Real time three-dimensional machine locating system

• US 5,477,459 A
• Filed: 02/24/1995
• Issued: 12/19/1995
• Est. Priority Date: 03/06/1992
• Status: Expired due to Fees

• Current Assignee: Philip M. Clegg
• Original Assignee: Philip M. Clegg
• Inventors: Harris, Paul C., Genstler, Curtis C., Clegg, Philip M.
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/394,394
• Time in Patent Office: 298 Days
• Field of Search: 364/460, 364/561, 364/559, 364/424.01, 364/424.07, 356/1, 356/152.1, 356/400, 37/DIG. 1, 348/118, 348/119, 348/120
• US Class Current: 701/300
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

A method and system for locating the point P₀ which defines the location of a machine, e.g. an earth moving machine, a surveying or locating machine, etc., in relation to a tract or area of interest by measuring the angles defined by two different sets of reference points selected from at least three reference points that are in known relation to the tract or area.

Claims

1. A method of defining the location of an earth moving or working machine in relation to a tract or area of land, comprising the steps of:

(a) positioning a plurality of point sources of light at each of at least three reference points P₁, P₂ and P₃ in known, defined spacial relationships with respect to each other and to the tract or area of land;

(b) positioning at an unknown point P₀ that is in a known, spacially defined relation to the machine an angle-measuring charge coupled device incident light angle measuring detector for detecting the light from the aforesaid point sources;

(c) measuring the angle defined by lines extending through P₀ and, respectively, a first set of two of said reference points, P₁ and P₂

(d) measuring the angle defined by lines extending through P₀ and extending respectively through a second set of two of said reference points, P₁ and P₃ or P₂ and P₃ the aforesaid first and second sets of reference points being different from each other and being selected such that a geometric figure spacially defined by P₀ and the first set overlaps a geometric figure spacially defined by P₀ and the second set of reference points; and

(e) from the known, spacially defined relation of P₀ to the machine and the known, defined spacial relationship of the reference points with respect to each other and to the tract or area of land and data defining said measured angles, calculating the position of P₀ and the earth moving machine in relation to said tract or area of land.

2. The method of claim 1 wherein:

the reference points are in a known relationship to relevant metes and bounds of a tract of land.

3. The method of claim 1 wherein the reference points do not all lie in the same plane.

4. The method of claim 1 further comprising the step of reporting the result of the aforesaid calculation by way of a video display screen which depicts the location of the machine in relation to the tract.

5. The method of claim 1 further comprising the step of controlling the operation of said machine as a function of the position of P₀ in relation to the tract or area of land.

6. A method of defining the location of an earth moving or working machine in relation to a tract or area of land, comprising the steps of:

(a) positioning a plurality of super bright light emitting diodes as point light sources at each of at least three reference points P₁, P₂ and P₃ in known, defined spacial relationship with respect each other and to the tract or area of land;

(b) positioning at least one angle-measuring charge coupled device light detector for light emitted from the aforesaid point light sources at an unknown point P₀, said point P₀ being in a known spacially defined relation to the machine the location of which is to be defined;

(c) measuring the angle defined by lines extending through P₀ and respectively a first set of two of said reference points P₁ and P₂

(d) measuring the angle defined by lines extending through P₀ and a second set of said reference points P₁ and P₃ or P₂ and P₃ the aforesaid first and second sets of reference points being different from each other and being selected such that a geometric figure spacially defined by the lines through P₀ and the first set of reference points overlaps a geometric figure spacially defined by the lines through P₀ and the second set of reference points; and

(e) from the known, defined spacial relationship of the reference points with respect to each other and to the tract or area of land and data defining said measured angles, calculating the position of P₀ and the earth moving or working machine in relation to said tract or area of land.

7. The method of claim 6 wherein the reference points are in a known relationship to relevant metes and bounds of a tract of land.

8. The method of claim 6 further comprising the step of reporting the results of the aforesaid calculation by way of a video display screen which depicts the location of the machine in relation to the tract or area of land.

9. The method of claim 6 further comprising the step of controlling the operation of said machine as a function of said calculated position of P₀ and the earth moving or working machine in relation to said tract or area of land.

10. The method of claim 6 wherein the reference points are not located all in the same plane.

11. A system for locating and defining the position of an earth moving or working machine in relation to a known area or tract of land upon which the earth moving machine is to work, comprising, in combination:

(a) a plurality of super bright point-source light producing and emitting devices located, respectively, at each of at least three reference points P₁, P₂ and P₃ that are in known, defined spacial relationship to each other and to said area or tract of land;

(b) a charge coupled incident light angle measuring sensor system comprising at least one angle measuring CCD sensor for measuring light from said super bright point-source light producing and emitting devices positioned at an unknown location P₀ said point P₀ being in a known defined spacial relation to said machine, said sensor being so constructed and configured as to measure the angle defined by lines extending through P₀ and a first set of two of said reference points, P₁ and P₂, and substantially simultaneously measuring the angle defined by a second set of two of said reference points, P₁ and P₃ or P₂ and P₃ the first and second sets of reference points being different from each other and being selected such that a geometric figure spacially defined by the lines through P₀ and the first set of reference points overlaps a geometric figure defined by the lines through P₀ and the second set of reference points;

(c) a computer connected to said sensor system for receiving data defining said measured angles and input data defining the relationship of the reference points to each other and to said tract or area and for computing data defining the location of P₀ in relation to said tract or area; and

(d) means for providing a computed data signal derived from said computed data defining the location of P₀ to a display means or to a machine control means.

