Position sensing system for surveying and grading

• US 4,820,041 A
• Filed: 11/12/1986
• Issued: 04/11/1989
• Est. Priority Date: 11/12/1986
• Status: Expired due to Term

• Current Assignee: AGTEK Development Co., Inc. (Hexagon AB)
• Original Assignee: AGTEK Development Co., Inc. (Hexagon AB)
• Inventors: Davidson, Richard W., Fletcher, John W.
• Primary Examiner(s): NOT, DEFINED
• Assistant Examiner(s): Wallace, Linda J.
• Application Number:
  US06/930,792
• Time in Patent Office: 881 Days
• Field of Search: 356/1, 356/5, 356/141, 356/152, 356/9, 356/15, 356/17, 356/146, 356/399, 33/293, 33/294, 33/296, 172/4.5, 342/53, 342/54, 180/167, 180/168, 364/167, 364/168, 364/424, 364/449, 364/456
• US Class Current: 356/3.12
• 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: E02F 9/2025 Particular purposes of control systems not otherwise provided for E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence
• CPC Class Codes: G01C 15/004 Reference lines, planes or sectors
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

A position sensing apparatus and method useful for surveying, marking, and grading implement sensing and control is disclosed. The position sensing apparatus includes two laser reference stations, each of which projects a laser beam that periodically sweeps in a plane across the area to be surveyed. Each time a laser beam strikes the opposite reference station, a radio timing signal is broadcast by that reference station. The position sensing apparatus also includes a portable sensing station that comprises a laser beam receiver, a radio reciever, and a programmed computer. The planar position of the portable sensing station relative to the reference stations is computed by a triangulation technique based on the relative timing of detection of the laser beams by the laser beam receiver and the reception of the radio timing signals by the radio receiver. Elevation is determined according to the height at which one of the laser beams strikes the laser beam receiver.

Claims

1. A position sensing apparatus comprising:

a first energy beam transmitter operable for projecting a first energy beam that sweeps in a plane across an area in which position sensing is to occur;

first reference signal means for generating a first reference signal when said first energy beam is aligned with a first reference line;

a second energy beam transmitter operable for projecting a second energy beam that sweeps in a plane across said area, wherein said first and second energy beam transmitters are positioned apart;

second reference signal means for generating a second reference signal when said second energy beam is aligned with a second reference line;

an energy beam receiver operable for detecting said first and second energy beams, wherein said energy beam receiver is placed at a location at which the position is to be determined;

a reference signal receiver operable for receiving said first and second reference signals; and

processing means coupled to said energy beam and reference signal receivers and responsive to the timing of the detection of said energy beams relative to the receipt of said reference signals for determining the position of said energy beam receiver relative to said reference lines and said energy beam transmitters.

2. An apparatus as recited in claim 1 wherein the orientations of said reference lines and the positions of said energy beam transmitters are known relative to an origin, and wherein said processing means includes means for transforming the measured position of said energy beam receiver relative to said reference lines and said energy beam transmitters into a position relative to said origin.

3. An apparatus as recited in claim 1 wherein said first and second energy beams are laser beams, and wherein said energy beam receiver includes detection means that are operable for detecting laser light.

4. An apparatus as recited in claim 1 wherein said first energy beam rotates in a first plane and said second energy beam rotates in a second plane that is substantially parallel to and spaced apart from said first plane.

5. An apparatus as recited in claim 4 wherein both said first and second planes are substantially horizontal.

6. An apparatus as recited in claim 1 wherein said first energy beam sweeps at a constant angular velocity, and wherein said processing means includes means for determining the angle between said first reference line and a line extending from said first energy beam transmitter to said energy beam receiver according to the ratio of the time interval between the detection of said first energy beam by said energy beam receiver and the receipt of said first reference signal by said reference signal receiver to the time interval defined by the rotational period of said first energy beam.

7. An apparatus as recited in claim 6 wherein said second energy beam sweeps at a constant angular velocity, and wherein said processing means includes means for determining the angle between said second reference line and a line extending from said second energy beam transmitter to said energy beam receiver according to the ratio of the time interval between the detection of said second energy beam by said energy beam receiver and the receipt of said second reference signal by said reference signal receiver to the time interval defined by the rotational period of said second energy beam.

8. An apparatus as recited in claim 7 wherein said processing means includes means for determining said rotational period of said first energy beam according to the time period between the receipt of two successive first reference signals, and for determining said rotational period of said second energy beam according to the time period between the receipt of two successive second reference signals.

9. An apparatus as recited in claim 1 wherein said first reference signal means includes a first energy beam detector for detecting said first energy beam, and also includes first signalling means responsive to said first energy beam detector for generating said first reference signal upon detection of said first energy beam during each rotation of said first energy beam, wherein said first energy beam detector is positioned apart from said first energy beam transmitter and the line therebetween defines said first reference line.

10. An apparatus as recited in claim 9 wherein said second reference signal means includes a second energy beam detector for detecting said second energy beam, and also includes second signalling means responsive to said second energy beam detector for generating said second reference signal upon detection of said second energy beam during each rotation of said first energy beam, wherein said second energy beam detector is positioned apart from said second energy beam transmitter and the line therebetween defines said second reference line.

