Universal optical adapter for a three dimensional earthgrading system

• US 20030006048A1
• Filed: 04/25/2002
• Published: 01/09/2003
• Est. Priority Date: 07/05/2001
• Status: Active Grant

• Current Assignee: AGTEK Development Co., Inc. (Hexagon AB)
• Original Assignee: AGTEK Development Co., Inc. (Hexagon AB)
• Inventors: Marriott, Emden E. Jr., Fletcher, John W.
• Granted Patent: US 6,966,387 B2
• Time in Patent Office: Days
• US Class Current: 172/4.5
• CPC Class Codes: E02F 3/76 Graders, bulldozers, or the like with scraper plates or ploughshare-like elements soil-working A01B; Levelling scarifying devices street cleaning E01H; construction of roads E01C19/00, E01C23/00
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: G01C 15/006 Detectors therefor

Abstract

A universal optical adapter assembly for use with a planar automatic grading system for an earth-moving vehicle having a grading implement that defines a graded surface. The automatic grading system includes an energy beam receiver mounted on the earth-moving vehicle and operable for detecting the height at which a datum energy beam strikes the receiver along a detection portion thereof. A control device is operably coupled to the energy beam receiver and the grading implement to control the elevation of the grading implement in response to the position at which the datum energy beam strikes the detection portion of energy beam receiver. The optical interface adapter assembly includes an optical interface apparatus having an energy source emitting one or more implement controlling energy beams strategically onto selected positions of the detection portion the energy beam receiver to control the elevation of the grading implement. Mounting structure is included which is configured to mount the interface apparatus substantially adjacent to the detection portion of the energy beam receiver.

Claims

1. A universal optical adapter assembly for use with a planar automatic grading system for an earth-moving vehicle having a grading implement that defines a graded surface, said automatic grading system including an energy beam receiver mounted on the earth-moving vehicle and operable for detecting the height at which a datum energy beam strikes said receiver along a detection portion thereof, and a control device operably coupled to said energy beam receiver and the grading implement to control the elevation of the grading implement in response to the position at which the datum energy beam strikes said detection portion of energy beam receiver, said optical interface adapter assembly comprising:

an optical interface apparatus having an energy source emitting one or more implement controlling energy beams strategically onto selected positions of the detection portion the energy beam receiver to control the elevation of the grading implement.

2. The optical adapter assembly according to claim 1, wherein

said energy source includes an elongated light strip adapted to selectively transmit the one or more controlling energy beams longitudinally therealong and strategically onto selected positions of the detection portion for detection thereof.

3. The optical adapter assembly according to claim 2, wherein

said light strip includes a plurality of illumination devices aligned in an array longitudinally along said optical interface apparatus.

4. The optical adapter assembly according to claim 3, wherein

said optical interface apparatus includes a housing containing the array of illumination devices longitudinally along a face portion thereof.

5. The optical adapter assembly according to claim 3, further including:

control circuitry coupled to the array of illumination devices for selective control thereof.

6. The optical adapter assembly according to claim 4, wherein

said face portion is adapted to mount substantially adjacent to the detection portion of the energy beam receiver to facilitate the transmission of said one or more controlling energy beams from the optical interface apparatus to the energy beam receiver.

7. The optical adapter assembly according to claim 1, further including:

mounting structure configured to mount the interface apparatus substantially adjacent to the detection portion of the energy beam receiver.

8. The optical adapter assembly according to claim 7, wherein

said mounting structure is adapted to mount the interface apparatus directly to the energy beam receiver.

9. The optical adapter assembly according to claim 8, wherein

the mounting structure includes one or more strap devices.

10. The optical adapter assembly according to claim 1, wherein

said optical interface apparatus is adapted to pulse the one or more controlling energy beams.

11. The optical adapter assembly according to claim 1, wherein

said optical interface apparatus is adapted to adjust the pulse rate of the one or more controlling energy beams to simulate a strobe of a rotating laser beacon.

12. The optical adapter assembly according to claim 11, wherein

said pulse rate is in the range of about 5 Hz to about 15 Hz.

13. The optical adapter assembly according to claim 12, wherein

said pulse rate is in the range of about 10 Hz with an ON duty cycle of about 5%.

14. The optical adapter assembly according to claim 1, wherein

said energy source includes a plurality of pulsed light emitters aligned in an array longitudinally along said optical interface apparatus to strategically pulse the one or more controlling energy beams onto selected longitudinal positions of the detection portion for detection thereof.

