis bands (34, 35, 36) being provided, for example symmetrical with the centre, median and external bands with respect to the zero deviation (E0).

6. A production method according to claim 1, characterised in that, the analysis bands being symmetrical, for example greater or lesser with respect to the zero deviation (E0), the processing of all the deviations considers only their absolute value, the reference (C(P)) corresponding to a deviation (E(N)) of negative sign being equal to the opposite of the reference issuing from the processing of the absolute value of this deviation.

7. A production method according to claim 1, characterised in that the theoretical model (6) is able to have the machine (2) run through it along the arch axis (28) and/or along an auxiliary guidance line (38), freely in one direction or another, for example the opposite direction.

8. A production method according to claim 7, characterised in that it includes a step of automatic recognition of the direction of movement of the machine (2) along the arch axis (28) and/or the auxiliary guidance line (38).

9. A production method according to claim 1, characterised in that at least two successive passes are provided, in elevation, an initial auxiliary guidance line, relating to an initial pass, then being translated by predetermined value in order to define a subsequent auxiliary guidance line, relating to a following pass.

10. A production method according to claim 1, characterised in that the frequency (F) of measurement, processing and calculation is defined, between the instant (N) and a following instant (N+1) of subsequent measurement, by a clock in the global positioning system, and is for example around 1 hertz.

11. A production method according to claim 1, characterised in that, if the deviation (E(N)) is determined in an external analysis band (33, 36), then the slaving reference (C(P)) is of constant value, for example its absolute value corresponds to a tool movement distance of around 10 millimetres.

12. A production method according to claim 1, characterised in that, if the deviation (E(N)) is determined in a median analysis band (32, 35), then a so-called median difference or quantity (D) is calculated, defined by a difference between this deviation (E(N)) and a respective delimiter of this band (32, 35) closest to the zero deviation (E0), a slaving reference (C(P)) being derived from this quantity (D).

13. A production method according to claim 12, characterised in that, if the absolute value of the quantity (D) is greater than a maximum median action value (C1), then the absolute value of the reference (C(P)) is determined as being substantially equal to this value (C1), for example this value corresponds to a movement distance of the tool (4) of around 10 millimetres.

14. A production method according to claim 12, characterised in that, if the absolute value of the quantity (D) is less than a minimum median action value (C2), then the absolute value of the reference (C(P)) is determined as being substantially equal to this value (C2), for example this value corresponds to a movement distance of the tool (4) of around 4 millimetres.

15. A production method according to claim 12, characterised in that, if the absolute value of the quantity (D) is between maximum (C1) and minimum (C2) median values, then the absolute value of the reference (C(P)) is determined as being substantially equal to the absolute value of the quantity (D).

16. A production method according to claim 1, characterised in that, if the deviation (E(N)) is determined as being in a centre analysis band (31, 34), for example upper or lower, then there is performed a step of calculating a so-called centre difference (D′

) between the absolute value of this deviation and the absolute value of a deviation at a previous instant (N−

1) of calculation before the instant (N) according to the value of the processing frequency (F)22.

17. A production method according to claim 16, characterised in that, if the difference (D′

) is negative or zero, then the reference (C(P)) is chosen so as to be substantially zero, and for example the elevation distance of bringing the tool (4) closer is zero.

18. A production method according to claim 16, characterised in that, if the difference (D′

) is positive, then there is calculated a so-called centre quantity (Q′

), equal to a fraction of the difference (D′

), for example around one third of this difference.

19. A production method according to claim 18, characterised in that, if the centre quantity (Q′

) is greater than a maximum centre value (C3), then the absolute value of the reference (C(P)) is determined as being substantially equal to this value (C3), for example this value corresponds to a movement distance of the tool (4) of around 4 millimetres.

20. A production method according to claim 18, characterised in that, if the centre quantity (Q′

) is less than a minimum centre action value (C4), then the absolute value of the reference (C(P)) is determined as being substantially equal to this value (C4), for example this value corresponds to a movement distance of the tool (4) of around 1 millimetre.

21. A production method according to claim 18, characterised in that, if the centre quantity (Q′

) is between the minimum (C4) and maximum (C3) centre action values, then the absolute value of the reference (C(P)) is determined as being substantially equal to this centre quantity (Q′

).

