Grading system

• US 4,807,131 A
• Filed: 04/28/1987
• Issued: 02/21/1989
• Est. Priority Date: 04/28/1987
• Status: Expired due to Term

• Current Assignee: Philip M. Clegg
• Original Assignee: Clegg Engineering, Inc.
• Inventors: Clegg, Philip M.
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): Black, Thomas G.
• Application Number:
  US07/043,306
• Time in Patent Office: 665 Days
• Field of Search: 364/424, 364/424.01, 356/356, 356/4, 37/129, 37/DIG. 19, 37/DIG. 1, 37/DIG. 20, 172/4, 172/4.5
• US Class Current: 701/50
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
• CPC Class Codes: Y10S 37/907 Automatic leveling excavators

Abstract

A fully automated earthgrading machine and system is disclosed.

Claims

1. An earth grading system for grading a tract of land, comprising, in combination:

(a) a power driven earth grading machine which comprises a frame, an earth grading too, and means for adjusting the earth grading tool relative to the frame;

(b) a laser beam generator remote from said earth grading machine for projecting a laser beam in a predetermined pattern relative to the earth to be graded;

(c) a laser detector carried on the grading machine for receiving the laser beam;

(d) distance scaling means for accurately scaling the distance of the grading tool from a predetermined northing and easting point on the tract to be graded;

(e) data storage means defining a multiplicity of predetermined points on the tract of land to be graded by the northing and easting of the point and by the target elevation of such point;

(f) reference data signal generating means for deriving a data signal from the data storage means which defines the desired final graded configuration of a continuous portion of the tract by a continuum computed with reference to at least two of the aforesiad predetermined points, all locations on the continuum being defined as to target elevation;

(g) elevation data signal generating means for deriving a data signal from the laser detector which defines the actual elevation of the grading tool;

(h) location data signal generating means for deriving a data signal from the scaling means which defines the actual location of the grading tool relative to the continuum computed by the reference data signal generating means; and

(i) comparator means for receiving the aforesaid data signals and for deriving at least one output signal which defines the elevational relationship of the grading tool relative to target elevation at the actual location of the grading tool on the continuum.

2. The earth grading system of claim 1 wherein the comparator comprises means on the earth grading machine for enabling an operator to enter data defining the actual location of the earth grading tool, and means in the comparator for processing such actual location data along with the aforesaid data signals in deriving the aforesaid output signal.

3. The earth grading signal of claim 2 wherein the data storage means defines the allowable elevation tolerance at the predetermined points, and wherein the comparator comprises means for deriving in the output a signal relating the elevational tolerance to the actual elevation of the grading tool.

4. The earth grading system of claim 1 wherein the data storage means defines the allowable elevation tolerance at the predetermined points, and wherein the comparator composers means for deriving a comparator output signal relating the elevational tolerance to the actual elevation of the grading tool, and wherein the system further comprises display means for receiving the comparator output signal and displaying visual indicia on a scaled display depicted according to a predetermined ratio the target elevation, allowable elevations which are within tolerance, and the actual elevation of the grading tool at the location of the grading tool along the continuum to thereby enable an operator to view the display and adjust the elevation of the grading tool to within the tolerance displayed.

5. The earth grading system of claim 4 wherein the comparator comprises means on the earth grading machine for enabling an operator to enter data defining the actual location of the earth grading tool, and means in the comparator for processing such actual location data along with the aforesaid data signals in deriving the aforesaid output signal.

6. The earthy grading system of claim 1 wherein the data storage means defines the allowable elevation tolerance at the predetermined points, and wherein the comparator comprises means for deriving a comparator output signal relating the elevational tolerance to the actual elevation of the grading tool, and wherein the system further comprises display means for receiving the comparator output signal and displaying visual indicia on a scaled display depicted according to a predetermined ratio the target elevation, allowable elevations which are within tolerance, and the actual elevation of the grading tool at the location of the grading tool along the continuum, and means for automatically adjusting the elevation of the grading tool to within the tolerance displayed.

7. The earth grading system of claim 6 wherein the comparator comprises means on the earth grading machine for enabling an operator to enter data defining the actual location of the earth grading tool, and means in the comparator for processing such actual location data along with the aforesaid data signals in deriving the aforesaid output signal.