15. The optical adapter assembly according to claim 14, wherein

said optical interface apparatus is adapted to adjust the pulse rate of the one or more controlling energy beams to simulate a strobe of a rotating laser beacon.

16. The optical adapter assembly according to claim 14, wherein

said pulsed light emitters are provided by Light Emitting Diodes (LEDs).

17. The optical adapter assembly according to claim 14, wherein

said energy source includes two vertically oriented pulsed light emitters.

18. The optical adapter assembly according to claim 14, wherein

said energy source includes three vertically oriented pulsed light emitters positioned in linear alignment.

19. The optical adapter assembly according to claim 14, wherein

said energy source includes:

one or more central pulsed light emitters corresponding to an “

on-grade”

correction portion of the receiver detection portion,

one or more upper pulsed light emitters positioned vertically above the central pulsed light emitters which correspond to a “

raise”

implement correction portion of the receiver detection portion, and

one or more lower pulsed light emitters positioned vertically below the central pulsed light emitters which correspond to a “

lower”

implement correction portion of the receiver detection portion.

20. The optical adapter assembly according to claim 19, wherein

said upper pulsed light emitters include:

one or more “

fine grade”

upper emitters positioned vertically above the central pulsed light emitters which correspond to a “

fine raise”

implement correction portion of the receiver detection portion, and one or more “

coarse grade”

upper emitters positioned further vertically above the “

fine grade”

upper emitters which correspond to a “

coarse raise”

implement correction portion of the receiver detection portion; and

said lower pulsed light emitters include;

one or more “

fine grade”

lower emitters positioned vertically below the central pulsed light emitters which correspond to a “

fine lower”

implement correction portion of the receiver detection portion, and one or more “

coarse grade”

lower emitters positioned further vertically below the “

fine grade”

lower emitters which correspond to a “

coarse raise”

implement correction portion of the receiver detection portion.

21. The optical adapter assembly according to claim 20, wherein

said “

coarse grade”

upper emitters are vertically spaced apart from said “

fine grade”

upper emitters by a distance greater than the “

fine grade”

upper emitters are vertically spaced apart from the central pulsed light emitters, and

said “

coarse grade”

lower emitters are vertically spaced apart from said “

fine grade”

lower emitters by a distance greater than the “

fine grade”

lower emitters are vertically spaced apart from the central pulsed light emitters.

22. The optical adapter assembly according to claim 1, farther including:

an adapter control device coupled to said energy source and adapted to control the impingement of the one or more energy beams strategically onto selected positions of the receiver detection portion to control the elevation of the grading implement.

23. The optical adapter assembly according to claim 22, farther including:

a grading data base adapted to define the desired elevation of the grading implement as a function of a measured position of the earth-moving vehicle; and

said adapter control device includes a processing device operably coupled to the data base to determine an elevation error of the grading implement according to the difference between the measured and desired elevations thereof, said adapter interface control device being responsive to the elevation error to automatically adjust the operation of the one or more energy beams and control the elevation of the grading implement to reduce the elevation error.

25. The control system according to claim 24, wherein

said energy source includes an elongated light strip adapted to selectively transmit the one or more energy beams longitudinally therealong and strategically onto selected positions of the detection portion for detection thereof.

26. The control system according to claim 25, wherein

said light strip includes a plurality of illumination devices aligned in an array longitudinally along said optical interface.

27. The control system according to claim 26, wherein

said optical interface includes a housing containing the array of illumination devices longitudinally along a face portion thereof.

28. The control system according to claim 26, wherein

said interface control includes control circuitry coupled to the array of illumination devices for selectively control thereof.

29. The control system according to claim 27, wherein

said face portion is adapted to mount substantially adjacent to the detection portion of the energy beam receiver to facilitate the transmission of said one or more energy beams from the optical interface to the energy beam receiver.

30. The control system according to claim 29, further including:

a mounting device adapted to removably mount the optical interface to a housing of the energy beam receiver

31. The control system according to claim 30, wherein

the mounting device includes one or more strap devices.

32. The control system according to claim 24, wherein

said interface control is adapted to pulse the one or more energy beams.

33. The control system according to claim 32, wherein

said interface control is adapted to adjust the pulse rate of the one or more energy beams to simulate a strobe of a rotating laser beacon.

34. The control system according to claim 33, wherein

said pulse rate is in the range of about 5 Hz to about 15 Hz.

