Foundation construction machine and method for controlling such machine

Abstract

A foundation construction machine includes a tracked undercarriage, an upper structure mechanically connected to the tracked undercarriage, and a mast, whereon an operating equipment mounts for drilling. A kinematic mechanism mechanically connects the mast to the upper structure, and is configured for varying distance between them. A control station is used by an operator for issuing commands to control the foundation construction machine, and to display and/or input information about operation. A control system operationally connects to the control station and controls and drives the foundation construction machine as a function of operator commands. The control system includes a memory unit storing a data archive containing maximum values of the pressure generated by the machine on the soil, as a function of corresponding data. The data includes setup data representing possible setups; geometric configuration data representing possible geometric configurations; and working force data representing working forces acting upon the machine.

1 . A foundation construction machine comprising:
 a tracked undercarriage configured for moving on soil and moving the foundation construction machine, and configured for withstanding forces and loads acting upon the foundation construction machine and for transmitting the forces and loads to the soil whereon said machine lies;   an upper structure mechanically connected to the tracked undercarriage;   a mast, whereon an operating equipment is configured to be mounted to drill the soil;   a kinematic mechanism which mechanically connects said mast to said upper structure and which is configured for varying a distance between said mast and said upper structure;   a control station configured to be used by an operator from said control station, for said operator to issue commands aimed at controlling said foundation construction machine and for said operator to display and/or input information about operation of said machine; and   a control system operationally connected to said control station and configured for controlling and driving the foundation construction machine as a function of the commands issued by said operator, and comprising at least one memory unit in which a data archive is stored; said data archive containing at least maximum pressure data representative of maximum values of the pressure generated by the machine on the soil:
 said maximum pressure data being determined as a function of corresponding combinations of: 
 setup data representative of the possible setups of said machine, 
 geometric configuration data representative of possible geometric configurations of said machine, and 
 working force data representative of working forces acting upon said machine. 
   
     
     
         2 . The foundation construction machine according to  claim 1 , wherein said upper structure is rotatably mounted relative to said undercarriage about an axis of rotation; said geometric configuration data comprising:
 a working radius defined by a distance between said axis of rotation and said operating equipment, and   an angle of rotation defined between said upper structure and said undercarriage in a plane substantially orthogonal to said axis of rotation.   
     
     
         3 . The foundation construction machine according to  claim 1 , wherein said data archive contains pressure distribution data representative of values of lengthwise spatial distribution of pressure under the tracks of said undercarriage; said pressure distribution data being determined as a function of combinations of said setup data, said geometric configuration data and said working force data. 
     
     
         4 . The foundation construction machine according to  claim 1 , wherein said maximum pressure data and/or said pressure distribution data are preloaded into said data archive. 
     
     
         5 . The foundation construction machine according to  claim 1 , wherein said maximum pressure data and/or said pressure distribution data are representative of values measured during a machine calibration phase. 
     
     
         6 . The foundation construction machine according to  claim 1 , wherein said maximum pressure data and/or said pressure distribution data are representative of values calculated during a machine calibration phase. 
     
     
         7 . The foundation construction machine according to  claim 1 , wherein said maximum pressure data and/or said pressure distribution data are representative of values calculated in accordance with a plurality of different calculation methods or criteria, each calculation method or criterion providing a respective data table and/or map that is stored into said data archive or database. 
     
     
         8 . The foundation construction machine according to  claim 7 , wherein said control station is operable by said operator to select at least one desired calculation method or criterion, and said electronic processing system is configured for interrogating said data archive, accessing the respective data table and/or map obtained in accordance with the calculation method or criterion selected by said operator. 
     
     
         9 . The foundation construction machine according to  claim 1 , wherein said control system is configured for receiving as input allowable pressure limit value data representative of the maximum pressure exerted by the machine on the soil whereon said machine is lies, and at least one of the data selected from the group including:
 actual setup data representative of the setup actually adopted by said foundation construction machine, and   actual geometric configuration data representative of the geometric configuration assumed by said foundation construction machine; and   maximum working force data representative of the maximum values of the working forces acting upon the foundation construction machine.   
     
     
         10 . The foundation construction machine according to  claim 9 , wherein said control system is configured for interrogating said data archive and outputting at least one admissible combination of said setup data and/or said geometric configuration data and/or said working force data said at least one admissible combination being correlated with corresponding maximum pressure data contained in said data archive, which are smaller than or equal to said allowable pressure limit value data. 
     
     
         11 . The foundation construction machine according to  claim 10 , wherein said control system is configured for selecting and outputting said at least one admissible combination when the at least one admissible combination meets at least one constraint condition set by said operator. 
     
     
         12 . The foundation construction machine according to  claim 11 , wherein said control system is configured for outputting at least one alternative admissible combination when said at least one admissible combination does not meet said at least one constraint condition set by the operator; said alternative admissible combination being correlated with corresponding maximum pressure data, which are smaller than or equal to said allowable pressure limit value data. 
     
     
         13 . The foundation construction machine according to  claim 10 , wherein the control system is further configured for displaying the values of the maximum pressure data and/or pressure distribution data contained in said data archive and corresponding to said at least one admissible combination. 
     