8. An earth grading system for grading a tract of land, comprising in combination:

(a) a power driven earth grading machine which comprises a frame, an earth grading tool, and means for adjusting the earth grading tool relative to the frame;

(b) a laser beam generator remote from said earth grading machine for projecting a laser beam in a predetermined pattern relative to the earth to be graded;

(c) a laser detector carried on the grading machine for receiving the laser beam;

(d) distance scaling means comprising a pair of tandems scaling wheels mounted to the frame for tracking on the graded earth behind the grading tool for accurately scaling the distance of the grading tool from a predetermined northing and easting point on the tract of land to be graded;

(e) data storage means defining a multiplicity of predetermined points on the tract of land to be graded by the northing and easting of the point and by the target elevation of such point and further defining the elevational tolerance at such point;

(f) reference data signal generating means for deriving a data signal from the data storage means which defines the desired final graded configuration and the elevational tolerance of a continuous portion of the tract by a continuum computed with reference to at least two of the aforesaid predetermined points, all locations on the continuum being defined as to target elevation;

(g) elevation data signal generating means for deriving a data signal from the laser detector which defines the actual elevation of the grading tool;

(h) cross slope angle signal generating means for deriving a signal which defines the angle of cut of the grader blade;

(h) location data signal generating means for deriving a data signal from the scaling means which defines the actual location of the grading tool relative to the continuum computed by the reference data signal generating means;

(i) comparator means for receiving the aforesaid data signals and for deriving a first comparator output signal which defines the elevational relationship of the grading tool relative to the target elevation and elevational tolerance at the actual location of the grading tool on the continuum and a second comparator output signal which compares the actual cross slope angle with the target cross slope angle, and optionally including means for enabling an operator to enter data defining the actual location of the grading tool on said continuum and means for deriving in the first output a signal relating the elevational tolerance to the actual elevation of the grading tool; and

(j) display means for receiving the first and second comparator output signals and displaying visual indicia on a scaled display depicted according to a predetermined ratio the target elevation, allowable elevations which are within tolerance, and the actual elevation of the grading tool at the location of the grading tool along the continuum.

9. The earth grading system of claim 8 further comprising means for automatically adjusting the elevation of the grading tool to within the tolerance displayed.

10. An earth grading system for grading a tract of land, comprising in combination:

(a) a power driven earth grading machine which comprises a frame, an earth grading tool, and means for adjusting the earth grading tool relative to the frame;

(b) a laser beam generator remote from said earth grading machine for projecting a laser beam in a predetermined pattern relative to the tract of land to be graded;

(c) a laser detector carried on the grading machine for receiving the laser beam;

(d) distance scaling means for accurately scaling the distance of the grading tool from a predetermined northing and easting point on the tract of land to be graded;

(e) data storage means defining a multiplicity of predetermined points on the tract to be graded by the northing and easting of the point and by the target elevation of such point;

(f) reference data signal generating means for deriving a data signal from the data storage means which defines the desired final graded configuration of a continuous portion of the tract by a continuum computed with reference to at least two of the aforesaid predetermined points, all locations on the continuum being defined as to target elevations;

(g) elevation data signal generating means for deriving a data signal from the laser detector which defines the actual elevation of the grading tool;

(h) location data signal generating means for deriving a data signal from the scaling means which defines the actual location of the grading tool relative to the continuum computed by the reference data signal generating means;

(i) comparator means for receiving the aforesaid data signals and for deriving at least one comparator output signal which defines the elevational relationship of the grading tool relative to the target elevation at the actual location of the grading tool on the continuum;

(j) display means for receiving said comparator output signal and displaying visual indicia on a scaled display depicted according to a predetermined ratio the target elevation and the actual elevation of the grading tool at the location of the grading tool along the grading continuum to thereby enable an operator to view the display and adjust the elevation of the grading tool.

11. The earth grading system of claim 10 wherein the location data signal generating means comprises means generating two signals, and wherein the comparator uses the signal related to the smallest distance travelled by either of the scaling wheels in deriving the output signal.

12. The earth grading system of claim 10 further comprising means associated with the grader blade for deriving a signal which is a function of the cross slope angle of the grader blade and means for comparing the actual cross slope angle with the target cross slope angle and displaying at least two lines on a video screen which depict a comparison of the actual cross slope angle with the target cross slope angle.

