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Geometric Modelling for Computer Integrated Road Construction

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Geometric Modelling for Computer Integrated Road Construction Geometric Modelling for Computer Integrated Road Construction Zur Erlangung des akademischen Grades eines DOKTOR-INGENIEURS von der Fakultät für Bauingenieur-, Geo- und Umweltwissenschaften der Universität Fridericiana zu Karlsruhe (TH) genehmigte DISSERTATION von Mgr Inż. Jarosław Jurasz aus Łódź (Lodz), Polen Tag der mündlichen Prüfung: 10. Februar 2003 Hauptreferent: o. Prof. Dr.-Ing. Fritz Gehbauer, M.S. Korreferentin: o. Prof. Dr.-Ing. Maria Hennes Karlsruhe 2003 VORWORT DES HERAUSGEBERS Das Institut für Technologie und Management im Baubetrieb (früher: Maschinenwesen im Baubetrieb) beschäftigt sich seit 5 Jahren mit der Computer Integrated Road Construction (CIRC). Die Forschungs- und Entwicklungsarbeiten wurden in zwei europäischen Verbundprojekten durchgeführt. Das erste unter dem Titel "Computer Integrated Road Construction" (CIRC), das zweite unter dem Titel "OSYRIS ("Open System for Road Information Support"). Im ersten Projekt stand die GPS-gestützte Überwachung der Einbau- und Verdichtungsgeräte zur Qualitätssicherung im Mittelpunkt. Das zweite Projekt hat die Aufgabenstellung erweitert mit dem Ziel, die Planungsdaten direkt auf den Maschinen zu deren Steuerung - entweder automatisch oder über Informationen für den Bediener - zur Verfügung zu stellen und zu nutzen. Dafür wurde ein Straßenplanungs-Programm dergestalt modifiziert, daß daraus Vorgabedaten für die Einstellung der Maschinenparameter abgeleitet werden können. An Bord der Maschinen installierte Computer wurden entwickelt, die in der Lage sind, diese Informationen in Steuerungselemente umzuwandeln. Zur Datenübertragung wird sowohl GPS als auch eine bodengestützte "Robotic Total Station" mit der jeweiligen drahtlosen Datenfernübertragung verwendet. Das gleiche System wird auch verwendet, um die "As Built" Daten zu erfassen und im zentralen Computer niederzulegen. Diese Daten können sowohl kurzfristig zur Einbausteuerung als auch langfristig zur Planung der Unterhaltung verwendet werden. In beiden Projekten war es notwendig, das Objekt Straße mit seinen Einbauschichten (hier im wesentlichen die Asphaltschichten) so zu modellieren, daß die gesetzten Ziele der Datenkommunikation und der Einbaukontrolle erreicht werden können. Es gibt durchaus praktikable und moderne Instrumente, das Objekt Straße in Form von Längs- und Querprofilen und auch räumlichen CAD-Methoden zu beschreiben und die entsprechenden Daten für die Ausführung zur Verfügung zu stellen. Für CIRC und OSYRIS sind diese jedoch nicht ausreichend. Geht es hier doch darum, die Vorgabedaten direkt auf die Maschine zu übertragen, sie dort in Kleincomputern als Steuerbefehle abzubilden und entweder automatisch oder über MMI (Man-Machine Interfaces) zu nutzen. Hierfür ist eine Modellierung erforderlich, die über die Möglichkeiten gängiger Modellierungen hinausgeht. Das geforderte Modell muß Prozeßdaten verarbeiten können und die Kommunikation verschiedener Maschinen untereinander ermöglichen. Dieser Aufgabe stellte sich Herr Jaroslaw Jurasz und präsentiert die Ergebnisse in seiner Dissertation. Im Hauptkapitel 4. wird ein digitales Umgebungsmodell präsentiert, das die Erfordernisse einer Computer Integrated Road Construction erfüllt. Rein geometrisch vorgegebene Ausgangsdaten werden dabei mit Maschinenparametern und der Prozeßkontrolle verknüpft. Die Vor- und Nachteile akzeptierter und verwendeter Geländemodelle werden dabei untersucht. Die Notwendigkeit einer neuen Modellierung wird herausgearbeitet. Dabei wird immer im Auge behalten, daß die Praxis des Straßenbaues genauso zu beachten ist, wie die Wirtschaftlichkeit der Datenverarbeitung, der Speicherplätze und der Rechenzeit der verwendeten Computer an Bord und im steuernden Büro. Als Lösung wird die modifizierte Ribbon-Technologie vorgeschlagen, implementiert und in Praxistests auf der Baustelle verifiziert. Die besondere Leistung der vorgelegten Dissertation besteht darin, diese Technologie angepaßt zu haben und dabei die Vorgaben "so komplex wie nötig" (ohne Prozeßdaten zu verlieren) und "so einfach wie möglich" (um Rechnerkapazität und Zeit zu sparen) konsequent beachtet zu haben. Dabei werden immer die praktischen Erfordernisse beachtet, die darin bestehen, zu hinterfragen, was ist die Straße, was kann dort vorkommen, wie können diese Vorgaben in Programme umgesetzt werden, wie geht das Modell damit um, aus dem GPS resultierende Abweichungen von der Soll-Position zu verarbeiten? Eine besondere Leistung in der vorgelegten Dissertation besteht auch darin, daß in dem vorgelegten Modell Vereinfachungen, die sich aus der Straßengeometrie ergeben, konsequent genutzt werden, um Rechenkapazität und Rechenzeit zu verringern. Das präsentierte Modell wird