35. The control system according to claim 34, wherein

said pulse rate is in the range of about 10 Hz with an ON duty cycle of about 5%.

36. The control system according to claim 24, wherein

said energy source includes a plurality of pulsed light emitters aligned in an array longitudinally along said optical interface to strategically pulse the one or more energy beams onto selected longitudinal positions of the detection portion for detection thereof.

37. The control system according to claim 36, wherein

said interface control is adapted to adjust the pulse rate of the one or more energy beams to simulate a strobe of a rotating laser beacon.

38. The control system according to claim 36, wherein

said pulsed light emitters are provided by Light Emitting Diodes (LEDs).

39. The control system according to claim 36, wherein

said energy source includes two vertically oriented pulsed light emitters.

40. The control system according to claim 36, wherein

said energy source includes three vertically oriented pulsed light emitters positioned in linear alignment.

41. The control system according to claim 36, wherein

said energy source includes:

one or more central pulsed light emitters corresponding to an “

on-grade”

correction portion of the receiver detection portion,

one or more upper pulsed light emitters positioned vertically above the central pulsed light emitters which correspond to a “

raise”

implement correction portion of the receiver detection portion, and

one or more lower pulsed light emitters positioned vertically below the central pulsed light emitters which correspond to a “

lower”

implement correction portion of the receiver detection portion.

42. The control system according to claim 41, wherein

said upper pulsed light emitters include:

one or more “

fine grade”

upper emitters positioned vertically above the central pulsed light emitters which correspond to a “

fine raise”

implement correction portion of the receiver detection portion, and one or more “

coarse grade”

upper emitters positioned further vertically above the “

fine grade”

upper emitters which correspond to a “

coarse raise”

implement correction portion of the receiver detection portion; and

said lower pulsed light emitters include;

one or more “

fine grade”

lower emitters positioned vertically below the central pulsed light emitters which correspond to a “

fine lower”

implement correction portion of the receiver detection portion, and one or more “

coarse grade”

lower emitters positioned further vertically below the “

fine grade”

lower emitters which correspond to a “

coarse raise”

implement correction portion of the receiver detection portion.

43. The control system according to claim 42, wherein

said “

coarse grade”

upper emitters are vertically spaced apart from said “

fine grade”

upper emitters by a distance greater than the “

fine grade”

upper emitters are vertically spaced apart from the central pulsed light emitters, and

said “

coarse grade”

lower emitters are vertically spaced apart from said “

fine grade”

lower emitters by a distance greater than the “

fine grade”

lower emitters are vertically spaced apart from the central pulsed light emitters.

44. The control system according to claim 24, further including:

a positioning system adapted to determine the position of the earthmoving vehicle, and the elevation of the grading implement, relative to that of the reference station;

a grading data base adapted to define the desired elevation of the grading implement as a function of the position of the earth-moving vehicle; and

a processing device operably coupled to the data base and the positioning system to determine an elevation error of the grading implement according to the difference between the measured and desired elevations thereof, said interface control device responsive to the elevation error to automatically adjust the operation of the one or more energy beams and control the elevation of the grading implement to reduce the elevation error.

45. The control system according to claim 44, wherein

said positioning system includes a reference station adapted to be positioned at a known location, and a portable station carried by the earth moving vehicle, said reference station and said portable station cooperating to determine the measured position and measured elevation data of the earth moving vehicle and grading implement, respectively.

46. The control system according to claim 45, wherein

said reference station includes a radio transmitter configured to broadcast a reference signal containing the measured position and measured elevation data of the earth moving vehicle and grading implement, respectively, and

said portable station includes a reference signal receiver operable for receiving said reference signal, wherein,

said processing device operably coupled to the data base and the reference signal receiver determines the elevation error of the grading implement.

47. The control system according to claim 46, wherein

said data base is configured to define the desired contour of the plot of land in terms of desired elevations of the grading implement relative to a datum plane as a function of the positions of the grading implement relative to the reference station.

48. The control system according to claim 46, wherein

said positioning system is a real time kinematic GPS system.

49. The control system according to claim 46, wherein

said positioning system includes a robotic total station having a reflector device carried by the earthmoving vehicle, and a laser beam transmitter at the reference station that projects a laser beam which strikes and tracks the reflector device to measure the position of the earthmoving vehicle and the elevation of the grading implement.

