Laser control of excavating machine digging depth

• US 4,888,890 A
• Filed: 11/14/1988
• Issued: 12/26/1989
• Est. Priority Date: 11/14/1988
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Spectra-Physics Incorporated (MKS Instruments Incorporated)
• Inventors: Teach, Ted L., Studebaker, Robert H., Kidwell, Michael H.
• Primary Examiner(s): Taylor, Dennis L.
• Assistant Examiner(s): McBee, J. Russell
• Application Number:
  US07/270,645
• Time in Patent Office: 407 Days
• Field of Search: 37/103, 37/DIG. 1, 37/DIG. 14, 37/DIG. 19, 37/DIG. 20, 414/694, 414/698, 414/699, 414/700, 414/701, 33/263, 33/264, 33/282, 33/283, 33/DIG. 21, 116/DIG. 13
• US Class Current: 37/348
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)
• CPC Class Codes: Y10S 33/21 with laser
• CPC Class Codes: Y10S 37/907 Automatic leveling excavators

Abstract

A method and apparatus are provided for controlling the working depth of a bucket for an excavating machine having an outreach boom which is pivotally attached at one end to the machine, a downreach boom pivotally attached to the opposite end of the outreach boom, a digging bucket pivotally attached to the end of the downreach boom opposite to that to which the outreach boom is attached, and hydraulic power cylinders for moving the pivotally interconnected elements. A laser beam is projected at a reference height and a beam sensor mounted on the outreach boom of the machine detects the beam by means of a plurality of individual sensor locations. The angular orientation of the downreach boom relative to vertical is detected and a microprocessor controller connected to the beam sensor and the angle sensor repetitively defines, as a function of the angular orientation of the downreach boom, one of the plurality of individual sensor locations as an on-grade sensor location. The microprocessor controller compares the defined on-grade sensor location to the sensor location having detected the laser beam to generate an outreach boom adjustment signal representative of the movement of the outreach boom which is required to maintain the bucket on-grade as the downreach boom is pivoted with respect to the outreach boom.

Claims

1. Apparatus for controlling the working depth of a bucket of an excavating machine having an outreach boom which is pivotally attached at one end to said machine, a downreach boom pivotally attached to the opposite end of said outreach boom, a digging bucket pivotally attached to the end of said downreach boom opposite to that to which the outreach boom is attached, and power means for producing relative pivotal movements of the pivotally interconnected elements, said apparatus comprising:

laser beam projection means for projecting a beam of laser light at a reference height;

beam sensor means mounted on said outreach boom for detecting said beam of laser light, said beam sensor means defining a plurality of individual sensor locations sized such that one of said sensor locations can be identified as sensing said beam of laser light;

angle sensor means for detecting the angular orientation of said downreach boom relative to vertical; and

control means connected to said beam sensor means and said angle sensor means for repetitively defining as a function of the angular orientation of said downreach boom one of said plurality of individual sensor locations as an on-grade sensor location for said beam sensor means, and for comparing said on-grade sensor location to the sensor location having detected said beam of laser light to generate an outreach boom adjustment signal representative of the movement of said outreach boom required to move the machine such that said on-grade sensor location is illuminated by said beam of laser light and thereby maintain said bucket on-grade as said downreach boom is pivoted with respect to said outreach boom.

2. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 1 further comprising bucket control means for maintaining a fixed orientation of said bucket relative to vertical whereby the angle of attack of said bucket is constant throughout the digging stroke of said excavating machine.

3. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 1 wherein said digging bucket is held in a fixed position with respect to said downreach boom.

4. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 1 further comprising tilt sensor means for sensing a tilt angle of said excavating machine and wherein said control means is responsive to said tilt angle for defining said on-grade sensor location.

5. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 1 wherein said control means comprises activation means responsive to said outreach boom adjustment signal for controlling the movement of said outreach boom to automatically maintain said bucket on-grade.

6. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 1 wherein said beam sensor means is mounted at the pivoting interconnection of said downreach boom to said outreach boom.

7. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 1 wherein said beam sensor means comprises a plurality of linearly arranged photocells, individual ones of said photocells defining said plurality of individual sensor locations.

8. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 7 wherein said beam sensor means is adjustably mounted such that the height and the angular orientation relative to vertical of said beam sensor means can be adjusted.

9. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 7 wherein said beam sensor means includes alignment means for maintaining said beam sensor means in a substantially vertical orientation.

10. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 7 wherein said angle sensor means comprises an angle sensor mounted on said downreach boom.

11. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 7 wherein said angle sensor means comprises an angle sensor mounted at the base of said outreach boom adjacent said machine and angle detection means for measuring the relative angle between said outreach boom and said downreach boom.

12. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 7 wherein said angle sensor means comprises an angle sensor mounted on said machine and angle detection means for measuring the relative angles between said machine and said outreach boom and between said outreach boom and said downreach boom.

13. Apparatus for controlling the working depth of a bucket of an excavating machine with respect to a beam of laser light which is projected at a reference height, said excavating machine having an outreach boom which is pivotally attached at one end to said machine, a downreach boom pivotally attached to the opposite end of said outreach boom, a digging bucket pivotally attached to the end of said downreach boom opposite to that to which the outreach boom is attached, and power means for producing relative pivotal movements of the pivotally interconnected elements, said apparatus comprising:

beam sensor means mounted on said outreach boom for detecting said beam of laser light, said beam sensor means defining a plurality of individual sensor locations sized such that one of said sensor locations can be identified as sensing said beam of laser light;

angle sensor mans for detecting the angular orientation of said downreach boom relative to vertical; and

control means connected to said beam sensor means and said angle sensor means for repetitively defining one of said plurality of individual sensor locations as an on-grade sensor location as a function of the angular orientation of said downreach boom, and for comparing said on-grade sensor location tot eh sensor location having detected said beam of laser light to generate an outreach boom adjustment signal representative of the movement of said outreach boom required to move the machine such that said on-grade sensor location is illuminated by said beam of laser light and thereby maintain said bucket on-grade as said downreach boom is pivoted with respect to said outreach boom.

14. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 13 further comprising bucket control means for maintaining a fixed orientation of said bucket relative to vertical whereby the angle of attack of said bucket is constant throughout the digging stroke of said excavating machine.

15. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 13 wherein said digging bucket is held in a fixed position with respect to said downreach boom.

16. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 13 further comprising tilt sensor means for sensing a tilt angle of said excavating machine and wherein said control means is responsive to said tilt angle for defining said on-grade sensor location.

17. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 13 wherein said control means comprises activation means responsive to said outreach boom adjustment signal for controlling the movement of said outreach boom to automatically maintain said bucket on-grade.

18. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 13 wherein said beam sensor means is mounted at the pivoting interconnection of said downreach boom to said outreach boom.

19. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 13 wherein said beam sensor means comprises a plurality of linearly arranged photocells, individual ones of said photocells defining said plurality of individual sensor locations.

20. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 19 wherein said beam sensor means is adjustably mounted such that the height and the angular orientation relative to vertical of said beam sensor means can be adjusted.

21. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 19 wherein said beam sensor means includes alignment means for maintaining said beam sensor means in a substantially vertical orientation.

22. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 19 wherein said angle sensor means comprises an angle sensor mounted on said downreach boom.

23. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 19 wherein said angle sensor means comprises an angle sensor mounted at the base of said outreach boom adjacent said machine and angle detection means for measuring the relative angle between said outreach boom and said downreach boom.

24. Apparatus for controlling the working depth of a bucket of an excavating machine as claimed in claim 19 wherein said angle sensor means comprises an angle sensor mounted on said machine and angle detection means for measuring the relative angles between said machine and said outreach boom and between said outreach boom and said downreach boom.

