• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to an automated device for drilling a hole in the roof and the walls of a tunnel and setting up an anchoring element in said hole, characterized in that it comprises: - a robot (5) comprising a base (50), a robotic arm (51) extending from the base and a multifunctional head (52) arranged at the end of the arm and movable 360 degrees, said multifunction head including piercing means (520) , a percussion means (521) adapted to insert an anchoring element into the hole, and a vision system (522), - a lifting platform (1) carrying a device (2) for translational guidance of the base of the robot, - a control unit adapted to communicate with a controller of the robot and comprising a processor configured to determine in real time the position of the robot in a three-dimensional repository of the tunnel and a human machine interface.
    公开号:FR3056249A1
    申请号:FR1658903
    申请日:2016-09-22
    公开日:2018-03-23
    发明作者:Jerome Furge
    申请人:Bouygues Travaux Publics SAS；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    The present invention relates to an automated device for drilling a hole in the roof and the walls of a tunnel and installing an anchoring element in said hole.
    BACKGROUND OF THE INVENTION
    When manufacturing a tunnel, it is necessary to fix objects, such as cables, conduits, lights, traffic signs, etc., on the roof of the tunnel, the surface of which is generally made of concrete.
    A tunnel several kilometers long can thus require drilling several tens of thousands of holes in the roof and walls.
    For this purpose, it is necessary to drill a hole in the wall of the tunnel and then to insert an anchoring element such as a dowel, allowing to fix the object.
    These operations are currently performed by an operator.
    Given the height of the vault (several meters), it is necessary to install scaffolding so that the operator can be in a suitable position relative to the intended location. The location of the hole is marked manually, for example using chalk, then the hole is drilled by the operator using a drill. Then the anchor is inserted into the hole.
    This intervention by an operator turns out to be unsatisfactory for various reasons.
    On the one hand, it takes a long time to drill each hole and install each respective anchor.
    On the other hand, the operator is exposed to conditions harmful to his health, such as a dust-laden atmosphere, a noisy environment, not to mention the risks associated with working at height.
    A need therefore appeared to automate these operations in order to minimize the intervention of an operator.
    Attempts to automate the drilling of holes in tunnels have already been described for different applications.
    The article "The development and testing of a mobile drilling robot" [1] describes a wheel-mounted robot intended to drill holes in the ground of a tunnel intended to be equipped with a railway track. The robot comprises two perforators making it possible to drill two holes simultaneously, as well as means for controlling the position in two directions (in a horizontal plane formed by the ground) and the orientation of the perforators and a position sensor by rotary laser beam using reference reflectors. From the coordinates of the holes to be drilled and the reflectors, the robot is able to perform precision drilling at a high rate.
    However, drilling holes in the roof of a tunnel is more complex than in the ground, and in particular requires controlling the position and orientation of the robot in three directions of space. On the other hand, document [1] does not address the problem of the automated positioning of anchoring elements in the holes.
    Document CN 201714390 [2] describes a robot intended for digging rocks for the purpose of tunneling. This robot is intended to drill holes in the rock in order to then place a stick of explosive in it to detonate the rock. This document does not address the problem of precise positioning of the hole in the roof of a tunnel already made, nor that of the installation of anchoring elements.
    BRIEF DESCRIPTION OF THE INVENTION
    An object of the invention is to design an automated device for drilling a hole in the roof of a tunnel and then inserting an anchoring element in said hole.
    In accordance with the invention, an automated device is proposed for drilling a hole in the roof and the walls of a tunnel and installing an anchoring element in said hole, characterized in that it comprises:
    a robot comprising a base, a robotic arm extending from the base and a multifunction head arranged at the end of the arm and movable at 360 degrees, said multifunction head comprising a piercing means, a percussion means suitable for insert an anchor in the hole, and a vision system,
    - a lifting platform carrying a device for guiding the robot base in translation,
    - a control unit adapted to communicate with a robot controller and comprising a processor configured to determine in real time the position of the robot in a three-dimensional frame of reference of the tunnel and a man-machine interface.