50. The control system according to claim 24, further including:

a grading implement control device coupled to said energy beam receiver and the grading implement, and responsive to the position at which the one or more energy beams strike said detection portion of energy beam receiver to control the elevation of the grading implement.

51. The control system according to claim 24, wherein

said detection portion of the energy beam receiver includes a linearly extending array of energy sensitive receiving cells including a datum cell or cells, wherein

said energy source of the optical interface device is properly positioned relative the receiving cells of the energy beam receiver for height measurement when said datum cell detects a datum energy beam of the one or more energy beams of the energy source.

52. The control system according to claim 51 wherein

said energy beam receiver is further configured to indicate whether receiving cells above or below said datum cell or cells are detecting said one or more energy beams of the energy source, wherein the detection of said one or more energy beams by a receiving cell or cells positioned above said datum cell or cells indicates that said energy beam receiver is positioned too low, and wherein the detection of said one or more energy beams by a receiving cell or cells positioned below said datum cell indicates that said energy beam receiver is positioned too high.

53. The control system according to claim 52, wherein

said energy source includes a plurality of pulsed light emitters aligned in an array longitudinally along said optical interface, and corresponding to the receiving cells to strategically pulse the one or more energy beams onto selected longitudinal positions of the detection portion for detection thereof.

54. The control system according to claim 53, wherein

said pulsed light emitters including:

one or more central pulsed light emitters corresponding to the datum cell or cells of the receiver detection portion,

one or more upper pulsed light emitters positioned vertically above the central pulsed light emitters which correspond to the cells positioned above said datum cell or cells of the receiver detection portion, and

one or more lower pulsed light emitters positioned vertically below the central pulsed light emitters which correspond to the cells positioned below said datum cell or cells of the receiver detection portion.

55. The control system according to claim 54, wherein

said receiving cells of the energy beam receiver include:

one or more “

fine grade”

upper receiving cells positioned vertically above the datum cell or cells which correspond to a “

fine raise”

implement correction portion of the receiver detection portion, and one or more “

coarse grade”

upper receiving cells positioned further vertically above the “

fine grade”

upper receiving cells which correspond to a “

coarse raise”

implement correction portion of the receiver detection portion, and

one or more “

fine grade”

lower receiving cells positioned vertically below the datum cell or cells which correspond to a “

fine lower”

implement correction portion of the receiver detection portion, and one or more “

coarse grade”

lower receiving cells positioned further vertically below the “

fine grade”

lower receiving cells which correspond to a “

coarse lower”

implement correction portion of the receiver detection portion; and

said pulsed light emitters of the optical interface device include;

one or more “

fine grade”

upper emitters positioned vertically above the central pulsed light emitters which correspond to the “

fine grade”

upper receiving cells, and one or more “

coarse grade”

upper emitters positioned further vertically above the “

fine grade”

upper emitters which correspond to the “

coarse grade”

upper receiving cells, and

one or more “

fine grade”

lower emitters positioned vertically below the central pulsed light emitters which correspond to the “

fine grade”

lower receiving cells, and one or more “

coarse grade”

lower emitters positioned further vertically below the “

fine grade”

lower emitters which correspond to the “

coarse grade”

lower receiving cells.

56. The control system according to claim 54, further comprising

a positioning system adapted to determine the position of the earthmoving vehicle, and the elevation of the grading implement, relative to that of the reference station;

a grading data base adapted to define the desired elevation of the grading implement as a function of the position of the earth-moving vehicle; and

a processing device operably coupled to the data base and the positioning system to determine an elevation error of the grading implement according to the difference between the measured and desired elevations thereof, said interface control device responsive to the elevation error to automatically adjust the operation of the one or more energy beams and control the elevation of the grading implement to reduce the elevation error.

57. The control system according to claim 56, wherein

said positioning system includes a reference station adapted to be positioned at a known location, and a portable station carried by the earth moving vehicle, said reference station and said portable station cooperating to determine the measured position and measured elevation data of the earth moving vehicle and grading implement, respectively.

58. The control system according to claim 57, wherein

said reference station includes a radio transmitter configured to broadcast a reference signal containing the measured position and measured elevation data of the earth moving vehicle and grading implement, respectively, and

said portable station includes a reference signal receiver operable for receiving said reference signal, wherein,

said processing device operably coupled to the data base and the reference signal receiver determines the elevation error of the grading implement.