11. An apparatus as recited in claim 10 wherein said first energy beam detector is coupled to and located with said second energy beam transmitter, wherein said second energy beam detector is coupled to and located with said first energy beam transmitter, and wherein said first and second reference lines extend between said first and second energy beam transmitters.

12. An apparatus as recited in claim 1 wherein said first reference signal means is mounted on said second energy beam transmitter, wherein said second reference signal means is mounted on said first energy beam transmitter, whereby said first and second reference lines extend between said first and second energy beam transmitters.

13. An apparatus as recited in claim 1 wherein said first and second reference signal means are mounted together at a position separate from said first and second energy beam transmitters.

14. An apparatus as recited in claim 13 wherein said first and second reference signal means are positioned between and aligned with said first and second energy beam transmitters, whereby said first and second reference lines extend between said first and second energy beam transmitters.

15. An apparatus as recited in claim 1 wherein said first reference signal means broadcasts said first reference signal as a radio frequency signal, wherein said second reference signal means broadcasts said second reference signal as another radio frequency signal, and wherein said reference signal receiver includes a radio receiver that is operable for receiving and distinguishing between said radio frequency signals.

16. An apparatus as recited in claim 1 wherein one of said energy beams is a datum beam that defines a datum plane, and wherein said position sensing apparatus further comprises elevation measuring means for determining the elevation of a location according to the height at which said energy beam receiver detects said datum energy beam.

17. An apparatus as recited in claim 16 wherein said datum plane is substantially horizontal.

18. An apparatus as recited in claim 16 wherein said elevation measuring means includes a support of adjustable length for supporting said energy beam receiver and means for measuring the extension of said support at which said energy beam receiver detects said datum energy beam.

19. An apparatus as recited in claim 16 wherein said energy beam receiver includes a linearly extending array of energy sensitive receiving cells including a datum cell, wherein said linearly extending array crosses said datum plane, and wherein said energy beam receiver is properly positioned for height measurement when said datum cell detects said datum energy beam.

20. An apparatus as recited in claim 19 wherein said energy beam receiver includes indicator means for indicating whether receiving cells above or below said datum cell are detecting said datum energy beam, wherein the detection of said datum energy beam by a receiving cell positioned above said datum cell indicates that said energy beam receiver is positioned too low, and wherein the detection of said datum energy beam by a receiving cell positioned below said datum cell indicates that said energy beam receiver is positioned too high.

21. An apparatus as recited in claim 1 further including a plurality of energy beam receivers, each placed at a location at which the position is to be determined and each coupled to said processing means, wherein said processing means includes means for determining the position of each of said energy beam receiver relative to said reference lines and said energy beam transmitters.

22. An apparatus as recited in claim 1 further comprising more than two energy beam transmitters, each operable for striking said energy beam receiver, and reference signal means associated with each energy beam transmitter for generating a reference signal when the associated energy beam is aligned with a corresponding reference line, and wherein said processing means further includes means responsive to all energy beams and reference signals for determining the position of said energy beam receiver relative to said reference lines and said energy beam transmitters.

23. A position sensing apparatus comprising:

a first laser beam transmitter operable for projecting a first laser beam that rotates at a constant angular velocity in a first plane, wherein said first plane defines a datum plane;

a second laser beam transmitter operable for projecting a second laser beam that rotates at a constant angular velocity in a second plane substantially parallel to said first plane, wherein said first and second laser beam transmitters are positioned apart at known locations;

a first laser beam detector mounted to said second laser beam transmitter and operable for detecting when said first laser beam strikes said first laser beam detector;

a first radio transmitter coupled to said first laser beam detector and operable for broadcasting a first reference signal each time said first laser beam strikes said first laser beam detector;

a second laser beam detector mounted to said first laser beam transmitter and operable for detecting when said second laser beam strikes said second laser beam detector;

a second radio transmitter coupled to said second laser beam detector and operable for broadcasting a second reference signal each time said second laser beam strikes said second laser beam detector;

a laser beam receiver that is placed at a location at which the position is to be determined and operable for detecting said first and second laser beams during each rotation thereof, wherein said laser beam receiver includes means for measuring the height at which said laser beam receiver receives said first laser beam;

a radio receiver operable for receiving said first and second reference signals; and

processing means coupled to said laser beam and radio receivers and responsive to the timing of the detection of said laser beams by said laser beam receiver relative to the receipt of said reference signals by said radio receiver for determining the position in the plane of the laser beams of said laser beam receiver relative to the known locations of said laser beam transmitters and for determining the elevation at each location according to said height measured by said laser beam receiver, wherein said processing means further includes means for recording the measured position and elevation of each location.

24. An apparatus as recited in claim 23 wherein said processing means includes means for determining the position of said laser beam receiver at the intersection of first and second lines projected in the datum plane and extending between respective first and second laser beam transmitters and the laser beam receiver, wherein the first and second lines as projected in the datum plane form respective first and second angles in the datum plane with respect to a reference line extending between said laser beams transmitters and projected in the datum plane, wherein said means includes means for determining said first angle according to the ratio of the time interval between the detection of said first laser beam by said laser beam receiver and the receipt of said first reference signal by said radio receiver of the time interval defined by the period of rotation of said first laser beam, and wherein said means includes means for determining said second angle according to the ratio of the time interval between the detection of said second laser beam by said laser beam receiver and the receipt of said second reference signal by said radio receiver to the time interval defined by the period of rotation of said second laser beam.