12. The system of claim 11 further comprising means for controlling the movement or operation of said earth moving or working machine in response to said computed data signal.

13. The system of claim 11 wherein not all point sources are in the same plane.

14. A system for locating and defining the spacial position of a machine, comprising, in combination:

(a) a plurality of super bright point-source light producing and emitting devices located, respectively, at each of at least three reference points P₁, P₂ and P₃ that are in known, defined spacial relationship to each other;

(b) at least one charge coupled incident light angle measuring sensor system comprising at least one angle measuring CCD sensor positioned at a point P₀ in a known, spacially defined location relative to said machine for measuring light from said super bright point-source light producing and emitting devices, said sensor being so constructed and configured as to measure the angle defined by lines extending through P₀ and a first set of two of said reference points, P₁ and P₂, and substantially simultaneously measuring the angle defined by a second set of two of said reference points, P₁ and P₃ or P₂ and P₃ the first and second sets of reference points being different from each other and being selected such that a geometric figure spacially defined by the lines through P₀ and the first set of reference points overlaps a geometric figure defined by the lines through P₀ and the second set of reference points;

(c) a computer connected to said sensor system for receiving data defining said measured angles and input data defining the relationship of the reference points to each other and to said machine for computing data defining the location of said machine.

15. A method of defining the spacial location of a machine, comprising the steps of:

(a) positioning a plurality of point sources of light at each of at least three reference points P₁, P₂ and P₃ in known, defined spacial relationships with respect to each other;

(b) positioning at an unknown point P₀ that is in a known, spacially defined relation to the machine an angle-measuring charge coupled device incident light angle measuring detector for detecting the light from the aforesaid point sources;

(c) measuring the angle defined by lines extending through P₀ and, respectively, a first set of two of said reference points, P₁ and P₂

(d) measuring the angle defined by lines extending through P₀ and extending respectively through a second set of two of said reference points, P₁ and P₃ or P₂ and Ps the aforesaid first and second sets of reference points being different from each other and being selected such that a geometric figure spacially defined by P₀ and the first set overlaps a geometric figure spacially defined by P₀ and the second set of reference points; and

(e) calculating the position of P₀ and the spacial position of said machine from the aforesaid known spacial relationships of P₁ P₂ and P₃ with respect to each other, said measured angles and the known relationship between P₀ and said machine.

16. A method for defining the spacial location of a machine, comprising the steps of:

(a) positioning a plurality of point sources of light at each of at least three reference points P₁ P₂ and P₃ in known, defined spacial relationships with respect to each other;

(b) positioning at point P₀ an angle-measuring incident light detector which is capable of receiving and differentiating simultaneously between a plurality of point sources of light emitted respectively from the point sources of light located respectively at points P₁ P₂ and P₃ ;

points P₀, P₁ and P₂ being positioned so as to lie on the circumference of a circle 1 defined by said points P₀, P₁ and P₂ the last said points;

points P₀, P₁ and P₃ being positioned so as to lie on the circumference of a circle 2 defined by said points P₀, P₁ and P₃ and points P₀, P₂ and Ps being positioned so as to lie on the circumference of a circle 3 defined by said points P₀, P₂ and P₃ point P₀ being in a known, defined spacial relationship with respect to said machine;

(c) measuring at least two of angle A, angle B and angle C;

wherein Angle A is defined by lines passing, respectively, through P₀ -P₁ and P₀ -P₂ ;

Angle B is defined by lines passing, respectively, through P₀ -P₁ and P₀ -P₃ ; and

Angle C is defined by lines passing, respectively, through P₀ -P₂ and P₀ -P₃ ;

P₀ being positioned in a known, spacially defined relation to said machine;

said angles being less than 180°

angles and not being 90°

angles;

(d) measuring at least two of said angles A, B and C, and mathematically defining at least two of circles 1, 2 and 3, wherein;

(i) circle 1 has a radius ##EQU5## where d₁ is the distance P₁ to P₂, the center of the circle lying on a line which is a perpendicular bisector of P₁ P₂ a distance ##EQU6## from the center of a line between P₁ and P₂ ;

(ii) circle 2 has a radius ##EQU7## where d₂ is the distance P₂ to P₃. The center of the circle lying on a line which is a perpendicular bisector of P₂ P₃ a distance ##EQU8## from the center of a line between P₂ and P₃ ;

(iii) circle 3 has a radius ##EQU9## where d₃ is the distance P₁ to P₃, the center of the circle lying on a line which is a perpendicular bisector of P₁ P₃ a distance ##EQU10## from the center of a line between P₁ and P₃ ;

(e) calculating the common intersecting points on the circumference of at least two of said circles 1, 2 and 3, defined by at least two of angles A, B, and C at P₀ to thereby define the spacial position of P₀ relative to the known spacial positions of P₁, P₂ and P₃ with respect to each other thereby defining the spacial relationship of said machine relative to P₁, P₂ and P₃

17. The method of claim 16 wherein the machine is an earth working machine and wherein points P₁, P₂ and P₃ are in a known, defined spacial relationships with respect to a tract of land, and wherein the location of the machine is defined in relation to said tract of land.

18. The method of claim 16 wherein the angle-measuring incident light detector which is capable of receiving and differentiating simultaneously between a plurality of point sources of light is a charge coupled detector.