    This device has the following advantages.
    On the one hand, in terms of safety, the device reduces the risk of falls since the presence of an operator at height is minimized. Only any areas not accessible to the robotic arm require operator intervention.
    On the other hand, this device avoids exposing an operator to dust and noise conditions which would be harmful to their health.
    The robot also provides improved accuracy and repeatability in drilling holes.
    Finally, this device provides significant progress in terms of productivity, the device being able to work for several hours at high speed.
    According to other aspects of the invention:
    - The robot includes a sensor capable of detecting contact between the end of a tool mounted on the drilling means and the wall of the tunnel;
    - the control unit is configured to receive a program for drilling holes and placing anchoring elements in said holes and the robot controller is configured to bring the multifunction head opposite the position provided for each hole;
    - the man-machine interface is configured to allow an operator to modify the position and / or the direction of drilling of a hole provided in said program;
    - the control unit is configured to record data on drilled holes and / or anchoring elements put in place by the robot;
    - the control unit is configured to determine an optimal height of the platform;
    - the platform is provided with at least three prisms arranged so that they can be detected by a theodolite present in the tunnel;
    - the multifunction head includes a means of extracting the dust generated during the drilling of each hole.
    Another object relates to an automated method for drilling a hole in the roof and the walls of a tunnel and installing an anchoring element in said hole, characterized in that it comprises:
    - the supply of a device as described above,
    - placing the platform in a first position,
    the determination of said first position relative to a three-dimensional reference frame of the tunnel,
    - determining the position of the robot in said reference frame,
    - the installation of the robot’s multifunction head next to a first hole to be drilled, the position of which is known in said reference system,
    - drilling said first hole,
    - the installation of an anchoring element in said first hole.
    BRIEF DESCRIPTION OF THE DRAWINGS
    Other characteristics and advantages of the invention will emerge from the detailed description which follows, with reference to the attached drawings in which:
    FIG. 1 is an overall view of the device according to an embodiment of the invention, carried on a truck adapted to move the device in the tunnel, FIG. 2 is an overall view of the device of FIG. 1, in a configuration of use, FIGS. 3 and 4 are perspective views of the device of FIG. 2, according to other points of view, FIG. 5 is a perspective view of a multifunction head arranged at the end of the robotic arm.
    Elements identified by the same reference sign from one figure to another are identical or at least fulfill the same function.
    DETAILED DESCRIPTION OF THE INVENTION
    In general, the device according to the invention comprises a robot having a base, a robotic arm articulated with six degrees of freedom extending from the base, and a multifunction head arranged at the end of the arm and movable 360 degrees. The base is mounted on a translational guidance device, itself fixed on an elevating platform whose height is adjustable to allow the multifunction head to reach the location provided on the roof or walls of the tunnel.
    FIGS. 1A to 1C illustrate various non-limiting methods of transporting the device in the tunnel.
    With reference to FIG. 1A, the platform 1 is loaded onto the platform of a truck. The robot is designated by the reference 3, the device for guiding in translation not being shown in FIGS. 1A to 1C. The truck is provided with stabilizers (not shown) ensuring the stability of the device when the robot is in operation.
    In the embodiment illustrated in FIG. 1B, the platform 1 is autonomous, that is to say that it is provided with 10 ′ feet on which it can be placed stably on the ground. It can be moved using a 3 ’forklift.
    With reference to FIG. 1C, the platform 1 is loaded onto the 3 ”trailer of a truck 3, said trailer being provided with stabilizers (not shown).
    Whatever the means of transport used, it is a standard means usually used on a site, which can be used without requiring any specific adaptation for the implementation of the invention.
    FIG. 2 presents an overview of the drilling device according to an embodiment in which the platform is loaded on the trailer or the platform of a truck.
    Platform 1 extends in a horizontal plane, that is to say parallel to the tunnel floor.