     
         14 . The foundation construction machine according to  claim 13 , wherein said maximum pressure data and/or said pressure distribution data are representative of values measured during a machine calibration phase, wherein said maximum pressure data and/or said pressure distribution data are representative of values calculated during a machine calibration phase, and wherein said control system is configured for comparing measured values and calculated values of said maximum pressure data and/or said pressure distribution data. 
     
     
         15 . The foundation construction machine according to  claim 10 , wherein said control system W is further configured for determining a position of the static and/or dynamic center of gravity of the machine, corresponding to said at least one admissible combination. 
     
     
         16 . The foundation construction machine according to  claim 15 , wherein the control system is configured for comparing:
 the position of the static and/or dynamic center of gravity corresponding to said at least one admissible combination, determined based on the data contained in said data archive; and   the position of the static and/or dynamic center of gravity determined based on said actual geometric configuration data and said actual setup data received as input.   
     
     
         17 . The foundation construction machine according to  claim 1 , further comprising at least one sensor operationally connected to said control system and configured for detecting the actual value of at least one parameter of said geometric configuration data of the foundation construction machine, said control system being further configured for comparing said actual value of the geometric configuration with a maximum allowable value of said geometric configuration data, and for having the foundation construction machine execute at least one predetermined function when a difference between said maximum allowable value and said actual value is below a predefined threshold value. 
     
     
         18 . The foundation construction machine according to  claim 1 , further comprising at least one sensor operationally connected to said control system and configured for detecting the actual value of at least one working force acting upon the foundation construction machine, said control system being further configured for comparing said actual value of the at least one working force with a maximum allowable value of such force, and for having the foundation construction machine execute at least one predetermined function when a difference between said maximum allowable value and said actual value is below a predefined threshold value. 
     
     
         19 . The foundation construction machine according to  claim 17 , wherein said at least one predetermined function is selected from the group including the predetermined functions of:
 emitting at least one audible and/or visual alarm signal,   stopping at least one motion of parts of the machine,   activating at least one motion of parts of the machine,   providing at least one suggestion concerning a change in the setup and/or the geometric configuration and/or the working forces.   
     
     
         20 . The foundation construction machine according to  claim 19 , further comprising sensors detecting actual resultant loads acting upon the machine, said control system being further configured for making a comparison between the actual resultant loads measured by said sensors and resultant loads calculated based on said actual setup data entered by the operator and the measured actual values of the working forces. 
     
     
         21 . The foundation construction machine according to  claim 20 , wherein said sensors detecting the actual resultant loads acting upon the machine are located in proximity to the undercarriage. 
     
     
         22 . The foundation construction machine according to  claim 21 , wherein said control system is configured for emitting a signal for warning the operator about the necessity of verifying entered data and/or proper operation of said sensors when said comparison between said measured actual resultant loads and said calculated resultant loads shows a difference exceeding a predefined threshold value. 
     
     
         23 . The foundation construction machine according to  claim 1 , wherein said data archive is a database. 
     
     
         24 . A method for controlling a foundation construction machine;
 said foundation construction machine comprising:
 a tracked undercarriage configured for moving on the soil, thus also moving the rest of said foundation construction machine, and configured for withstanding forces and loads acting upon the foundation construction machine and for transmitting the forces and loads to the soil whereon said machine lies; 
 an upper structure mechanically connected to the tracked undercarriage; 
 a mast, whereon an operating equipment is configured to be mounted to drill the soil: 
 a kinematic mechanism, which mechanically connects said mast to said upper structure, and which is configured for varying a distance between said mast and said upper structure; 
 a control station configured to be used by an operator from said control station, for said operator to issue commands aimed at controlling said foundation construction machine and for said operator to display and/or input information about operation of the machine; 
 a control system operationally connected to said control station and configured for controlling and driving the foundation construction machine as a function of the commands issued by said operator, and comprising at least one memory unit in which a data archive is stored;
 wherein said method comprises the following steps: 
 
 preloading into said data archive maximum values of the pressure generated by the machine on the soil, determined as a function of corresponding setup data representative of possible setups of said machine, geometric configuration data representative of possible geometric configurations of said machine, and working forces data representative of working forces acting upon said machine; 
 interrogating said data archive by said control system; and 
 controlling and driving said foundation construction machine, from said control station and by said control system, as a function of said interrogation of said data archive. 
   
     
     
         25 . The method according to  claim 24 , further comprising the step of entering into said control system, by an operator and by said control station, actual setup data representative of the setup adopted by said foundation construction machine, and maximum allowable pressure limit value data representative of the maximum pressure exerted on the soil whereon said machine lies; said interrogation being carried out as a function of said actual setup data and said maximum allowable pressure limit value data. 
     
     
         26 . The method according to  claim 25 , further comprising the step of outputting, through said control system, at least one admissible combination of said geometric configuration data and/or said working force data; said at least one admissible combination being correlated with corresponding preloaded maximum pressure data contained in said data archive, which are smaller than or equal to said entered allowable pressure limit value data.