Excavator data acquisition and control system and method of use

• US 5,553,407 A
• Filed: 06/19/1995
• Issued: 09/10/1996
• Est. Priority Date: 06/19/1995
• Status: Expired due to Term

• Current Assignee: Vermeer Manufacturing Company
• Original Assignee: Vermeer Manufacturing Company
• Inventors: Stump, Greg
• Primary Examiner(s): Melius, Terry Lee
• Assistant Examiner(s): PEZZUTO, ROBERT ERIC
• Application Number:
  US08/491,679
• Time in Patent Office: 449 Days
• Field of Search: 37/352, 37/355, 37/357, 37/347, 37/348, 37/900, 37/902, 172/4, 172/4.5, 172/7, 405/128, 405/157, 405/234, 405/267, 364/424.07, 414/685, 414/694, 414/687, 414/697, 414/699, 414/700
• US Class Current: 37/348
• CPC Class Codes: E02F 5/06 with digging elements mounted on an endless chain E02F5/109 takes precedence; with digging elements mounted on an endless chain per se E02F3/08
• CPC Class Codes: E02F 5/145 control and indicating devices
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: E21C 39/00 Devices for testing in situ the hardness or other properties of minerals, e.g. for giving information as to the selection of suitable mining tools
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 13/885 for ground probing prospecting or detecting using electromagnetic waves G01V3/12
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 5/30 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G01V 11/00 Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
• CPC Class Codes: G01V 3/12 operating with electromagnetic waves operating with millimetre waves G01V8/005
• CPC Class Codes: G01V 3/17 operating with electromagnetic waves operating with millimetre waves G01V8/005

Abstract

An excavator data acquisition and control system and process for characterizing the subsurface geology of an excavation site, and for utilizing the acquired data to optimize the production performance of an excavator. A geologic imaging system and a geographic positioning system are employed to initially survey a predetermined excavation site or route. A geologic characterization unit may also be employed to enhance the geologic imaging data. The acquired data are processed to provide detailed geologic and position data for the excavation site and utilized by a main control unit to optimize excavator production performance. In one embodiment, the main control unit accesses a geologic filter database, which includes geologic profile data for numerous types of geology, when analyzing unknown subsurface geology. Removing geological filter data content corresponding to known geology from the acquired geologic imaging data provides for immediate recognition of unknown and suspect subsurface objects. The geologic imaging system preferably includes a ground penetrating radar system having a plurality of antennas oriented in an orthogonal relationship to provide three-dimensional imaging of subsurface geology. Correlation software is employed to correlate acquired geologic image data to historical excavator production performance data to characterize the structural mechanics of subsurface geology. Accurate geographic mapping of an excavation site is provided by the geographic positioning system which preferably includes a mobile transponder mounted to an excavator and a plurality of ground-based transponders and, in one embodiment, Global Positioning System (GPS) signals.

Claims

1. A data acquisition and control system for an excavator, the excavator including propulsion means and excavation means for respectively propelling the excavator and excavating along a predetermined excavation route, the system comprising:

geologic imaging means for acquiring geological information along the predetermined excavation route;

position determining means for determining a position of the excavator along the predetermined excavation route;

excavator control means for coordinating the operation of the propulsion means and the excavating means;

a main user interface for receiving input commands from an operator of the excavator and for displaying information to the operator; and

a main controller for receiving the acquired geological information from the geologic imaging means, for receiving position information from the position determining means, and for receiving operational information from the excavator control means;

wherein the main controller includes means for estimating excavator performance parameters in response to the received geological, position, and operational information, and the excavator control means includes means for modifying the operation of the propulsion means and excavating means in response to the estimated excavator performance parameters.

2. A system as claimed in claim 1, wherein the geologic imaging means comprises a ground penetrating radar system.

3. A system as claimed in claim 2, wherein the geologic imaging means further comprises at least two antennas orientated in an orthogonal relationship for transmitting source electromagnetic signals produced by the ground penetrating radar system through a subsurface portion of the predetermined excavation route and for receiving reflected source electromagnetic signals from the subsurface portion to provide three-dimensional imaging of the subsurface geology.

4. A system as claimed in claim 1, wherein the main controller comprises means for correlating the acquired geological information with the position information to produce the estimated excavator performance parameters, and the excavator control means includes means for modifying the operation of the propulsion means and excavating means in response to the estimated performance parameters.

5. A system as claimed in claim 1, wherein the data acquisition and control system further comprises geologic characterization means for determining physical characteristics of a subsurface geology along the predetermined excavation route.