    Platform 1 is provided with four telescopic lifting legs 10 which, as will be seen below, make it possible to dispense with stabilizers for the trailer. Alternatively, and as shown diagrammatically in FIG. 1C, the platform could consist of a scissor table.
    The platform 1 has a generally parallelepiped shape, the feet 10 being positioned on the two long sides, preferably in the vicinity of the corners to ensure maximum stability.
    The device also comprises a device 2 for translational guiding of the robotic arm, which is arranged on the platform 1. Advantageously, the direction of translation is parallel to the two long sides of the platform, in order to provide a range of movement. as large as possible. Said range is typically of the order of the length of the platform, which is generally of the order of several meters.
    For the installation of the device in the tunnel, the platform is carried on the trailer or the platform of a truck, feet 10 not touching the ground. The truck therefore makes it possible to move the platform in the tunnel to position it at a location from which a series of holes must be drilled in the roof or the walls. By successively moving the truck a distance of about the length of the platform, we can drill as and when all the holes provided in the roof and the walls of the tunnel.
    Advantageously, the width of the platform and of the truck is less than or equal to half the width of the tunnel, so as to allow the drilling of the holes on one half of the arch, the platform occupying at most half of the track , while allowing the passage of site vehicles and / or personnel on the other half of the track. In the case of a narrower tunnel (a traffic lane), the robot will be able to drill the entire vault but the passage of construction vehicles will no longer be possible.
    During the operation of the device, once the platform has been positioned in the desired location, the four legs are deployed so as to rest on the ground stably.
    Furthermore, the deployment of the telescopic legs 10 makes it possible to raise the platform to a height suitable for allowing the device to reach the vault V to drill the provided holes therein.
    Advantageously, the truck tows, behind the trailer or the platform which supports the platform 1, a second trailer 4 which carries a generator adapted to supply the robot with energy, as well as a control unit configured to control the movements of the robot relative to the platform by communicating with a robot controller. Of course, this embodiment is not limiting and the generator and the control unit could be located in other locations.
    Figures 3 and 4 show perspective views of the device of Figure 2 in other operating configurations.
    FIG. 5 illustrates an embodiment of the multifunction head 52.
    Said multifunction head 52 comprises a means 520 for piercing and a means 521 for inserting an anchoring element such as a dowel.
    The drilling means is adapted to drive a rotating drill, said drill having characteristics adapted to the material of the vault to be drilled. The drilling means is configured to adapt to different tools, chosen according to the diameter of the hole to be drilled or according to the nature of the tunnel lining.
    The insertion means comprises a magazine for storing the anchoring elements, a point on which an anchoring element can be threaded, and a percussion system allowing the anchoring element to be pushed in once it has been placed next to the hole.
    In a particularly advantageous manner, the device also comprises a means (not shown) for extracting the dust generated during drilling, which contributes to cleaning up the ambient atmosphere.
    The device also includes means for blowing compressed air into the drilled hole, in order to evacuate any residues which would prevent proper insertion of the anchoring element. Advantageously, the suction means is actuated during the use of the blowing means.
    Preferably, the multifunction head is arranged in pivoting with respect to the end of the robotic arm, the piercing means and the insertion means being arranged at the same distance from the pivot axis of the head, so that the the robotic arm can be kept stationary during the entire drilling, aspiration and insertion sequence of the anchoring element, only the pivoting head to bring the necessary means successively opposite the hole.
    In a particularly advantageous manner, the head also comprises a viewing means 522, for example a range finder, configured to detect the presence of obstacles preventing the drilling of the hole, or also of seals which must not be drilled.
    Furthermore, the robot is advantageously equipped with at least one sensor capable of detecting contact between the end of the drilling tool and the wall of the tunnel. This allows you to control the location and depth of the drilled hole, and possibly monitor the force applied to the tool during drilling.
    The device control unit includes a processor configured to determine in real time the position of the robot in a three-dimensional reference frame of the tunnel.
    The control unit also includes a man-machine interface.
    Said control unit can be loaded on the platform, on the second trailer of the truck, or at any other suitable location.