59. The control system according to claim 58, wherein

said positioning system includes a robotic total station having a reflector device carried by the earthmoving vehicle, and a laser beam transmitter at the reference station that projects a laser beam which strikes and tracks the reflector device to measure the position of the earthmoving vehicle and the elevation of the grading implement.

24. A control system for an earth-moving vehicle for use in grading a plot of land to a desired contour, wherein said earth-moving vehicle includes a grading implement that defines the graded surface, said control system comprising:

an energy beam receiver mounted on an earth-moving vehicle and operable for detecting the height at which an energy beam strikes said receiver along a detection portion thereof, wherein said energy beam receiver is coupled to the grading implement for responsive movement therewith;

an optical interface device carried by said earth moving vehicle, and including an energy source emitting one or more energy beams onto the detection portion for detection thereof; and

an interface control device coupled to said energy source and adapted to control the impingement of the one or more energy beams strategically onto selected positions of the receiver detection portion to control the elevation of the grading implement.

60. A control system for a grading implement of an earth-moving vehicle for use in grading a plot of land to a desired contour comprising:

an energy beam receiver mounted on the earth-moving vehicle and operable for detecting the height at which an energy beam strikes said receiver along a detection portion thereof, wherein said energy beam receiver is coupled to the grading implement of the earth-moving vehicle for responsive movement therewith;

an optical interface device adapted to mount to the energy beam receiver such that one or more energy beams emitted from the interface device strategically strikes selected positions of the detection portion for detection thereof; and

a grading implement control device coupled to said energy beam receiver and the grading implement, and responsive to the selected position at which the one or more energy beams strike said detection portion of energy beam receiver to control the elevation of the grading implement.

61. The control system according to claim 60, wherein

said interface device includes a plurality of pulsed light emitters aligned in an array longitudinally along said optical interface to strategically pulse the one or more energy beams onto selected longitudinal positions of the receiver detection portion for detection thereof.

62. The control system according to claim 61, wherein

said interface device is adapted to adjust the pulse rate of the one or more energy beams to simulate a strobe of a rotating laser beacon.

63. The control system according to claim 61, wherein

said interface device includes:

one or more central pulsed light emitters corresponding to an “

on-grade”

correction portion of the receiver detection portion,

one or more upper pulsed light emitters positioned vertically above the central pulsed light emitters which correspond to a “

raise”

implement correction portion of the receiver detection portion, and

one or more lower pulsed light emitters positioned vertically below the central pulsed light emitters which correspond to a “

lower”

implement correction portion of the receiver detection portion.

64. The control system according to claim 60, further including:

a positioning system adapted to determine the position of the earth-moving vehicle, and the elevation of the grading implement, relative to that of the reference station;

a grading data base adapted to define the desired elevation of the grading implement as a function of the position of the earth-moving vehicle; and

a processing device operably coupled to the data base and the positioning system to determine an elevation error of the grading implement according to the difference between the measured and desired elevations thereof, said interface device responsive to the elevation error to automatically adjust the operation of the one or more energy beams and control the elevation of the grading implement to reduce the elevation error.

65. The control system according to claim 64, wherein

said positioning system includes a reference station adapted to be positioned at a known location, and a portable station carried by the earth moving vehicle, said reference station and said portable station cooperating to determine the measured position and measured elevation data of the earth moving vehicle and grading implement, respectively.

66. The control system according to claim 65, wherein

said reference station includes a radio transmitter configured to broadcast a reference signal containing the measured position and measured elevation data of the earth moving vehicle and grading implement, respectively, and

said portable station includes a reference signal receiver operable for receiving said reference signal, wherein,

said processing device operably coupled to the data base and the reference signal receiver determines the elevation error of the grading implement.

67. The control system according to claim 66, wherein

said positioning system includes a robotic total station having a reflector device carried by the earthmoving vehicle, and a laser beam transmitter at the reference station that projects a laser beam which strikes and tracks the reflector device to measure the position of the earthmoving vehicle and the elevation of the grading implement.

68. The control system according to claim 60, wherein

said detection portion of the energy beam receiver includes a linearly extending array of energy sensitive receiving cells including a datum cell or cells, wherein

said optical interface device is properly positioned relative the receiving cells of the energy beam receiver for height measurement when said datum cell or cells detects a datum energy beam of the one or more energy beams of the energy source.

69. The control system according to claim 65, wherein

said grading implement control device includes a hydraulic valve device operably coupled to the grading implement for automatic elevation movement thereof.