25. An apparatus comprising:

first and second reference stations positioned apart at known locations during position sensing operations utilizing said apparatus, wherein each reference station includes a laser beam transmitter that projects a laser beam that periodically sweeps at a constant angular velocity in a plane across an area in which position sensing is to occur and that periodically strikes the other reference station and a portable receiver, includes a detector for detecting the laser beam from the other laser beam transmitter, and includes a radio transmitter coupled to said detector for broadcasting a reference signal upon each detection of the other laser beam by said detector, and wherein one of said laser beams is a datum laser beam that defines a datum plane;

a portable receiver that is placed at a location at which the position is to be determined, wherein said portable receiver includes a laser beam receiver operable for detecting the two laser beams, includes a radio receiver operable for receiving the two reference signals, and includes means for measuring the height at which said datum laser beam strikes said laser beam receiver; and

processing means coupled to said portable receiver and responsive to the timing of the detection of said laser beams by said laser beam receiver relative to the receipt of said reference signals by said radio receiver for determining the position in said datum plane of said portable receiver relative to the locations of said laser beam transmitters, and responsive to the height measured by said laser beam receiver for determining the elevation of each location relative to said datum plane.

26. An apparatus as recited in claim 25 wherein said processing means further includes means for recording the measured position and elevation of said portable receiver relative to said laser beam transmitters and includes means for transforming the measured position and elevation of said portable receiver into one or more alternative coordinate systems.

27. An apparatus as recited in claim 25 further comprising data base means coupled to said processing means for defining the positions relative to said reference stations of one or more locations to be marked, and position error means coupled to said processing means for indicating a positional error of said portable receiver relative to a particular location to be marked, wherein the position of said portable receiver defines the location to be marked when the positional error is substantially equal to zero.

28. An apparatus as recited in claim 25, wherein said processing means further includes means for measuring the actual elevation of a grading implement mounted on an earth-moving vehicle, wherein said portable receiver is coupled to the grading implement for movement therewith, wherein said apparatus further comprises data base means for defining a desired elevation of the grading implement as a function of the position of the grading implement, and computational means for determining an elevation error of the grading implement according to the difference between the measured and desired elevations thereof.

29. An apparatus as recited in claim 28, further comprising automatic control means responsive to said elevation error for automatically adjusting the elevation of the grading implement to reduce said elevation error.

30. An apparatus as recited in claim 28 further comprising means for sensing the lateral position of the grading implement and for determining a lateral positioning error of the grading implement relative to a desired lateral position.

31. An apparatus as recited in claim 30, further comprising automatic control means responsive to said elevation error for automatically adjusting the elevation of the grading implement to reduce said elevation error, and means for controlling the lateral position of the grading implement by laterally shifting the grading implement relative to the earth-moving vehicle to reduce said lateral positioning error.

32. An apparatus as recited in claim 31 wherein said means for controlling the lateral position of the grading implement further includes means for automatically steering the earth-moving vehicle to reduce said lateral positioning error.

33. A surveying apparatus for determining the position of one or more locations to be surveyed, said apparatus comprising:

a first energy beam transmitter operable for projecting a first energy beam that sweeps in a plane across the area to be surveyed;

first reference signal means for generating a first reference signal when said first energy beam is aligned with a first reference line;

a second energy beam transmitter operable for projecting a second energy beam that sweeps in a plane across the area to be surveyed, wherein said first and second energy beam transmitters are positioned apart during a surveying operation;

second reference signal means for generating a second reference signal when said second energy beam is aligned with a second reference line;

an energy beam receiver operable for detecting said first and second energy beams, wherein said energy beam receiver is sequentially positioned at each location to be surveyed;

a reference signal receiver operable for receiving said first and second reference signals; and

processing means coupled to said energy beam and reference signal receivers and responsive to the timing of the detection of said energy beams relative to the receipt of said reference signals for determining the position of said energy beam receiver at each location to be surveyed relative to said reference lines and said energy beam transmitters, wherein said processing means further includes means for recording the measured position of each location to be surveyed.

34. An apparatus as recited in claim 33 wherein one of said energy beams is a datum beam that defines a datum plane, wherein said surveying apparatus further comprises elevation measuring means for determining the elevation of a location according to the height at which said energy beam receiver detects said datum energy beam, and wherein said processing means further includes means for recording the measured elevation of said energy beam receiver.

35. An apparatus as recited in claim 34 wherein said processing means further includes means for transforming the measured position and elevation of said energy beam receiver into one or more alternative coordinate systems.

