Trilateration-Based Arm Positioning for Tie Rod Insertion
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Solution Overview
Problem
Current methods for guiding devices to insert tie rods into the ground for building railroad tracks are inefficient, requiring precise positioning and orientation, which is time-consuming and prone to errors, and poses safety risks due to the need for manual operation of a total measurement station with limited range and sensitivity to environmental obstructions.
Innovation Solution
A method involving a topographical survey to determine absolute positions of reflectors, using multiple optical devices on a moving arm to compute and maintain the arm's position through trilateration, allowing continuous automatic tracking and precise positioning without the need for a total measurement station, enabling faster and safer tie rod insertion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a total measurement station is used to determine the absolute position of the arm, then positioning precision can be achieved, but the implantation cycle time increases significantly due to manual orientation requirements
Solution Approach 1:
The system uses automated optical tracking devices mounted on the arm that automatically track reflectors without requiring manual intervention. The computer system automatically processes the distance measurements from multiple optical devices to compute the arm's absolute position, eliminating the need for manual orientation of measurement equipment and significantly reducing positioning time while maintaining precision.
Solution Approach 2:
The manual mechanical orientation system of the total measurement station is replaced with an automated optical measurement system. Optical devices mounted on the arm automatically measure distances to reflectors, and a computer system automatically computes positioning data, replacing the manual mechanical operation with an automated optical-computational system.
2Measurement precision
If manual operation of the total measurement station is performed, then positioning can be determined, but operator safety is compromised due to presence in the immediate vicinity of the structure
Solution Approach 1:
The system performs automated positioning measurements using optical devices mounted on the arm itself. The arm's position is determined by automatic tracking of reflectors placed in the environment, eliminating the need for operators to be present in the hazardous immediate vicinity of the structure during implantation operations.
Solution Approach 2:
Reflectors are placed in the environment as intermediary targets for the optical devices to track. These reflectors serve as safe intermediaries that allow the system to determine arm position without requiring an operator to physically position or orient measurement equipment near the hazardous structure.
3Measurement precision
If a total measurement station with limited range is used, then positioning can be achieved, but the station must be frequently moved and reinstalled, increasing setup time
Solution Approach 1:
Instead of having a stationary measurement station measure a moving arm from a fixed location, the measurement devices are mounted on the moving arm itself. This inverted configuration allows the measurement system to move with the arm, eliminating the need to frequently relocate the measurement station while maintaining continuous positioning capability throughout the work area.
Solution Approach 2:
The optical devices mounted on the arm serve multiple functions: they continuously measure distances to multiple reflectors, automatically track the arm's position, and provide data for real-time positioning computation. This multi-functional integrated system eliminates the need for separate setup and relocation operations.
4Measurement precision
If manual orientation of the total measurement station is required, then positioning measurements can be taken, but the process is time-consuming and prone to human error
Solution Approach 1:
The optical devices automatically track the reflectors and measure distances without requiring manual orientation. The computer system automatically processes the measurements from multiple optical devices to compute the arm's absolute position, eliminating time-consuming manual operations and reducing human error while maintaining measurement precision.
Solution Approach 2:
The optical devices continuously measure distances to reflectors throughout the implantation cycle, providing continuous positioning data rather than intermittent measurements. This continuous automatic measurement eliminates the time losses associated with manual reorientation and allows for real-time position determination.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method significantly reduces the time required for tie rod insertion cycles, improves precision, and enhances safety by eliminating the need for manual operation and reducing the risk of errors, allowing for continuous operation and improved site safety.
Implementation Method 1
Each optical device is able to measure a distance between a fixation point on the arm and a remote reflector
Implementation Method 2
Each optical device is able to measure a distance between its fixation point on the arm and a remote reflector placed in the environment
Data Source
AI summary
A method includes: taking a topographical survey of a plurality of geographical points near a structure to be built, the position of each point being determined in an absolute frame of reference XYZ; installing a plurality of reflectors, each reflector being placed at a geographical point of the topographical survey; measuring distances between reflectors and optical devices, using at least three optical devices fixed on a moving arm of an insertion device that bears an element to be inserted; computing, by trilateration, the absolute position of the arm of the insertion device from the measured distances and from the known position of each optical reflector; and moving the arm of the insertion device based on the computed absolute position, so as to bring the element to be inserted into a predetermined implantation position.