    To allow the location of the device, a theodolite is used which is a device usually used on tunnel sites to measure distances between the theodolite, which includes a laser, and objects carrying a prism. When the laser is aimed at the prism, the prism separates the incident beam into a deflected beam and a reflected beam parallel to the incident beam. In a manner known per se, the comparison of the incident beam and the reflected beam makes it possible to determine the coordinates of the center of the prism.
    To implement such a location, the platform is provided with at least three prisms (or any other means allowing the incident beam to be reflected towards the theodolite), each arranged at a known location on the platform.
    The theodolite, which is not part of the present invention, is fixed in the tunnel.
    A view of the prisms of the platform and of prisms fixed to the wall of the tunnel makes it possible to precisely determine the position of the platform relative to the tunnel and therefore relative to the location of the holes to be drilled.
    More specifically, in a first step, the theodolite performs a 360 ° rotation to calculate the position of the different prisms positioned at known locations on the walls of the tunnel and deduces its own position. The theodolite being fixed in the tunnel, this determination does not need to be repeated each time the platform is new.
    Then, the theodolite aims, at a given angle, at the three prisms located on the platform. This measurement determines the spatial coordinates of each of these prisms. From these coordinates, the position and the inclination of the platform in relation to the tunnel are precisely determined. This data is communicated to the processor of the control unit wherever appropriate.
    The position of the robot base is deduced from the position of the platform and from the position of the base relative to the platform, which is known. For example, at the start of each cycle, the translational guidance device to which the base of the robot is attached may be in a known reference position relative to the platform. Furthermore, during operation of the robot, the position of the various actuators for moving the arm is also known, so that the position of the multifunction head can be determined in real time by the processor of the control unit.
    The man-machine interface is used to load a pre-recorded installation program, or to provide specific commands entered by an operator.
    The loaded and modifiable data include: the type of hole (which includes the diameter, depth, drilling direction, the type of anchor to be inserted in the hole if necessary, the maximum number of holes that can be be drilled with the same tool), the position of the hole (which can be defined by three-dimensional coordinates (x, y, z) or by a longitudinal position of a section of the tunnel and by two coordinates (x, z) in said section), the fact that the hole belongs to a set of holes intended to fix the same equipment (a specific trajectory can be imposed to guarantee the accuracy of the position of the different holes relative to each other).
    The installation program can be defined by means of computer-aided design (CAD) software, using which the position of each hole, the type of hole and the type of hole are indicated on a three-dimensional model of the tunnel wall. the type of anchoring element to be installed if necessary in said hole.
    Advantageously, the entry of specific commands can be carried out using spreadsheet-type software.
    For example, the operator can select from the man-machine interface the type of holes to be drilled by activating or deactivating each of the different types of holes configured. The operator can also exclude certain holes from the program to be executed.
    In addition, the robot can record information on each drilled hole and on each installed anchor as it executes. This information can then be displayed on the man-machine interface, and an execution report can be saved in a memory of the control unit, sent to a remote unit or printed.
    On the other hand, the robot can have different modes of operation.
    In an automatic mode, the robot drills all of the programmed holes and installs all of the planned anchoring elements, without operator intervention.
    In a semi-automatic mode, the robot positions the tool in contact with the wall of the tunnel at the location provided for a hole, and waits for a confirmation from the operator to proceed with drilling. Optionally, the operator can adjust the drilling position and / or direction through the man-machine interface.
    Finally, in a test mode, the robot positions the tool in contact with the wall of the tunnel at the location provided for a hole, and waits for confirmation from the operator as in semi-automatic mode; however, in this case, it does not drill the hole but positions the tool at the location of the next hole. This allows the operator to play the drilling program in advance to check the positions of the holes and / or the robot path.
    A device operating cycle typically includes the following steps.
    First, the platform is brought to the desired location, by truck or other means of transporting the platform. The truck is driven by an operator.
    The telescopic legs of the platform are then deployed to stably rest on the ground. The actuation of the feet can be controlled by an operator.