36. An apparatus for positioning markers at one or more locations to be marked, said apparatus comprising:

a first energy beam transmitter operable for projecting a first energy beam that sweeps in a plane across the area to be marked;

first reference signal means for generating a first reference signal when said first energy beam is aligned with a first reference line;

a second energy beam transmitter operable for projecting a second energy beam that sweeps in a plane across the area to be marked, wherein said first and second energy beam transmitters are positioned apart during a marking operation;

second reference signal means for generating a second reference signal when said second energy beam is aligned with a second reference line;

an energy beam receiver operable for detecting said first and second energy beams, wherein said energy beam receiver is sequentially positioned at each location to be marked;

a reference signal receiver operable for receiving said first and second reference signals;

processing means coupled to said energy beam and reference signal receivers and responsive to the timing of the detection of said energy beams relative to the receipt of said reference signals for determining the position of said energy beam receiver relative to said energy beam transmitters;

data base means coupled to said processing means for defining the positions relative to said energy beam transmitters of the locations to be marked; and

position error means coupled to said processing means for indicating a positional error of said energy beam receiver relative to a location to be marked, wherein the position of said energy beam receiver defines the location to be marked when said positional error is substantially equal to zero.

37. An apparatus as recited in claim 36 wherein one of said energy beams is a datum energy beam that rotates in a datum plane, wherein said apparatus further comprises elevation measuring means for determining the elevation of each location to be marked according to the height at which said energy beam receiver detects said datum energy beam, wherein said data base means further defines a desired elevation at each location to be marked, and wherein said position error means includes means for determining an elevation error at each location to be marked according to the difference between the measured elevation and said desired elevation.

38. A reference station for use with another like reference station and one or more portable receivers for position sensing, wherein during a position sensing operation the reference stations are spaced apart at known positions and the portable receiver is placed at a location at which the position is to be determined, said reference station comprising:

a housing;

an energy beam transmitter mounted to said housing and operable for projecting a first energy beam that sweeps in a plane, wherein during a position sensing operation said first energy beam periodically strikes another reference station and a portable receiver;

an energy beam detector mounted to said housing and operable for detecting when the energy beam from the other reference station strikes said energy beam detector during a position sensing operation; and

reference signal means mounted to said housing and responsive to the detection of the energy beam of the other reference station by said energy beam detector for generating a reference signal to the portable receiver.

39. A reference station as recited in claim 38 wherein said energy beam transmitter includes means for sweeping said first energy beam at a constant angular velocity in a plane across an area within which position sensing is to occur.

40. A reference station as recited in claim 38 wherein said reference signal means includes means for generating said reference signal by broadcasting a radio frequency signal upon each detection of the other energy beam.

41. A portable sensing station for use with two or more reference stations for position sensing, wherein during a position sensing operation the reference stations are spaced apart at known positions, wherein each of the reference stations projects an energy beam that sweeps in a plane and periodically strikes the other reference station and said portable sensing station, and wherein each of the reference stations generates a reference signal when the energy beam from the other reference station strikes it, said portable sensing station comprising:

an energy beam receiver operable for detecting energy beams striking said energy beam receiver, wherein said energy beam receiver is placed at a location at which the position is to be determined;

a reference signal receiver operable for receiving each of the reference signals from the reference stations; and

processing means coupled to said energy beam and reference signal receivers and responsive to the timing of the detection of the energy beams by said energy beam receiver relative to the receipt of the reference signals by said reference signal receiver for determining the position in the plane of the energy beams of said energy beam receiver relative to the reference stations.

42. A portable sensing station as recited in claim 41 wherein one of said energy beams is a datum energy beam that sweeps in a datum plane, and wherein said portable sensing station further includes elevation measuring means for determining the elevation of each location to be surveyed according to the height at which said energy beam receiver detects said datum energy beam, and includes means for recording the measured position and elevation of said portable sensing station.

43. A portable sensing station as recited in claim 42 wherein said elevation measuring means includes a vertical support of adjustable length for supporting said energy beam receiver and means for measuring the extension of said vertical support at which said energy beam receiver detects said datum energy beam.

44. A portable sensing station as recited in claim 42 wherein said energy beam receiver includes a linearly extending array of energy sensitive receiving cells including a datum cell, wherein said linearly extending array crosses said datum plane, and wherein said energy beam receiver is properly positioned for height measurement when said datum cell detects said datum energy beam.

45. A portable sensing station as recited in claim 44 wherein said energy beam receiver includes indicator means for indicating whether receiving cells above or below said datum cell are detecting said datum energy beam, wherein the detection of said datum energy beam by a receiving cell positioned above said datum cell indicates that said energy beam receiver is positioned too low, and wherein the detection of said datum energy beam by a receiving cell positioned below said datum cell indicates that said energy beam receiver is positioned too high.

46. A portable sensing station as recited in claim 41, further comprising data base means coupled to said processing means for defining the positions relative to the reference stations of one or more locations to be marked, and position error means coupled to said processing means for indicating a positional error of said energy beam receiver relative to a location to be marked, wherein the position of said energy beam receiver defines the location to be marked when said positional error is substantially equal to zero.

47. A portable sensing station as recited in claim 46 wherein one of said energy beams is a datum energy beam that rotates in a datum plane, wherein said portable sensing station further includes elevation measuring means for determining the elevation of each location to be marked according to the height at which said energy beam receiver detects said datum energy beam.

48. A portable sensing station as recited in claim 47 wherein said data base means further defines a desired elevation at each location to be marked, and wherein said position error means includes means for determining an elevation error at each location to be marked according to the difference between the measured elevation and said desired elevation.

