Apparatus and method for determining the position of a work implement

• US 5,612,864 A
• Filed: 06/20/1995
• Issued: 03/18/1997
• Est. Priority Date: 06/20/1995
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Henderson, Daniel E.
• Primary Examiner(s): Gordon, Paul P.
• Assistant Examiner(s): Lewis, Monica
• Application Number:
  US08/493,188
• Time in Patent Office: 637 Days
• Field of Search: 364/167.01, 364/424.07, 364/559, 37/348, 356/1, 356/5, 356/73, 172/4.5
• US Class Current: 700/59
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

An apparatus and method for determining the position of a work implement movably connected to a machine utilizes first and second electromagnetic radiation receiving devices connected to the work implement at predetermined spaced locations. A processor determines the first and second current coordinate positions of the first and second receiving devices in a site coordinate system based on position signals from the first and second receiving devices. The processor transforms the first and second points from a local coordinate system related to the machine to the site coordinate system using a plane passing through the first and second current coordinate positions and a mid-point located along a substantially straight line passing between first and second previously defined coordinate positions of the first and second receiving devices. The processor corrects the position of the first and second points in the site coordinate system based on sensed changes in the pitch of the implement.

Claims

1. An apparatus for determining the position of a work implement movably connected to a machine, comprising:

first receiving means for receiving electromagnetic radiation delivered from a plurality of remote locations and responsively producing a first position signal, said first receiving means being connected to said work implement and being at a first preselected location relative to said work implement spaced from a first point location on the work implement;

second receiving means for receiving electromagnetic radiation delivered from said plurality of remote locations and responsively producing a second position signal, said second receiving means being connected to said work implement and being at a preselected second location relative to said work implement spaced from a second point location on the work implement, said second means being spaced a preselected distance from said first means and said first point on the work implement being spaced a preselected distance from said second point on the work implement;

processing means for receiving said first and second position signals, determining first and second current coordinate positions of the first and second receiving means in a site coordinate system, defining a plane passing through the first and second current coordinate positions and a mid-point located along a substantially straight line passing between first and second previously defined coordinate positions of the first and second receiving means in the site coordinate system, transforming the first and second points from a local coordinate system related to the machine to the site coordinate system using said plane as a reference, and recording the position of the first and second points in the site coordinate system.

2. An apparatus, as set forth in claim 1, including means for sensing a change in the pitch angle of the work implement and determining a related current position of the first and second point locations on the work implement in the local coordinate system.

3. An apparatus, as set forth in claim 2, wherein said processing means converting the current position of the first and second points in the local coordinate system to the site coordinate system and recording the current position of the first and second points in the site coordinate system.

4. An apparatus, as set forth in claim 1, wherein said machine has a frame and including a pitch angle sensor connected to and responsive to tipping movement of the work implement relative to the frame, said pitch angle sensor delivering a pitch angle signal representative of the pitch angle of the work implement relative to the frame.

5. An apparatus, as set forth in claim 4, wherein said processing means receiving said pitch angle signal comparing the current pitch angle to a previously sensed pitch angle and determining the current position of the first and second points on the work implement in a local coordinate system in response to a change between the current and previously sensed pitch angle of the work implement.

6. An apparatus, as set forth in claim 5, wherein said processing means converting the current position of the first and second points in the local coordinate system to the site coordinate system and recording the current position of the first and second points in the site coordinate system.

7. An apparatus, as set forth in claim 1, wherein the plane passing through the first and second current coordinate positions and the mid-point is defined by a first vector extending from the first current coordinate position to the second current coordinate position and a second vector extending from the first current coordinate position to the midpoint.

8. An apparatus, as set forth in claim 7, wherein transforming the first and second points in the local coordinate system to the site coordinate system includes:

defining local coordinate system unit vectors for each of the first and second points in terms of site coordinate system unit vectors; and

converting the first and second point positions of the local coordinate system to the site coordinate system using a cross product of vectors determined from the local coordinate unit vectors defined in terms of the site coordinate system unit vectors.

9. An apparatus, as set forth in claim 1, wherein said first and second receiving means each include a global position receiver.

10. An apparatus, as set forth in claim 9, wherein said first and second receiving means each include a laser position receiver.

11. An apparatus, as set forth in claim 10, wherein said laser position receiver of the first receiving means being mounted on said implement at said first location, said laser position receiver of the second receiving means being mounted on the implement at said second location, said global position receiver of the first means being connected to the laser position receiver of the first means, and said global position receiver of the second means being connected to the laser position receiver of the second means.