13. The earth grading system of claim 10 further comprising means for deriving a position signal which defines the position of the grader on the tract to be graded and means for deriving from said position signal and from target data the blade location which is required to configure the tract at said position to comply with the target configuration criteria at said position and for displaying indicia permitting visual comparison of actual blade location and orientation with target blade location and orientation.

14. The earth grading system of claim 10 further comprising:

(k) adjusting means for receiving the output signal and in response thereto automatically adjusting the grading tool to a predetermined elevation relative to the target location at all locations along the continuum.

15. The earth grading system of claim 14 wherein the location data signal generating means comprises at least one disk, means rotating the disk in proportion to the rotation of the scaling wheels indicia on the disk and sensing means generating a signal as each index of the disk passes the sensing means.

16. The earth grading system of claim 15 wherein the location data signal generating means comprises means generating two signals, and wherein the comparator uses the signal related to the smallest distance travelled by either of the scaling wheels in deriving the output signal.

17. The earth grading system of claim 16 further comprising means associated with the grader blade for deriving a signal which is a function of the cross slope angle of the grader blade and means for comparing the actual cross slope angle with the target cross slope angle and displaying at least two lines on a video screen which depict a comparison of the actual cross slope angle with the target cross slope angle.

18. The method of claim 16 wherein step (g) comprises displaying an actual elevation index and a target elevation index on a video displaying screen in spatial relationship having a know n ratio to the actual difference between the actual elevation of the grading tool and the target elevation, whereby the operator can determine by visual observation of the spatial relationship of the indicia the adjustment needed to make the actual elevation coincide with the target elevation.

19. The earth grading system of claim 10 wherein the comparator comprises means for deriving a curved continuum defined by at least three of said predetermined points, saids continuum defining an elevational curve in the vertical plane relative to the tract, whereby the portion of the tract defined by said points is graded along a vertical curve as the grading tool follows the continuum derived by the comparator.

25. The method of claim 19 wherein step (g) further comprises displaying a tolerance index spatially related to the target elevation index and the actual elevation index in a known quantitative relationship, whereby the operator can determine by visual inspection of the display whether or not the actual elevation is within the tolerance permitted at the actual location of the grading tool on the tract.

20. The method of grading earth with a power grading machine which includes a grading tool comprising the steps of

(a) entering into a digital electronic computing comparator the location and direction of travel of the grading tool relative to a first predetermined point on the tract of earth to be graded;

(b) scaling the distance traveled by the grading tool relative to said predetermined point;

(c) deriving from the scaling step a distance signal which defines the distance traveled by the grading tool relative to said predetermined point;

(d) receiving a laser signal which defines a predetermined elevation and deriving from said predetermined elevation an actual elevation signal which defines the actual elevation of the grading tool;

(e) introducing the distance signal and the actual elevation signal into the comparator;

(f) deriving in the comparator from data storage means containing a multiplicity of definitions of predetermined points on said tract of earth, the definition of at least one additional predetermined point adjacent the first predetermined point sufficient to define the target configuration of the tract contiguous to the first predetermined point in the direction of travel of the grading tool, each of such predetermined points being defined at least by the coordinate location and elevation of such point on a tract of earth to be graded;

(g) deriving in the comparator a reference elevation signal which defines the target elevation of the tract at the actual location of the grading tool; and

(h) displaying on visual display means reference elevation indicia and actual elevation indicia derived from the actual elevation signal and the reference elevation signal, said indicia visually and quantitatively relating the actual elevation of the grading tool with the target elevation at the location of the grading tool, whereby the operator of the grading machine can visually determine said relationship and the adjustment necessary to position the grading tool at the target elevation.

21. The method of claim 20 wherein step (a) comprises entering by data entry means on the grading machine data identifying the predetermined point, and wherein the data storage means of step (f) contains the coordinate and elevational definitions of each predetermined point.

22. The method of claim 20 wherein step (b) comprises the step of moving a pair of tandem scaling wheels behind the grading tool and step (c) comprises deriving the distance signal from the scaling wheel which, in any given areas of travel, travels the least distance, thereby eliminating errors due to irregularities in the graded surface.