49. An apparatus for sensing the position and elevation of a grading implement mounted on an earth-moving vehicle and for determining an elevation error of the grading implement relative to a desired elevation, wherein the desired elevation of the grading implement at a particular position is the elevation that would allow the earth-moving vehicle and attached grading implement to produce a desired graded surface at that position, said apparatus comprising:

a first energy beam transmitter operable for projecting a first energy beam that sweeps in a plane across the area to be graded and forms a datum plane;

first reference signal means for generating a first reference signal when said first energy beam is aligned with a first reference line;

a second energy beam transmitter operable for projecting a second energy beam that sweeps in a plane across the area to be graded, wherein said first and second energy beam transmitters are positioned apart during operation of said apparatus;

second reference signal means for generating a second reference signal when said second energy beam is aligned with a second reference line;

an energy beam receiver operable for detecting said first and second energy beams and for detecting the height at which said first energy beam strikes said energy beam receiver, wherein said energy beam receiver is coupled to a grading implement of an earth-moving vehicle for movement therewith;

a reference signal receiver operable for receiving said first and second reference signals; and

processing means coupled to said energy beam receiver and said reference signal receiver and responsive to the timing of the detection of said energy beams relative to the receipt of the respective reference signals for determining the position of the earth-moving vehicle relative to said energy beam transmitters, and responsive to the height at which said first energy beam strikes said energy beam receiver for determining the elevation of the grading implement, wherein said processing means includes data base means for defining the desired elevation of the grading implement as a function of the position of the earth-moving vehicle, and includes computational means for determining the elevation error of the grading implement according to the difference between the measured and desired elevations thereof.

50. An apparatus as recited in claim 49 further comprising indicator means mounted on the earth-moving vehicle for displaying the elevation error to the operator of the earth-moving vehicle.

51. An apparatus as recited in claim 49 further comprising control means coupled to the grading implement and responsive to the elevation error for automatically adjusting the elevation of the grading implement to reduce the elevation error.

52. An apparatus as recited in claim 49 wherein the desired graded surface is inclined and the grading implement may necessarily be sloped when producing the desired graded surface so that at any given position of the grading implement the desired slope thereof is a function of the orientation thereof, wherein said apparatus further comprises means for determining the orientation and slope of the grading implement, and wherein said processing means includes means for determining the desired elevation and slope of the grading implement as a function of the measured position and orientation thereof.

53. An apparatus as recited in claim 52 further comprising control means coupled to the grading implement for controlling the elevation and slope of the grading implement to produce the desired graded surface.

54. An apparatus as recited in claim 52 further comprising indicator means mounted on the earth-moving vehicle and coupled to said processing means for displaying to the operator of the earth-moving vehicle the elevation error and a slope error, wherein said slope error is the difference between the measured and desired slope of the grading implement.

55. An apparatus as recited in claim 49 wherein said energy beam receiver comprises a first energy beam receiver mast that is coupled to one side of the grading implement for movement therewith and a second energy beam receiver mast coupled to the opposite side of the grading implement for movement therewith, and wherein said processing means includes means for determining the slope of the grading implement from the measured elevation of each side of the grading implement.

56. 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:

first and second reference stations spaced apart at known positions and each including an energy beam transmitter operable for projecting an energy beam that sweeps at a constant angular velocity in a plane across the area to be graded and that periodically strikes the other reference station and a receiver, including an energy beam detector operable for detecting the energy beam from the other reference station, and including a reference signal transmitter responsive to the detection of the other energy beam by said energy beam detector and operable for periodically broadcasting a reference signal, wherein one of said energy beams is denoted a datum energy beam that defines a datum plane for elevation measurements;

a receiver mounted on an earth-moving vehicle, said receiver including an energy beam receiver operable for detecting when and the height at which said datum energy beam strikes said receiver, wherein said energy beam receiver is coupled to a grading implement for movement therewith, and including a reference signal receiver operable for receiving said reference signals broadcast from said reference stations;

position measuring means operatively coupled to said receiver and coupled to the earth-moving vehicle for movement therewith and responsive to the timing of the detection of the energy beams by said energy beam receiver relative to the receipt of the respective reference signals by said reference signal receiver for determining the position of the grading implement relative to said reference stations, and responsive to the height at which said datum energy beam strikes said receiver for determining the elevation of the grading implement relative to said datum plane;

data base means for defining the desired contour of the plot of land in terms of desired elevations of the grading implement relative to said datum plane as a function of the positions of the grading implement relative to said reference stations;

processing means responsive to the measured position and elevation of the grading implement and responsive to the desired elevation of the grading implement for determining an elevation error of the grading implement according to the difference between the measured and desired elevations of the grading implement; and

automatic control means responsive to the elevation error for automatically adjusting the elevation of the grading implement to reduce the elevation error.

57. A control system as recited in claim 56 wherein the desired graded surface is inclined and the grading implement is necessarily sloped when producing the desired graded surface so that at any given position of the grading implement the desired slope thereof is a function of the orientation thereof, wherein said control system further comprises means for determining the orientation and slope of the grading implement, wherein said processing means includes means for determining the desired slope of the grading implement as a function of the measured position and orientation thereof and for determining a slope error of the grading implement according to the difference between the measured and desired slope of the grading implement, and wherein said automatic control means includes means responsive to said slope error for adjusting the slope of the grading implement to reduce said slope error.

