System and method for real-time guidance and mapping of a tunnel boring machine and tunnel

• US 9,292,017 B2
• Filed: 04/21/2014
• Issued: 03/22/2016
• Est. Priority Date: 04/22/2013
• Status: Active Grant

• Current Assignee: Clarovia Holdings LLC
• Original Assignee: Carin L. Douglass, Dan A. Preston, Joseph David Preston, Kyle A. Yeats, Marc A. Derenburger, Paul M. Peterson
• Inventors: Preston, Dan Alan, Preston, Joseph David, Derenburger, Marc A., Douglass, Carin L., Peterson, Paul M., Yeats, Kyle A.
• Primary Examiner(s): Alharbi, Adam
• Application Number:
  US14/257,873
• Publication Number:
  US 20150301533A1
• Time in Patent Office: 701 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B61L 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B61L 25/026 Relative localisation, e.g. using odometer
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S
• 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 1/028 using a RF signal

Abstract

A system and methods are disclosed for providing the location of a tunnel boring machine (TBM) by establishing of a plurality of known locations or “monuments”; from these monuments located at least on, over or within the TBM'"'"'s start point, known in the art as a “pit”. The present invention provides among other things an integrated navigation system that provides real-time parametric guidance information to the TBM, relative to the tunnel origin, past course and current trajectory, while simultaneously employing a non-contact measuring system in concert with said origin and course information for the final provision of an as-built map of tunnel dimensions and centerline.

Claims

1. A dynamic geo-location and mapping system for a tunnel boring machine (TBM) used to determine deviation from a design centerline of a tunnel to the TBM, generate a position update for the TBM guidance system and generate a three-dimensional plan of the tunnel as built, the system comprising:

a TBM;

a first Inertial Navigation System (INS) mounted on a vehicle, wherein the vehicle is configured to service the TBM;

position determining systems located proximate to a launch pit configured to transmit positioning data for initialization of the first INS for obtaining an accurate current position of the vehicle;

a ranging device mounted on the vehicle to make measurements orthogonal to the geometric centerline of the tunnel;

a first memory located on the vehicle;

a first computer located on the vehicle, wherein the first computer is configured to collect data as the vehicle traverses the tunnel;

responsive to traversing the tunnel for data collection, logging data in the first memory, arrive at a known and predetermined location with the TBM, and transmit the logged data to the TBM;

a second INS located on the TBM;

a second memory located on the TBM;

a second computer located on the TBM configured to receive the logged data from the first computer, receive an updated position of the first INS, translate the first INS position to the second INS as a position update and determine real-time parametric guidance information for the TBM to at least one of maintain a current path and course correct to the design centerline of the tunnel.

2. A dynamic geo-location and mapping method for a tunnel boring machine (TBM) used to determine deviation of the TBM centerline from a tunnel flail design centerline, generate a position update for the TBM guidance system and generate a three-dimensional plan of the tunnel as built, the method comprising:

operating a TBM;

operating a first Inertial Navigation System (INS) mounted on a vehicle, wherein the vehicle is configured to service the TBM;

transmitting positioning data for initialization of the first INS for obtaining an accurate initial position of the vehicle using position determining systems proximate to a launch pit;

operating a ranging device mounted on the vehicle to make measurements orthogonal to the design centerline of the tunnel;

using a first memory located on the vehicle;

operating a first computer located on the vehicle, wherein the first computer is configured to collect data as the vehicle traverses the tunnel;

responsive to traversing the tunnel for data collection, logging the data in the first memory, arriving at a known and predetermined location in relation to the TBM, and transmitting the logged data to the TBM;

operating a second INS located on the TBM;

using a second memory located on the TBM;

operating a second computer located on the TBM configured to receive the logged data from the first computer, receive an updated position of the first INS, translate the first INS position to the second INS as a position update and determine real-time parametric guidance information for the TBM to at least one of maintain a path and course correct to the design centerline of the tunnel.

3. A dynamic geo-location and mapping system for a tunnel boring machine (TBM) used to determine deviation from a design centerline of a tunnel to the TBM, generate a position update for the TBM guidance system, and generate a three-dimensional plan of the tunnel as built, the system comprising:

a TBM;

one or more position determining systems located proximate to a launch pit, wherein the launch pit is the starting point of a tunnel to be bored, and wherein the one or more position determining systems determines a location from a satellite array;

a position transmitter located on each position determining system configured to generate a position signal comprising at least two elements, the first element is a coded message, wherein the coded message is position data, and the second element is an RF carrier, wherein the RF carrier is one of narrowband, spread spectrum, and ultra-wideband;

a vehicle configured to service the TBM;

a position receiver located on the vehicle, configured to receive the position signal from the position determining systems;

a data transmitter located on the vehicle and configured to transmit data off the vehicle;

a first inertial navigation system (INS) located on the vehicle;

a ranging device mounted on the vehicle to make measurements orthogonal to the geometric centerline of the tunnel;

a vehicle computer located on the vehicle, wherein the vehicle computer is connected to the position receiver, the data transmitter, the INS, and the ranging device, wherein the vehicle computer comprises a first memory for logging data, and wherein the vehicle computer is configured to;

receive the position signal and the station identification from each of the position determining systems located proximate to the launch pit,

receive the modulated signals and the station identification from each of the one or more position determining systems,

responsive to receiving the position signal associate the position data from each position determining system to determine a position of the vehicle,

responsive to determining the position of the vehicle, send the position to the first INS and initialize the first INS,

use the data transmitter located on the vehicle to transmit a first status ready message to at least one of a control station located proximate to the launch pit and an operator of the vehicle,

responsive to receiving the status ready message, release the vehicle to traverse the tunnel for collecting time stamped data from the first INS and the ranging device and log the data collected,

responsive to traversing the tunnel for data collection and arriving at a known and predetermined location relative to the TBM, transmit from the data transmitter a current position obtained from the first INS;

a TBM transmitter connected to a TBM computer located on the TBM, wherein the TBM computer comprises a second memory, and wherein the TBM computer is configured to;

receive the current position of the first INS from the data transmitter,

responsive to receiving the current position data, determine the offset between the first INS and the second INS, apply a course correction to the current position data, and update the second INS with the current position and the required course correction,

responsive to updating the second INS, download the logged data from the first memory to the second memory in the TBM computer,

responsive to downloading the logged data, send a second status ready message to the vehicle computer for release to traverse the tunnel back to the launch pit.