23. The method of claim 20 wherein step (f) comprises deriving the definitions of at least two additional predetermined points to define a target configuration having a vertical arcuate curvature and step (g) comprises deriving a reference elevation signal which defines the target elevation on said vertical arcuately curved target configuration.

24. The method of claim 20 wherein step (g) further comprises displaying a scale adjacent the indicia quantitatively defining the actual distance between the actual and target elevations.

26. The method of claim 20 wherein step (a) comprises entering by data entry means on the grading machine data identifying the predetermined point, and wherein the data storage means of step (f) contains the coordinate and elevational definitions of each predetermined point.

27. The method of claim 20 wherein step (b) comprises the step of moving a pair of tandem scaling wheels behind the grading tool and step (c) comprises deriving the distance signal from the scaling wheel which, in any given area of travel, travels the least distance, thereby eliminating errors due to irregularities in the graded surface.

28. The method of claim 20 wherein step (g) further comprises displaying a tolerance line above and below the indicia quantitatively defining the actual distance between the actual and target elevations.

29. The method of claim 28 wherein step (g) further comprises displaying a tolerance index spatially related to the target elevation index and the actual elevation index in a known quantitative relationship, whereby the operator can determine by visual inspection of the display whether or not the actual elevation is within the tolerance permitted at the actual location of the grading tool on the tract.

30. The method of claim 20 wherein step (g) comprises displaying an actual elevation index and a target elevation index on a vide display screen in spatial relationship having a known ratio to the actual difference between the actual elevation of the grading tool and the target elevation, whereby the operator can determine by visual observation of the spatial relationship of the indicia the adjustment needed to make the actual elevation coincide with the target elevation.

31. The method of claim 30 wherein step (a) comprises entering by data entry means on the grading machine data identifying the predetermined point, and wherein the data storage means of step (f) contains the coordinate and elevational definitions of each predetermined point.

32. The method of claim 30 wherein step (b) comprises the step of moving a pair of tandem scaling wheels across behind the grading tool and step (c) comprises deriving the distance signal from the scaling wheel which, in any given area of travel, travels the least distance, thereby eliminating errors due to irregularities in the graded surface.

33. The method of claim 30 further comprising, deriving a position signal defining the position and direction of travel of the grading machine relative to said first predetermined point, introducing the position signal into the comparator and deriving in the comparator from said direction signal the target configuration of the tract in the direction of travel of the grading machine contiguous to the first predetermined point.

34. The method of claim 30 wherein step (a) comprises entering data relative to two predetermined points to define the direction of travel of the grading tool

35. The method of claim 20 wherein step (a) comprises entering data relative to two predetermined points to define the direction of travel of the grading tool.

36. The method of grading a tract of earth with a power grading machine which includes a grading tool to achieve a predetermined target configuration for said tract, comprising the steps of:

(a) entering into a digital electronic computing comparator the location of the grading tool relative to a first predetermined point on the tract of earth to be graded;

(b) scaling the distance traveled by the grading tool relative to said predetermined point;

(c) deriving from the scaling step a distance signal which defines the distance traveled by the grading tool relative to said predetermined point;

(d) deriving from elevation defining means an actual elevation signal which defines the actual elevation of the grading tool.

(e) deriving a position signal defining the position of the grading machine relative to said first predetermined point;

(f) deriving a cross slope angle signal defining the angle of the grader blade;

(f) introducing the distance signal, the direction signal, the cross slop angle signal and the actual elevation signal into the comparator;

(g) deriving, in the comparator from data storage means containing a multiplicity of definitions of predetermined points on said tract of earth, the definition of at least one additional predetermined point adjacent the first predetermined point sufficient to define the target configuration of the tract contiguous to the first predetermined point in the direction of travel of the grading tool, each of such predetermined points being defined at least by the coordinate location and elevation of such point on a tract of earth to be graded;

(h) deriving in the comparator a reference elevation signal which defines the target elevation of the tract at the actual location of the grading tool; and

(i) displaying on visual display means reference elevation indicia and actual elevation indicia derived from the actual elevation signal and the reference elevation signal, and actual and target cross slope angle indicia, said indicia visually, quantititatively relating the actual elevation and cross slope angle of the grading tool with the target elevation and cross slope angle at the location of the grading tool, whereby the operator of the grading machine can visually determine said relationships and the adjustment necessary to position the grading tool at the target elevation.