auch daraufhin ausgerichtet, daß es eine Kommunikation zwischen den einzelnen Einbaustellen (Maschinen) ermöglicht (Site Networking). Die Arbeit beschränkt sich nicht nur darauf, die neuen Modellierungskonzepte zu präsentieren, sondern weist in ausgeführten Praxistests nach, daß die Modellierung und zugehörigen Datenübertragungstechniken funktionieren. Die MMI werden dargestellt und in ihrer Funktionsweise beschrieben. Fritz Gehbauer VORWORT DES VERFASSERS Die vorliegende Arbeit ist ein Ergebnis meiner fünfeinhalbjährigen Forschungs- und Entwicklungstätigkeit am Institut für Technologie und Management im Baubetrieb (TMB, bis 2001 Institut für Maschinenwesen im Baubetrieb) der Universität Karlsruhe (TH). An diesem Institut arbeitet unter der Führung von Herrn Professor Fritz Gehbauer ein interdisziplinäres Team zusammen, welches in der Lage ist, Lösungen für die vielfältigen Probleme moderner Baustellen zu erarbeiten. Zu diesen Problemen gehört unter anderem der rechnergestützte Straßenbau, der in der vorliegenden Arbeit unter dem Schlagwort „Computer Integrated Road Construction“ (CIRC) ausführlich behandelt wird. Zwei Generationen von CIRC- Systemen wurden am TMB im Rahmen der europäischen Verbundforschungsprojekte CIRC und OSYRIS (Open System for Road Information Support) erfolgreich implementiert. Als Entwickler des CIRC-Bordsystems für die Straßenwalze und Leiter des TMB-OSYRIS-Entwicklungsteams habe ich hierbei Lösungen für den rechnergestützten Straßenbau erarbeitet und erfolgreich auf Baustellen getestet. Insbesondere haben mich dabei die mathematischen und informationstechnischen Grundlagen solcher Systeme interessiert, die im folgenden vertieft und untersucht werden. Darüber hinaus wurden neue Ansätze und Algorithmen entwickelt, die sich dank Flexibilität und Leistungsfähigkeit besonders für die Vernetzung des Maschinenverbandes eignen. Ohne die Unterstützung vieler Menschen wäre die Dissertation in dieser Form nie zustande gekommen. Mein besonderer Dank gilt an erster Stelle Herrn Professor Fritz Gehbauer, für die Möglichkeit, auf diesem faszinierendem Gebiet zu arbeiten und für die mir gewährte Freiheit bei der Ausführung dieser Arbeit. Sehr herzlich möchte ich mich bei meiner Korreferentin, Frau Professor Maria Hennes und Herrn Dr. Norbert Rösch bedanken, für die fruchtbaren Diskussionen, guten Fragen und wertvollen Anregungen, insbesondere zur 3D-Genauigkeitsanalyse sowie für die kritische Durchsicht des Manuskripts. Die CIRC-Implementation ist eine Teamleistung. Ich bin allen Teammitgliedern am TMB und Projektpartnern sehr dankbar für ihre Beteiligung und Feedback. Besondere Unterstützung erhielt ich von meiner Ehefrau und Arbeitspartnerin Dr. Agata Ligier und meinem Freund und Kollegen Johannes Fliedner, der mich in diese Thematik einführte. Ich schätzte sehr die anspruchsvollen Fragen von François Peyret vom französischem Laboratoire Central des Ponts et Chaussées, der das CIRC Projekt initiiert hatte. Herrn Alfons Horn von der Firma Moba bin ich für den inspirierenden Gedankenaustausch sehr dankbar. Da die kleine CIRC-Gesellschaft sehr international geprägt ist, habe ich mich entschieden, die Arbeit in englischer Sprache zu verfassen. Jarek Jurasz Karlsruhe, im Februar 2003 Ausführliche Zusammenfassung GEOMETRISCHE MODELLIERUNG FÜR DEN RECHNERINTEGRIERTEN STRAßENBAU - AUSFÜHRLICHE ZUSAMMENFASSUNG Schlagworte: Bänder, Baumaschinensteuerung, Bordrechner, Digitales Geländemodell, Digitales Umgebungsmodell, Annäherung des Straßenentwurfs, Entwurfsübertragung, Flächendeckende dynamische Verdichtungskontrolle, Hermitesches Spline, Nivellierung, Rechnergestützter Bau und Straßenbau, Rechnerintegrierter Bau und Straßenbau, Straßenmodell, Ribbons, Tensorprodukt-Fläche. KAPITEL 1. EINFÜHRUNG Heutzutage werden Baumaschinen immer häufiger mit EDV-Systemen ausgestattet, die das Bedienpersonal unterstützen und aufwendige Kontroll- und Dokumentationsaufgaben übernehmen. Ihre Anwendung ist dank der jüngsten Fortschritte der Positionierungstechnologie und mobiler EDV möglich. Vor allem der Straßen- und Erdbau bietet ein vielversprechendes Anwendungsfeld durch sich wiederholende und klar definierte Aufgaben. Gerade hier spielt die kontinuierliche Qualitätskontrolle eine große Rolle. Besonders in den neuen Vertragsmodellen, wie z. B. funktionelle Verträge oder Build-Own-Operate wünschen die Benutzer, sehr aktiv an der Qualitätskontrolle teilzunehmen. Hohe zusätzliche Kosten, sowie die beschränkte Funktionalität und niedrige Robustheit sind Faktoren, die den Fortschritt der Bord-EDV Technologie bremsen. Die erwähnte EDV-Technologie gehört zu dem allgemeinen Konzept des rechnerintegrierten Bauens (engl. Computer Integrated Construction, CIC), das als eine EDV-basierende Integration von Informationen aus Baumanagement, -Planung, -Entwurf und -Durchführung definiert werden kann. Im deutschsprachigem Raum
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