22. A production method according to claim 1, characterised in that a regression curve (37), for example right-hand, is calculated, which defines the mean change in the deviations derived during a predetermined interval of time, for example between times of a prior measurement (N−

50) and a preceding measurement (N−

1), a regression deviation (E′

(N)) being extrapolated at instant (N) from this regression curve (37), and the reference (C(P)) corresponding to the deviation (E(N)) then being corrected as a function of the difference between the extrapolated deviation (E′

(N)) and the deviation (E(N)).

23. A production method according to claim 22, characterised in that the correction applied to the reference (C(P)) makes provision for replacing, in the calculation of this reference, on the one hand the value of the deviation (E(N)) with the value of a corrected deviation (E″

(N)), and on the other hand the value of the previous deviation (E(N−

1)) with the value of a preceding corrected deviation (E″

N−

1)), the values of the corrected deviation (E″

(N)) and the preceding corrected deviation (E″

(N−

1)) being equal respectively to a weighted mean of the value of the deviation (E(N)) and of the corresponding extrapolated deviation (E′

(N)), and to a weighted mean of the value of the preceding deviation (E(N−

1)) and a corresponding preceding extrapolated deviation (E′

(N−

1)).

24. A production method according to claim 1, characterised in that signals or frames received from the receivers (10, 10A, 10B) for processing, undergo decoding and filtering operations, these operations making it possible to transform the frames into digital signals able to be processed, and to eliminate all the measurements whose deviation with respect to a preceding measurement is greater than a predetermined high value, for example around 100 mm.

25. A method according to claim 1, characterised in that a digitisation step, provided by a digitisation module (19), includes notably the phases of:

digitising data relating to the theoretical model (6) for example issuing from a computer aided design;

simulating the movement of the machine (2) on the theoretical model (6), in order to check the consistency of the data;

display of parameters of the theoretical model (6); and

creating computer files able to be processed by a computer (18) controlling the method.

26. A production method according to claim 1, characterised in that the theoretical model (6) is notably defined by the arch axis (28) and at least one cross-sectional profile, a step being provided for calculating (18) by linear interpolation between different cross-sectional profile parameters of the theoretical model (6), along this arch axis (28).

27. A production method according to claim 1, characterised in that there is provided an automatic step of identification of error in the limited convergence and/or the processing, such as at least an absence of position measurement by the receiver (10, 10A, 10B), a failure in communication, an error in digitisation of the theoretical model (6), an error in transmitting the global positioning information to a computer (18), a slaving calculation error, or a positioning error peculiar to the machine (2).

28. A production method according to claim 1, characterised in that it provides for the use of at least a second receiver (10;

10A;

10B) and/or at least one attitude sensor, for example an inclinometer or a camber sensor.

29. A production method according to claim 1, characterised in that it provides for three distinct operating modes, a so-called mode of priority to the left of the tool (4), a so-called mode of priority to the right of the tool (4), and a mode without priority, notably for producing cross-sectional profiles (29), broken or the like, of the useful form (7).

30. A control and slaving device (24) intended for the production, according to a theoretical model (6), of a projected form (7) from a body (5) delimited by a three-dimensional envelope, able to implement the method according to claim 1, characterised in that it comprises notably at least:

a positioning module (17);

a computer (18) able to process information coming from the positioning module (17) and a useful part only of the theoretical model (6), accessible for example by means of a file;

a digitisation module (19);

an automatic controller (20), for example programmable; and

elevation distributors (21, 22) respectively right, left and tool direction (23).

31. A device (24) according to claim 30, characterised in that the computer (18) comprises notably at least three subsystems, namely:

a decoding and filtering kernel (25);

a location kernel (26); and

slaving means (27) connected to the elevation (21, 22) and direction (23) control valves of the tool (4) by means of the automatic controller (20).

32. A device (24) according to claim 31, characterised in that a decoding and filtering kernel (25) and a location kernel (26) contain digital calculation computer programs, applications issuing from digital calculation software or the like.

33. A device (24) according to claim 30, characterised in that it comprises means of transmitting to the computer (18) at each instant (N) information in the form of coded messages, notably relating to a longitudinal (x) transverse (y) and elevation (z) position of each mobile receiver (10, 10A, 10B).

