Grading implement elevation controller with tracking station and reference laser beam
First Claim
1. A control system for controlling the position of a grading implement of a construction machine, said control system comprising:
- a tracking station that includes means for measuring a distance and a first angle to a remote target, and further includes means for generating a laser beam that establishes a desired second angle to the remote target, wherein the first angle is measured in a first plane with respect to a first reference direction and the second angle is measured in a second plane with respect to a second reference direction;
computing means coupled to the tracking station for determining the desired second angle in response to the measured distance and first angle of the remote target;
the remote target coupled to the construction machine for movement therewith; and
an implement controller coupled to the grading implement and including means for positioning the grading implement at a desired position relative to the laser beam.
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Accused Products
Abstract
A control system is disclosed that controls the position of a grading implement of a construction machine according to a site plan. The control system has three basic components: a stationary tracking station, a computer connected to the tracking station, and an implement controller attached to the construction machine. The tracking station measures a distance and an azimuth (horizontal) angle to a remote target located on the construction machine and communicates that position information to the computer. The computer consults a stored site plan to determine what elevation is desired at that position and calculates a corresponding zenith (vertical) angle, and communicates the desired zenith angle to the tracking station. The tracking station in turn positions a zenith-reference laser beam at the desired zenith angle. The implement controller senses the zenith-reference laser beam and adjusts the grading implement relative to the zenith-reference laser beam until its desired position is obtained.
112 Citations
21 Claims
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1. A control system for controlling the position of a grading implement of a construction machine, said control system comprising:
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a tracking station that includes means for measuring a distance and a first angle to a remote target, and further includes means for generating a laser beam that establishes a desired second angle to the remote target, wherein the first angle is measured in a first plane with respect to a first reference direction and the second angle is measured in a second plane with respect to a second reference direction; computing means coupled to the tracking station for determining the desired second angle in response to the measured distance and first angle of the remote target; the remote target coupled to the construction machine for movement therewith; and an implement controller coupled to the grading implement and including means for positioning the grading implement at a desired position relative to the laser beam.
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2. A control system for controlling the position of a grading implement of a construction machine, said control system comprising:
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a tracking station that includes means for measuring a distance and an azimuth angle to a remote target, and further includes means for generating a laser beam that establishes a desired zenith angle to the remote target; computing means coupled to the tracking station for determining the desired zenith angle in response to the measured distance and azimuth angle of the remote target; the remote target coupled to the construction machine for movement therewith; and an implement controller coupled to the grading implement and including means for positioning the grading implement at a desired position relative to the laser beam. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10)
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11. A control system for controlling the position of a grading implement of a construction machine, said control system comprising:
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a tracking station including means for sweeping a laser beam in a reference plane having a desired zenith angle to a remote target, and means for tracking the remote target and for measuring a distance and an azimuth angle to the remote target; computing means for supplying to the tracking station the desired zenith angle as a function of the measured distance and azimuth angle of the remote target, wherein the computing means includes a stored representation of a site plan from which a desired zenith angle can be determined given the measured distance and azimuth angle; retroreflector coupled to the construction machine for movement therewith and providing the remote target tracked by the tracking station; and an implement controller coupled to the grading implement and including a laser beam receiver coupled to the grading implement for movement therewith and a controller means coupled to the implement for adjusting the height of the grading implement so that the laser beam receiver detects the laser beam.
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12. A method for controlling the position of a grading implement of a construction machine, said method comprising the steps of:
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measuring a distance and a first angle from a tracking station to a remote target that is mounted on the construction machine, wherein the first angle is measured in a first plane with respect to a first reference direction; determining a desired second angle to the remote target as a function of the measured distance and first angle of the remote target, wherein the second angle is measured in a second plane with respect to a second reference direction; generating a laser beam at the desired second angle; and positioning the grading implement at a desired position relative to the laser beam.
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13. A method for controlling the position of a grading implement of a construction machine, said method comprising the steps of:
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measuring a distance and an azimuth angle from a tracking station to a remote target that is mounted on the construction machine; determining a desired zenith angle to the remote target as a function of the measured distance and azimuth angle of the remote target; generating a laser beam at the desired zenith angle; and positioning the grading implement at a desired position relative to the laser beam. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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21. A method for controlling the position of a grading implement of a construction machine, said method comprising the steps of:
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storing a representation of a site plan from which a desired zenith angle can be determined given a measured distance and azimuth angle; tracking a retroreflector coupled to the construction machine and measuring a distance and an azimuth angle to the retroreflector; computing a desired zenith angle to the retroreflector from the site plan as a function of the measured distance and azimuth angle of the retroreflector; sweeping a laser beam in a reference plane having the desired zenith angle; and adjusting the height of the grading implement so that a laser beam receiver coupled to the grading implement detects the laser beam.
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Specification