37. The method of claim 36 wherein step (i) comprises displaying an actual elevation index and a target elevation index on a video display screen in by lines having a spacial relationship having a known ratio to the actual difference between the actual elevation and cross slope of the grading tool and the target elevation and cross slope, whereby the operator can determine by visual observation of the spatial relationship of the indicia the adjustment needed to make the actual elevation coincide with the target elevation and the actual cross slope angle coincide with the target cross slope angle.

38. The method of grading a tract of earth with a power grading machine which includes a grading tool to achieve a predetermined target configuration for said tract, comprising the steps of

(a) entering into a digital electronic computing comparator the location of the grading tool relative to a first predetermined point on the tract of earth to be graded;

(b) scaling the distance traveled by the grading tool relative to said predetermined point;

(c) deriving from the scaling step a distance signal which defines the distance traveled by the grading tool relative to said predetermined point;

(d) deriving from elevation defining means an actual elevation signal which defines the actual elevation of the grading tool;

(e) deriving from direction signal defining means an actual direction of travel signal which defines the direction of travel of the grading machine relative to aids first predetermined point;

(f) introducing the distance signal, the direction signal and the actual elevation signal into the comparator;

(g) deriving, the comparator from data storage means containing a multiplicity of definitions of predetermined points on said tract of earth, the definition of at least one additional predetermined point adjacent the first predetermined point sufficient to define the target configuration of the tract contiguous to the first predetermined point in the direction of travel of the grading tool, each of such predetermined points being defined at least by the coordinate location and elevation of such point on a tract of earth to be graded;

(h) deriving in the comparator a reference curve signal which defines a predetermined target curve of a portion of the tract at the actual location of the grading tool; and

(i) displaying on visual display means reference location indicia and actual location indicia derived from the actual direction signal and the reference curve signal, said indicia visually, quantitatively relating the actual location of the grading tool with the target curve at the location of the grading tool, whereby the operator of the grading machine can visually determine said relationship and the adjustment necessary to position the grading tool at the target curve.

39. The method of claim 38 wherein step (i) comprises displaying an actual location index and a target curve index on a video display screen in spatial relationship having a known ratio to the actual difference between the actual location of the grading tool and the target curve, whereby the operator can determine by visual observation of the spatial relationship of the indicia the adjustment needed to make the actual location coincide with the target curve system.

40. An earth grading system for grading a tract of land, comprising, in combination:

(a) a power driven earth grading machine which comprises a frame, an earth grading tool, and means for adjusting the earth grading tool relative to the frame;

(b) an elevation signal generator remote from said earth grading machine for projecting a laser beam in a predetermined pattern relative to the elevation of earth to be graded;

(c) an elevation signal detector carried on the grading machine for receiving the laser beam;

(d) distance scaling means for accurately scaling the distance of the grading tool from a predetermined northing and easting point on the tract of land to be graded;

(e) direction signal generator means for projecting a beam across the tract to be graded;

(f) direction signal detecting means for generating a signal defining the direction of travel of the grading machine;

(g) position signal generator means for projecting a beam across the tract to be graded;

(h) position signal detecting means for generating a signal defining the position on the tract of the grading machine;

(f) data storage means defining a multiplicity of predetermined points on the tract to be graded by the northing and easting of the point and by the target elevation of such point;

(g) reference data signal generating means for deriving a data signal form the data storage means which defines the desired final graded configuration of a continuous portion of the tract by a continuum computed with reference to at least two of the aforesaid predetermined points, all locations on the continuum being defined as to target elevations;

(h) elevation data signal generating means for deriving a data signal from the laser detector which defines the actual elevation of the grading tool;

(i) location data signal generating means for deriving a data signal from the scaling means which defines the actual location of the grading tool relative to the continuum computed by the reference data signal generating means;

(j) comparator means for receiving the aforesaid data signals and for deriving at least one output signal which defines the elevational relationship of the grading tool relative to the target elevation at the actual location of the grading tool on the continuum;

(k) display means for receiving the output signal and displaying visual indicia on a scaled display depicting according to a predetermined ratio the target elevation and the actual elevation of the grading tool at the location of the grading tool along the grading continuum to thereby enable an operator to view the display and adjust the elevation of the grading tool.