58. A control system as recited in claim 56 further comprising means for sensing the lateral position of the grading implement and for determining a lateral positioning error of the grading implement relative to a desired lateral position, and means for controlling the lateral position of the grading implement by laterally shifting the grading implement relative to the earth-moving vehicle to reduce said lateral positioning error.

59. A control system as recited in claim 58 wherein said means for controlling the lateral position of the grading implement further includes means for automatically steering the earth-moving vehicle to reduce said lateral positioning error.

60. A method comprising the steps of:

projecting first and second energy beams from two transmitters that are spaced apart, wherein each of said energy beams periodically sweeps in a plane across an area within which position sensing is to occur;

generating a first reference signal when said first energy beam is aligned with a first reference line;

generating a second reference signal when said second energy beam is aligned with a second reference line;

detecting said first and second energy beams with an energy beam receiver that is placed at a location at which the position is to determined;

receiving said first and second reference signals by a reference signal receiver; and

determining the position of said energy beam receiver relative to said reference lines and said transmitters according to the timing of detection of said energy beams by said energy beam receiver relative to the reception of said reference signals by said reference signal receiver.

61. A method as recited in claim 60 further comprising the steps of determining the positions of said transmitters relative to an origin, and transforming the measured position of said energy beam receiver relative to said reference lines and said transmitters into a position relative to said origin.

62. A method as recited in claim 61 wherein the positions of first and second bench marks are known relative to said origin, wherein said reference lines extend between said two transmitters, and wherein said step of determining the positions of said transmitters relative to an origin includes the steps of positioning said energy beam receiver at said first bench mark and detecting said first and second energy beams and receiving said first and second reference signals, determining the position of said first bench mark relative to said transmitters according to the timing of detection of said energy beams by said energy beam receiver while positioned at said first bench mark relative to the reception of said reference signals, repositioning said energy beam receiver at said second bench mark and detecting said first and second energy beams and receiving said first and second reference signals, determining the position of said second bench mark relative to said transmitters according to the timing of detection of said energy beams by said energy beam receiver while positioned at said second bench mark relative to the reception of said reference signals, and then determining the positions of said transmitters relative to said origin according to the measured positions of said bench marks relative to said transmitters and according to the positions of said bench marks relative to said origin.

63. A method as recited in claim 60 wherein said step of projecting said first and second energy beams includes the steps of projecting said first energy beam in a first plane and projecting said second energy beam in a second plane that is substantially parallel to and spaced apart from said first plane.

64. A method as recited in claim 63 wherein said step of projecting said first and second energy beams includes the step of projecting said first and second energy beams in substantially horizontal planes.

65. A method as recited in claim 60 wherein said step of projecting first and second energy beams includes the step of rotating said first energy beam in a plane at a constant angular velocity and rotating said second energy beam in a plane at a constant angular velocity, and wherein said step of determining the position of said energy beam receiver includes the steps of determining the separation distance between said two transmitters, determining the angle between said first reference line and a line extending from said first energy beam transmitter to said energy beam receiver according to the ratio of the time interval between the detection of said first energy beam and the receipt of said first reference signal to the time interval defined by the rotational period of said first energy beam, determining the angle between said second reference line and a line extending from said second energy beam transmitter to said energy beam receiver according to the ratio of the time interval between the detection of said second energy beam and the receipt of said second reference signal to the time interval defined by the rotational period of said second energy beam, and determining the position of said energy beam receiver according to said separation distance and said angular positions.

66. A method as recited in claim 60 wherein said step of generating a first reference signal includes the step of generating a first reference signal when said first energy beam strikes a detector mounted to the other transmitter, wherein said step of generating a second reference signal includes the step of generating a second reference signal when said second energy beam strikes a detector mounted to the other transmitter, whereby said first and second reference lines extend between said two transmitters.

67. A method as recited in claim 60 wherein said steps of generating first and second reference signals includes the steps of broadcasting respective first and second radio frequency signals, and wherein said step of receiving said first and second reference signals includes the step of receiving and distinguishing between said first and second radio frequency signals.

68. A method as recited in claim 60 wherein said step of projecting first and second energy beams includes the step of projecting one of said energy beams as a datum energy beam in a datum plane, and wherein said method further comprises the step of determining the elevation of the location of the energy beam receiver according to the height at which said energy beam receiver detects said datum energy beam.

69. A method as recited in claim 68 wherein said step of determining the elevation of the location of the energy beam receiver includes the step of determining the elevation of said datum plane and subtracting therefrom the height above ground at which said energy beam receiver detects said datum energy beam.

70. A method as recited in claim 68 wherein said step of detecting said first and second energy beams includes the step of adjusting the elevation of an array of detector cells of said energy beam receiver until a datum cell of said array detects said datum energy beam, and wherein said step of determining the elevation of the location of said energy beam receiver includes the step of determining the height at which said datum cell detects said datum energy beam.

71. A method for surveying as recited in claim 68 further comprising the step of recording the measured position and elevation of said energy beam receiver.