25. A method of controlling the working depth of a bucket of an excavating machine having an outreach boom which is pivotally attached at one end to said machine, a downreach boom pivotally attached to the opposite end of said outreach boom, a digging bucket pivotally attached to the end of said downreach boom opposite to that to which the outreach boom is attached, and power means for producing relative pivotal movements of the pivotally interconnected elements, said method comprising the steps of:

projecting a beam of laser light at a reference height;

detecting the beam of laser light by means of a beam sensor which defines a plurality of individual sensor locations sized such that only one of said sensor locations is currently sensing said beam of laser light;

detecting the angular orientation of said downreach boom relative to vertical;

defining one of said plurality of individual sensor locations as an on-grade sensor locations of said beam sensor as a function of the angular orientation of said downreach boom; and

comparing said on-grade sensor location to the sensor location currently sensing said beam of laser light to generate an outreach boom adjustment signal representative of the movement of said outreach boom required to move the machine such that said on-grade sensor location is illuminated by said beam of laser light and thereby maintain said bucket on-grade as said downreach boom is pivoted with respect to said outreach boom.

26. A method of controlling the working depth of a bucket of an excavating machine as claimed in claim 25 further comprising the step of maintaining a fixed orientation of said bucket relative to vertical whereby the angle of attack of said bucket is constant throughout the digging stroke of said excavating machine.

27. A method of controlling the working depth of a bucket of an excavating machine as claimed in claim 25 further comprising the step of holding said bucket in a fixed position with respect to said downreach boom.

28. A method of controlling the working depth of a bucket of an excavating machine as claimed in claim 25 further comprising the step of sensing a tilt angle of said excavating machine and wherein the step of defining one of said plurality of individual sensor locations as an on-grade sensor location is responsive to said tilt angle.

29. A method of controlling the working depth of a bucket of an excavating machine as claimed in claim 25 further comprising the step of controlling the movement of said outreach boom in response to said outreach boom adjustment signal to automatically maintain said bucket on-grade.

30. A method of controlling the working depth of a bucket of an excavating machine with respect to a beam of laser light which is projected at a reference height, said excavating machine having an outreach boom which is pivotally attached at one end to said machine, a downreach boom pivotally attached to the opposite end of said outreach boom, a digging bucket pivotally attached to the end of said downreach boom opposite to that to which the outreach boom is attached, and power means for producing relative pivotal movements of the pivotally interconnected elements, said method comprising the steps of:

detecting the beam of laser light by means of a beam sensor which defines a plurality of individual sensor locations sized such that only one of said sensor locations is currently sensing said beam of laser light;

detecting the angular orientation of said downreach boom relative to vertical;

defining one of said plurality of individual sensor locations as an on-grade sensor location of said beam sensor as a function of the angular orientation of said downreach boom; and

comparing said on-grade sensor location to the sensor location currently sensing said beam of laser light to generate an outreach boom adjustment signal representative of the movement of said outreach boom required to move the machine such that said on-grade sensor location is illuminated by said beam of laser light and thereby maintain said bucket on-grade as said downreach boom is pivoted with respect to said outreach boom.

31. A method of controlling the working depth of a bucket of an excavating machine as claimed in claim 30 further comprising the step of maintaining a fixed orientation of said bucket relative to vertical whereby the angle of attack of said bucket is constant throughout the digging stroke of said excavating machine.

32. A method of controlling the working depth of a bucket of an excavating machine as claimed in claim 30 further comprising the step of holding said bucket in a fixed position with respect to said downreach boom.

33. A method of controlling the working depth of a bucket of an excavating machine as claimed in claim 30 further comprising the step of sensing a tilt angle of said excavating machine and wherein the step of defining one of said plurality of individual sensor locations as an on-grade sensor location is responsive to said tilt angle.

34. A method of controlling the working depth of a bucket of an excavating machine as claimed in claim 30 further comprising the step of controlling the movement of said outreach boom in response to said outreach boom adjustment signal to automatically maintain said bucket on-grade.