12. An apparatus, as set forth in claim 11, wherein the global position receivers measure the coordinate position of the first and second sensing means in three space relative to a coordinate system of the work site, and the laser position receivers measure the coordinate position of the first and second sensing means in an elevational direction relative to the work site.

13. An apparatus, as set forth in claim 2, wherein the work implement is an earthworking blade having a cutting edge, first and second sides, and first and second spaced corners defined by the first and second sides and the cutting edge, said first and second points being located at the first and second corners, said first receiving means being located along a first line extending substantially perpendicularly to said cutting edge, and said second receiving means being located along a second line extending substantially perpendicularly to said cutting edge.

14. A machine having a frame and a work implement movably connected to the frame, comprising:

first receiving means for receiving electromagnetic radiation delivered from a plurality of remote locations and responsively producing a first position signal, said first receiving means being connected to said work implement and being at a preselected location relative to said work implement spaced from a first preselected point location on the work implement;

second receiving means for receiving electromagnetic radiation delivered from said plurality of remote locations and responsively producing a second position signal, said second receiving means being connected to said work implement and being at a preselected location relative to said work implement spaced from a second preselected point location on the work implement, said second receiving means being spaced a preselected distance from said first receiving means and said first point on the work implement being spaced a preselected distance from said second point on the work implement;

means for sensing a change in the pitch angle of the work implement and delivering a responsive pitch angle signal;

computer means for receiving said first and second position signals and said pitch angle signal, determining a current positions of the first and second points in a local coordinate system related to the machine based on said pitch angle signal, determining first and second current coordinate positions of the first and second receiving means in a site coordinate system, determining a midpoint located along a substantially straight line passing between first and second previously defined coordinate positions of the first and second receiving means in the site coordinate system, determining a first vector extending from the first current coordinate position to the second current coordinated position and a second vector extending from the first current coordinate position to the midpoint, determining local coordinate system unit vectors for the current positions of the first and second points in terms of site coordinate system unit vectors, converting the current positions of the first and second points of the local coordinate system to the site coordinate system using a cross product of vectors determined from the local coordinate unit vectors defined in terms of the site coordinate system unit vectors, and storing the converted current positions of said first and second points in the site coordinate system.

15. An apparatus, as set forth in claim 14, wherein said first and second receiving means each include a global position receiver.

16. An apparatus, as set forth in claim 15, wherein said first and second receiving means each include a laser position receiver.

17. An apparatus, as set forth in claim 16, wherein said laser position receiver of the first receiving means being mounted on said implement at said first location, said laser position receiver of the second receiving means being mounted on the implement at said second location, said global position receiver of the first means being connected to the laser position receiver of the first means, and said global position receiver of the second means being connected to the laser position receiver of the second means.

18. An apparatus, as set forth in claim 17, wherein said global position receivers measuring the coordinate position of the first and second sensing means in three dimensional space relative to a coordinate system of the work site, and said laser position receivers measuring the coordinate position of the first and second sensing means in an elevational direction relative to the work site.

19. An apparatus, as set forth in claim 14, wherein said work implement including an earthworking blade having a cutting edge, first and second sides, and first and second spaced corners defined by the first and second sides and the cutting edge, said first and second points being located at the first and second corners, said first receiving means being located along a first line extending substantially perpendicularly to said cutting edge, and said second receiving means being located along a second line extending substantially perpendicularly to said cutting edge.

20. A method for determining the position of a work implement having first and second spaced apart receiving means mounted on the work implement and first and second spaced apart points located on the work implement, said work implement being movably connected to a frame of a geographic surface altering machine, comprising the steps of:

determining a current coordinate position of the first and second spaced apart receiving means in a site coordinate system;

determining a position of each of the first and second points in a local coordinate system referenced to said frame;

determining a mid point coordinate position located along a substantially straight line passing between a first and a second previously determined coordinate position of the first and second spaced apart receiving means in the site coordinate system;

determining a first vector extending between said first and second current coordinate positions and a second vector extending between said first current coordinate position and the midpoint position in the site coordinate system; and

transforming the positions of the first and second points in the local coordinate system to the site coordinate system.

21. A method, as set forth in claim 20, wherein the step of transforming the positions of the first and second points includes the steps of:

defining local coordinate system unit vectors in terms of site coordinate unit vectors; and

converting the first and second point positions from the local coordinate system to the site coordinate system.

22. A method, as set forth in claim 20, including the step of:

sensing a change in a pitch angle of the work implement;

determining a current position of the first and second points in the local coordinate system; and

transforming the current position of the first and second points in the local coordinate system to the site coordinate system.