72. A method as recited in claim 60, further comprising the steps of defining the positions relative to said energy beam transmitters of one or more locations to be marked, positioning said energy beam receiver near a location to be marked, indicating a positional error of said energy beam receiver relative to the location to be marked, repositioning said energy beam receiver until said positional error is substantially equal to zero, and marking the position of said energy beam receiver when said positional error is substantially equal to zero.

73. A position sensing method comprising the steps of:

projecting a first laser beam in a first plane at a constant angular velocity and projecting a second laser beam in a second plane substantially parallel to said first plane at a constant angular velocity, wherein said first and second laser beams are transmitted from respective first and second laser beam transmitters that are positioned apart by a known distance, wherein the line between said laser beam transmitters defines a reference line, and wherein said first and second laser beams periodically sweep across an area with which position sensing is to occur and also periodically strike the other laser beam transmitter;

broadcasting a first reference signal each time said first laser beam strikes a detector mounted on said second laser beam transmitter;

broadcasting a second reference signal each time said second laser beam strikes a detector mounted on said first laser beam transmitter;

detecting said first and second laser beams with a laser beam receiver and receiving said first and second reference signals with a reference signal receiver, wherein said receivers are placed at a location at which the position is to be determined; and

determining the position of said laser beam receiver relative to said laser beam transmitters in the plane of the laser beams as the intersection of first and second lines extending in said plane from respective first and second laser beam transmitters and forming respective first and second angles with respect to said reference line, wherein said first angle is determined according to the ratio of the time interval between the detection of said first laser beam and the receipt of said first reference signal to the time interval defined by the period of rotation of said first laser beam, and wherein said second angle is determined according to the ratio of the time interval between the detection of said second laser beam and the receipt of said second reference signal to the time interval defined by the period of rotation of said second laser beam.

74. A surveying method comprising the steps of:

projecting first and second energy beams from two transmitters that are spaced apart, wherein each of said energy beams periodically sweeps in a plane across the area to be surveyed, and wherein said first laser beam defines a datum plane;

generating a first reference signal when said first energy beam is aligned with a first reference line;

generating a second reference signal when said second energy beam is aligned with a second reference line;

detecting said first and second energy beams with an energy beam receiver that is positioned at a location to be surveyed;

determining the elevation of the location to be surveyed according to the height at which said energy beam receiver detects said first laser beam;

receiving said first and second reference signals by a reference signal receiver; and

determining the position of said energy beam receiver at the location to be surveyed relative to said reference lines and said transmitters according to the timing of detection of said energy beams by said energy beam receiver relative to the reception of said reference signals by said reference signal receiver, and recording the position and elevation of the location surveyed according to the measured position and elevation of said energy beam receiver.

75. A method for positioning markers at one or more locations to be marked, said method comprising the steps of:

projecting first and second energy beams from two respective transmitters that are spaced apart at known positions, wherein each of said energy beams periodically sweeps in a plane across the area to be marked;

defining the positions relative to said transmitters of the locations to be marked;

generating a first reference signal when said first energy beam is aligned with a first reference line;

generating a second reference signal when said second energy beam is aligned with a second reference line;

positioning an energy beam receiver near a location to be marked;

detecting said first and second energy beams with said energy beam receiver and receiving said first and second reference signals with a reference signal receiver;

determining the position of said energy beam receiver relative to said transmitters according to the timing of detection of said energy beams by said energy beam receiver relative to the reception of said reference signals by said reference signal receiver;

indicating a positional error of said energy beam receiver relative to the location to be marked;

repositioning said energy beam receiver until said positional error is substantially equal to zero; and

marking the position of said energy beam receiver when said positional error is substantially equal to zero.

76. A method as recited in claim 75, wherein one of said energy beams is a datum beam that is projected in a datum plane, and wherein said method further comprises the steps of selecting a plurality of elevation-defining line segments along which the desired contour of the land has a constant slope, wherein each line segment has end points at which the position and desired elevation is known;

measuring the elevation of the location to be marked according to the height at which said energy beam receiver detects said datum energy beam when said positional error is substantially equal to zero;

determining the desired elevation of the location to be marked; and

determining the elevation error of the grading implement according to the difference between the desired and measured elevations at the location to be marked.

77. A method as recited in claim 76 wherein said step of determining the desired elevation of the location to be marked includes the steps of finding two elevation-defining line segments near to and surrounding the location to be marked, finding the elevations of two points on the line segments, wherein said two points define a line through the location to be marked and wherein the elevation of a point located on a line segment is found by interpolating between the elevations of the two end points of that line segment, and interpolating between the elevations of said two points to determine the desired elevation of the location to be marked.

78. A method for sensing the position and elevation of a grading implement of an earth-moving vehicle and for determining an elevation error of the grading implement relative to a desired elevation, wherein the desired elevation of the grading implement at a particular position is the elevation that would allow the grading implement to produce a desired graded surface at that position, and wherein the elevation error is the difference between the actual and desired elevations of the grading implement, said method comprising the steps of:

defining the desired elevations of the grading implement as a function of the position of the grading implement throughout an area to be graded;

projecting a first energy beam that sweeps in a datum plane across the area to be graded;

generating a first reference signal when said first energy beam is aligned with a first reference line;

projecting a second energy beam that sweeps in a plane across the area to be graded, wherein said first and second energy beams are transmitted from transmitters that are positioned apart;

generating a second reference signal when said second energy beam is aligned with a second reference line;

detecting said first and second energy beams by an energy beam receiver that is coupled to a grading implement of an earth-moving vehicle for movement therewith;

receiving said first and second reference signals by a reference signal receiver that is coupled to the earth-moving vehicle for movement therewith;

determining the position of the grading implement relative to said transmitters according to the timing of the detection of said energy beams relative to the reception of said reference signals;

measuring the elevation of the grading implement according to the height at which said first energy beam strikes said energy beam receiver; and

determining the elevation error of the grading implement according to the difference between the measured elevation and the desired elevation thereof.