    An operator brings, if necessary near the base of the robot, a set of drilling tools and / or insertion of the anchoring elements. The robot is capable of replacing a tool of the multifunction head with a tool from said set, for example in the event of wear of a tool in place, or to use a tool of different size or characteristics.
    For security reasons, no operator is present on the platform during the operation of the device, unless the platform includes a secure area for this purpose.
    The platform is then located in the tunnel, using the theodolite and prisms present on the platform, as indicated above. The position of the robot base is deduced from the position of the platform and from the position of the base relative to the platform, which is known. For example, at the start of each cycle, the translational guidance device to which the base of the robot is attached may be in a known reference position relative to the platform. Furthermore, during the robot's operation, the position of the various actuators for moving the arm is also known, so that the position of the multifunction head can be determined in real time by the control unit.
    The vision system is then used to detect the possible presence of areas in which no drilling should be carried out. The signal recorded by the vision system is transmitted to the control unit, which deduces from it areas to be avoided by the piercing device.
    Then, the device begins the program of drilling the holes and installing the anchoring elements.
    This program begins by drilling a hole and then blowing air into the hole to remove any residue. In general, the hole is substantially perpendicular to the wall of the tunnel, although it is possible to control the drilling of a hole inclined relative to this direction. Finally, the insertion means places the anchoring element in the hole.
    Once an anchor has been inserted into a hole, the robotic arm moves so as to position the drilling means opposite a new hole to be drilled.
    Optionally, the robot will change the tool if the diameter of the next hole differs from the previous one. This change can be made without the intervention of an operator, the arm being able to access the set of tools previously placed near its base and to automatically replace the tool with which it is fitted with another.
    During the drilling program of holes and installation of anchoring elements, the platform can optionally be raised or lowered. The control unit automatically calculates a suitable platform height depending on the location of the hole to be drilled and fitted with an anchoring element.
    Each time the platform is moved, a new location using prisms and theodolite is necessary to determine the location of the robot.
    Once all of the anchors have been inserted into the holes accessible to the robotic arm, the platform legs are retracted to allow the platform to be moved to the next location. During this transport, the robotic arm is advantageously held rigidly in a rest position, to avoid any untimely movement of the arm and to avoid any damage which would result therefrom. This displacement can be of the order of a few meters. Given the fact that the robotic arm can act in an area extending beyond the platform in the longitudinal direction, two successive positions of the platform can be spaced a few meters apart, in order to minimize the number of moves and stakes in place of the platform.
    The sequence described above is then repeated, until all of the holes have been drilled and fitted with an anchoring element.
    Thanks to the robot, an accuracy of the order of 20 mm can be achieved in the position of the center of a hole relative to the programmed position, this precision being able to be reduced to approximately 3 mm when the hole is part of an assembly. holes intended to support the same equipment.
    Finally, it goes without saying that the examples which have just been given are only particular illustrations in no way limiting as to the fields of application of the invention. In particular, although the invention has been described in connection with the installation of anchoring elements in the roof of a tunnel, it could also be used for other types of works requiring the drilling of holes and the installation of anchoring elements at high speed and at locations that are difficult for operators to access.
    REFERENCES [1] The development and testing of a mobile drilling robot, Ruud P.W.J. Kloek, Jan Bos, Ruud M.S. v.d. Marck, Automation and Robotics in Construction XI, D.A. Chamberlain (Editor), © 1994 Elsevier Science B.V.
    [2] CN 201714390
    权利要求:
    Claims (11)
    [1" id="c-fr-0001]
    1. Automated device for drilling a hole in the roof and walls of a tunnel and installing an anchoring element in said hole, characterized in that it comprises:
    - a robot (5) comprising a base (50), a robotic arm (51) extending from the base and a multifunction head (52) arranged at the end of the arm and movable at 360 degrees, said multifunction head comprising a drilling means (520), a percussion means (521) adapted to insert an anchoring element in the hole, and a vision system (522),
    - a lifting platform (1) carrying a device (2) for guiding the robot base in translation,
    - a control unit adapted to communicate with a robot controller and comprising a processor configured to determine in real time the position of the robot in a three-dimensional frame of reference of the tunnel and a man-machine interface.