6. A system as claimed in claim 5, wherein the geologic characterization means includes any one of a Schmidt hammer system, point load test system, and a seismic mapping system.

7. A system as claimed in claim 1, wherein the main controller includes means for filtering the acquired geological information with geologic filtering information corresponding to predetermined types of geology to remove acquired geological information content corresponding to the predetermined types of geology.

8. A system as claimed in claim 1, wherein the main controller includes means for receiving historical excavator performance data from an excavator performance database, and for modifying the operation of the propulsion means and excavation means in response to the estimated excavator performance parameters and the historical excavator performance data.

9. A system as claimed in claim 1, wherein the position determining means comprises a Global Positioning System transponder mounted to the excavator and a plurality of ground-based transponders, the Global Positioning System transponder including means for determining the position of the excavator relative to the plurality of ground-based transponders.

10. A system as claimed in claim 1, wherein the position determining means comprises a mobile radar transponder mounted to the excavator and a plurality of ground-based radar transponders, the mobile radar transponder including means for determining the position of the excavator relative to the plurality of ground-based radar transponders.

11. A system as claimed in claim 1, wherein the position determining means comprises a mobile ultra-sonic transponder mounted to the excavator and a plurality of ground-based ultra-sonic transponders, the mobile ultra-sonic transponder including means for determining the position of the excavator relative to the plurality of ground-based ultra-sonic transponders.

12. A system as claimed in claim 1, wherein the data acquisition and control system further comprises mapping means for mapping the predetermined excavation route and excavator deviations from the predetermined excavation route during excavation.

13. A system as claimed in claim 1, wherein the data acquisition and control system further comprises navigation control means for controlling excavator direction along the predetermined excavation route, the navigation control means including means for accessing position information received from the position determining means.

14. A system as claimed in claim 1, wherein the geologic imaging means and position determining means include means for decoupling with the main controller for respectively acquiring geological and position information along the predetermined excavation route prior to excavating the predetermined excavation route.

15. A data acquisition system for acquiring geological information and position information, comprising:

a ground penetrating radar system for transmitting source electromagnetic signals through a subsurface and for receiving and storing reflected source electromagnetic signals reflected by the subsurface;

quantizing means for quantifying the reflected source electromagnetic signal in a digital format;

filtering means for filtering the reflected source electromagnetic signals with geologic filtering data corresponding to predetermined types of subsurface geology to remove reflected source electromagnetic signal content corresponding to the predetermined types of geology;

location determining means for determining the location of the subsurface subjected to the source electromagnetic signals; and

user interface means for interfacing with the ground penetrating radar system and the position determining means, and for displaying images representative of the subsurface geology.

16. A system as claimed in claim 15, wherein the ground penetrating radar system comprises at least two antennas orientated in an orthogonal relationship for transmitting the source electromagnetic signals produced by the ground penetrating radar system through the subsurface and for receiving the reflected source electromagnetic signals reflected by the subsurface to provide three-dimensional imaging of the subsurface geology.

17. A system as claimed in claim 15, wherein the position determining means comprises any one of a Global Positioning System positioning system, a ground-based positioning radar system, and a ground-based ultra-sonic positioning system.

18. A system as claimed in claim 15, wherein the system further comprises mapping means for mapping the subsurface subjected to the source electromagnetic signals.

19. A system as claimed in claim 15, further comprising any one of a Schmidt hammer system, point load test system, and a seismic mapping system to characterize the structural mechanics of the subsurface subjected to the source electromagnetic signals.

20. A method for characterizing the subsurface geology of a predetermined excavation route and controlling an excavator along the predetermined excavation route, including the steps of:

transporting a geologic imaging system and a positioning system along the predetermined excavation route;

acquiring geological imaging data and position data for the predetermined excavation route;

storing the acquired geological imaging data and position data in a controller disposed on the excavator;

and

modifying the excavating operation of the excavator in response to the acquired geological imaging data and position data stored in the controller as the excavator traverses along the predetermined excavation route.

21. A method as claimed in claim 20, including the further step of filtering the acquired geological imaging data with geologic filtering data corresponding to predetermined types of subsurface geology to remove content from the acquired geological imaging data corresponding to the predetermined types of geology.

22. A method as claimed in claim 20, including the further step mapping the predetermined excavation route and deviations from the predetermined excavation route during excavation.

23. A method as claimed in claim 20, wherein the transporting and acquiring steps are performed prior to excavation.

24. A method as claimed in claim 20, including the further step of navigating the excavator along the predetermined excavation route using the acquired position data.

25. A method as claimed in claim 20, wherein the modifying step includes the further step of correlating the acquired geological imaging data with excavator production performance data.