79. A method as recited in claim 78, further comprising the step of automatically controlling the elevation of the grading implement to reduce said elevation error.

80. A method as recited in claim 78 further comprising the step of displaying to the operator of the earth-moving vehicle the elevation error.

81. A method as recited in claim 78, wherein the desired graded surface is inclined and the grading implement is sloped when producing the desired graded surface so that at any given position of the grading implement the desired slope thereof is a function of the orientation thereof, wherein the slope error is defined as the difference between the actual and desired slope of the grading implement, wherein said method further comprises the steps of determining the orientation and slope of the grading implement, determining the desired elevation and slope of the grading implement as a function of the measured position and orientation thereof, and determining the slope error of the grading implement from the difference between the measured slope and the desired slope thereof.

82. A method as recited in claim 81, further comprising the step of automatically controlling the elevation and slope of the grading implement to reduce said elevation and slope errors.

83. A method as recited in claim 81 further comprising the step of displaying to the operator of the earth-moving vehicle said elevation error and said slope error.

84. A method as recited in claim 78, wherein the desired graded surface is inclined and the grading implement is sloped when producing the desired graded surface, wherein said method further comprises the steps of determining the position and elevation of each side of the grading implement, determining the desired elevation for each side of the grading implement as a function of the measured position thereof, and determining the elevation error of each side of the grading implement according to the difference between the measured elevation and the desired elevation thereof.

85. A method as recited in claim 84 wherein said energy beam receiver comprises a first energy beam receiver that is coupled to one side of the grading implement for movement therewith and a second energy beam receiver coupled to the opposite side of the grading implement for movement therewith, and wherein said step of determining the position and elevation of each side of the grading implement includes the steps of detecting said first and second energy beams by each energy beam receiver, determining the position of each side of the grading implement according to the timing of the detection of said energy beams by each energy beam receiver relative to the reception of said reference signals, and measuring the elevation of each side of the grading implement according to the height at which one of said energy beams strikes each energy beam receiver.

86. A method as recited in claim 78 further comprising the step of sensing the lateral position of the grading implement and for determining a lateral positioning error of the grading implement relative to a desired lateral position.

87. A method as recited in claim 86 further comprising the step of automatically adjusting the lateral position of the grading implement relative to the earth-moving vehicle to reduce said lateral positioning error.

88. A method as recited in claim 86 further comprising the step of automatically steering the earth-moving vehicle to reduce said lateral positioning error.

89. A method for sensing the position and elevation of a grading implement of an earth-moving vehicle and for determining an elevation error of the grading implement relative to a desired elevation, wherein the desired elevation of the grading implement at a particular position is the elevation that would allow the grading implement to produce a desired graded surface at that position, and wherein the elevation error is the difference between the actual and desired elevations of the grading implement, said method comprising the steps of:

selecting a plurality of elevation-defining line segments along which the desired contour of the land has a constant slope, wherein each line segment has end points at which the position and desired elevation is known;

projecting a first energy beam that sweeps in a datum plane across the area to be graded, wherein all elevations are defined relative to said datum plane;

generating a first reference signal when said first energy beam is aligned with a first reference line;

projecting a second energy beam that sweeps in a plane across the area to be graded, wherein said first and second energy beams are transmitted from transmitters that are positioned apart at known positions relative to said elevation-defining line segments;

generating a second reference signal when said second energy beam is aligned with a second reference line;

detecting said first and second energy beams by an energy beam receiver that is coupled to a grading implement of an earth-moving vehicle for movement therewith;

receiving said first and second reference signals by a reference signal receiver that is coupled to the earth-moving vehicle for movement therewith;

determining the position of the grading implement relative to said transmitters according to the timing of the detection of said energy beams relative to the reception of said reference signals;

measuring the elevation of the grading implement according to the height at which said first energy beam strikes said energy beam receiver;

determining the desired elevation of the grading implement according to the steps of finding two elevation-defining line segments near to and surrounding the position of the grading implement, finding the elevations of two points on the line segments, wherein said two points define a line through the position of the grading implement and wherein the elevation of a point located on a line segment is found by interpolating between the elevations of the two end points of that line segment, and interpolating between the elevations of said two points to determine the desired elevation of the position of the grading implement; and

determining an elevation error of the grading implement according to the difference between the measured elevation and the desired elevation thereof.

90. A method as recited in claim 89, further comprising the sep of automatically controlling the elevation of the grading implement to reduce said elevation error.

91. A method as recited in claim 89 further comprising the step of displaying said elevation error to the operator of the earth-moving vehicle.