    [2" id="c-fr-0002]
    2. Device according to claim 1, wherein the robot comprises a sensor capable of detecting contact between the end of a tool mounted on the drilling means and the wall of the tunnel.
    [3" id="c-fr-0003]
    3. Device according to one of claims 1 to 2, wherein the control unit is configured to receive a program for drilling holes and placing anchors in said holes and the robot controller is configured to bring the multi-function head next to the position provided for each hole.
    [4" id="c-fr-0004]
    4. Device according to one of claims 1 to 3, in which the man-machine interface is configured to allow an operator to modify the position and / or the direction of drilling of a hole provided in said program.
    [5" id="c-fr-0005]
    5. Device according to one of claims 1 to 4, wherein the control unit is configured to record data on drilled holes and / or anchoring elements put in place by the robot.
    [6" id="c-fr-0006]
    6. Device according to one of claims 1 to 5, wherein the control unit is configured to determine an optimal height of the platform.
    [7" id="c-fr-0007]
    7. Device according to one of claims 1 to 6, wherein the platform is provided with at least three prisms arranged so as to be able to be detected by a theodolite present in the tunnel.
    5
    [8" id="c-fr-0008]
    8. Device according to one of claims 1 to 7, wherein the multifunction head comprises a means of suction of the dust generated during the drilling of each hole.
    [9" id="c-fr-0009]
    9. Automated process for drilling a hole in the roof and walls of a tunnel
    [10" id="c-fr-0010]
    10 and install an anchoring element in said hole, characterized in that it comprises:
    - the supply of a device according to one of claims 1 to 8,
    - placing the platform in a first position,
    - the determination of said first position in relation to a benchmark
    [11" id="c-fr-0011]
    15 three-dimensional tunnel,
    - determining the position of the robot in said reference frame,
    - the installation of the robot’s multifunction head next to a first hole to be drilled, the position of which is known in said reference system,
    - drilling said first hole,
    - the installation of an anchoring element in said first hole.
    1/4
    3 ”kj O O
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    公开号 | 公开日
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    法律状态:
    2017-09-07| PLFP| Fee payment|Year of fee payment: 2 |
    2018-03-23| PLSC| Publication of the preliminary search report|Effective date: 20180323 |
    2018-09-11| PLFP| Fee payment|Year of fee payment: 3 |
    2019-09-09| PLFP| Fee payment|Year of fee payment: 4 |
    2020-09-10| PLFP| Fee payment|Year of fee payment: 5 |
    2021-08-10| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1658903A|FR3056249B1|2016-09-22|2016-09-22|AUTOMATED DEVICE FOR DRILLING A HOLE IN THE DOME AND WALLS OF A TUNNEL AND FOR PLACING AN ANCHORING ELEMENT IN SAID HOLE|
    FR1658903|2016-09-22|FR1658903A| FR3056249B1|2016-09-22|2016-09-22|AUTOMATED DEVICE FOR DRILLING A HOLE IN THE DOME AND WALLS OF A TUNNEL AND FOR PLACING AN ANCHORING ELEMENT IN SAID HOLE|
    US15/712,493| US10480319B2|2016-09-22|2017-09-22|Automated device for drilling a hole in the vault and walls of a tunnel and for installing an anchoring element into said hole|
    AU2017232167A| AU2017232167B2|2016-09-22|2017-09-22|Automated device for drilling a hole in the vault and walls of a tunnel and for installing an anchoring element into said hole|
    GB1715303.2A| GB2555224B|2016-09-22|2017-09-22|Automated device for drilling a hole in the vault and walls of a tunnel and for installing an anchoring element into said hole|
    HK18106301.1A| HK1247976A1|2016-09-22|2018-05-15|Automated device for drilling a hole in the vault and walls of a tunnel and for installing an anchoring element into said hole|
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