34. A device (24) according to claim 30, characterised in that it has safety means, able to detect or identify a stoppage of functioning of the mobile receivers (10, 10A, 10B) and/or able to cause this device (24) to switch from an automatic functioning mode to a manual functioning mode according to which a driver (3) of the machine (2) fully controls the latter.

35. A device (24) according to claim 30, characterised in that it comprises means for the automatic recognition of the direction of travel of the machine (2) along the arch axis (28) and/or an auxiliary guidance line (38) of the theoretical model (6).

36. A machine (2) able to implement the method according to claim 1, such as an earthworks grader, a filler tipping skip, a continuous concrete pouring machine, a nibbler for an existing

structure, a snow plough or the like, characterised in that it has at least one tool (4) with at least one global positioning receiver (10;

10A;

10B), for example two receivers, mounted on respective masts (8;

8A;

8B) close to the transverse ends of the tool (4).

37. A machine (2) able to implement the method according to claim 1, such as an earthworks grader, a filler tipping skip, a continuous concrete pouring machine, a nibbler for an existing structure, a snow plough or the like, characterised in that it has at least one tool (4) and at least one global positioning receiver (10;

10A;

10B) for example close to the transverse ends of the tool (4) and at least one attitude sensor.

38. A machine (2) according to claim 36, characterised in that there is provided, for example in a cab (46) for a driver (3) of this machine (2), display means (47, 48, 49) such as at least one screen, for example of the liquid crystal or similar type.

39. A machine (2) according to claim 38, characterised in that the display means include at least one welcoming and parameterising screen (47), a working screen (48) and a geometric information screen (49), the welcoming and parameterising screen (47) being for example of the touch type to enable a driver (3) of the vehicle to initialise a control and slaving device (24).

40. A machine (2) according to claim 36, characterised in that it has automatic means for the slaving of its direction, for example controlled by a control and slaving device (24), these direction slaving means being able to automatically make a movement path of the machine (2) converge towards and along an auxiliary guidance line (38).

41. A machine (2) according to claim 36, characterised in that it has means of adjusting the transverse position of the tool (4) about an elevation direction, able to allow the limited convergence of the path of this tool (4) towards and along an auxiliary guidance line (38).

42. A machine (2) according to claim 36, characterised in that it has a steering lever (45) and means of determining the priority of an automatic mode, this determination making it possible, by a movement of this lever (45) operated by a driver (3), to make the functioning of a control and slaving device (24) change from an automatic mode to a manual mode.

43. A useful form (7) obtained from a body (5), characterised in that it is produced according to the method of claim 1, the differences in elevation in the useful form (7) along the arch axis (28) of the theoretical model (6) being between −

13 mm and +13 mm at the most, compared with the model (6), on each side in elevation.

44. A machine (2) having at least one device (24) according to claim 30, such as an earthworks grader, a filler tipping skip, a continuous concrete pouring machine, a nibbler for an existing structure, a snow plough or the like, characterised in that it has at least one tool (4) and at least one global positioning receiver (10;

10A;

10B) for example close to the transverse ends of the tool (4) and at least one attitude sensor.

45. A machine (2) having at least one device (24) according to claim 30, such as an earthworks grader, a filler tipping skip, a continuous concrete pouring machine, a nibbler for an existing structure, a snow plough or the like, characterised in that it has at least one tool (4) with at least one global positioning receiver (10;

10A;

10B), for example two receivers, mounted on respective masts (8;

8A;

8B) close to the transverse ends of the tool (4).

46. A useful form (7) obtained from a body (5), characterised in that it is produced by means of at least one control and slaving device (24) according to one of claim 30, the differences in elevation in the useful form (7) along the arch axis (28) of the theoretical model (6) being between −

13 mm and +13 mm at the most, compared with the model (6), on each side in elevation.

47. A useful form (7) obtained from a body (5), characterised in that it is produced with at least one site machine (2) according to claim 36, the differences in elevation in the useful form (7) along the arch axis (28) of the theoretical model (6) being between −

13 mm and +13 mm at the most, compared with the model (6), on each side in elevation.