System for determining the position of a tool mounted on pivotable arm using a light source and reflectors

• US 5,848,485 A
• Filed: 12/27/1996
• Issued: 12/15/1998
• Est. Priority Date: 12/27/1996
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Spectra Precision Inc. (Trimble Inc.)
• Inventors: Bos, Jan, Krom, Ronald Peter, Anderson, Robert Allen
• Primary Examiner(s): Melius, Terry Lee
• Assistant Examiner(s): BATSON, VICTOR D
• Application Number:
  US08/774,203
• Time in Patent Office: 718 Days
• Field of Search: 37/348, 37/382, 37/414-416, 172/2, 172/4, 172/4.5, 701/50, 356/3.01, 356/400, 356/141.1
• US Class Current: 37/348
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like

Abstract

The present invention is an apparatus and method for accurately determining the position of a tool, for example an earthmoving bucket, mounted at the end of an arm which has a plurality of pivot points and is pivotally attached to the base of a machine, for example a piece of construction equipment like the platform of an excavator or other earthmoving machine. The present apparatus includes a plurality of reflectors mounted on the machine for indicating movement of the arm and the tool. Each reflector is operatively adapted for reflecting light back toward a light source. A light transceiver is mounted on the machine in a known relationship to the reflectors. The light transceiver is operatively adapted for transmitting a beam of light to illuminate each of the reflectors, thereby generating reflective light. The light transceiver detects the reflective light and the angular orientation of the reflective light it detects. The light transceiver is also adapted to generate an output signal in response to the reflective light and the angular orientation it detects. A computer computes the position of the tool using the output signals of the light transceiver generated in response to the reflected light and the angular orientation of the reflected light. The present position determining system is relatively simple in construction, inexpensive and readily installed, including on construction equipment like various types of conventional earthmoving machines.

Claims

1. An apparatus for determining a position of a tool mounted on a machine, said machine including a base, an arm having a plurality of pivot points with a rear end pivotally attached to said base at one pivot point and a leading end pivotally attached to said tool at another pivot point, and at least one actuating mechanism for pivotally moving said arm and for pivotally moving said tool, said apparatus comprising:

a plurality of reflectors mounted on and in a known relationship to said machine for indicating movement of said arm and said tool, each of said reflectors being operatively adapted for reflecting light back toward a light source;

a light transceiver mounted on said machine in a known relationship to said plurality of reflectors and operatively adapted for

transmitting a beam of light to illuminate each of said reflectors and to generate reflected light from each of said reflectors,

detecting said reflected light and the angular orientation of said reflected light with respect to an index position, and

generating at least one output signal in response to detecting said reflected light and the angular orientation of said reflected light with respect to said index position, and

a computer operatively adapted for determining the position of said tool from a plurality of said output signal.

2. The apparatus as recited in claim 1, wherein said computer is operatively adapted to compute an angular relationship between each of said reflectors and said light transceiver from a plurality of said output signal and then determine the position of said tool from said angular relationship.

3. The apparatus as recited in claim 1, wherein said computer is operatively adapted to compute the position of said tool using the known relationship between said light transceiver and said plurality of reflectors.

4. The apparatus as recited in claim 1, wherein each of said plurality of reflectors and said light transceiver is mounted on said machine in a known geometric relationship to at least one of said plurality of pivot points, and said computer is operatively adapted to compute the position of said tool using the known geometric relationship between said light transceiver, said reflectors and said pivot points.

5. The apparatus as recited in claim 1, wherein each reflector is operatively adapted for encoding light reflected therefrom to uniquely identify one reflector from another.

6. The apparatus as recited in claim 1, wherein said light transceiver is mounted on the arm of said machine.

7. The apparatus as recited in claim 1, wherein said light transceiver is mounted on the base of said machine.

8. The apparatus as recited in claim 1, wherein at least one of said plurality of reflectors is mounted on said arm so as to be rotatable about at least one of said pivot points and thereby describe at least part of a circle, and said light transceiver is positioned on said machine within said circle.

9. The apparatus as recited in claim 1, wherein said apparatus further comprises a display for visually displaying the position of said tool in response to tool position computations.

10. The apparatus as recited in claim 1, wherein said apparatus further comprises a reference measuring system for determining the location of said machine relative to a spacial reference point, wherein said computer is adapted for computing the position of said tool relative to the spatial reference point from said output signal generated in response to said reflected light, the angular orientation of said reflected light, and a location measurement of said machine from said reference measuring system.

11. The apparatus as recited in claim 10, wherein said machine is construction equipment, the spacial reference point is a reference elevation, and said reference measuring system is a level reference laser system for measuring the elevation of a point on said construction equipment relative to the reference elevation, said level reference laser system comprising a receiver mounted at a known relationship to the point on said construction equipment for detecting laser light from a source of laser light and a reference laser positioned remotely from said construction equipment for transmitting a plane of laser light to illuminate said receiver at a known distance above the reference elevation, said receiver being operatively adapted for generating an output signal in response to the laser light from said reference laser indicating the position of the point on said construction equipment relative to the reference elevation, and said computer is adapted for also computing the position of said tool relative to the reference elevation using the output signal generated by said receiver in response to the laser light from said reference laser.

12. The apparatus as recited in claim 11, wherein an inclination sensor is mounted on said construction equipment for providing said computer with the angle of said construction equipment relative to said plane of laser light, and said computer is adapted for also computing the position of said tool relative to the reference elevation using the angle of said construction equipment provided by said inclination sensor.

13. The apparatus as recited in claim 10, wherein said machine is a type of construction equipment, said reference measuring system is a global positioning system operatively adapted for making at least elevation determinations about said construction equipment by providing said computer with a signal indicative of the position of a point on said construction equipment relative to the spacial reference point.

14. The apparatus as recited in claim 1, wherein said apparatus further comprises a reference ruler having a length with three targets spaced a known distance apart along said length, said reference ruler being used in determining at least one dimensional relationship between said light transceiver and the arm of the machine, without having to actually measure the relationship.

15. An apparatus for determining a position of a bucket mounted on an earthmoving machine relative to a grade elevation, said earthmoving machine including a platform, an arm with a plurality of pivot points, a rear end pivotally attached to said platform at one of said pivot points and a leading end pivotally attached to said bucket at another of said pivot points, and at least one actuating mechanism for pivotally moving said arm and for pivotally moving said bucket, said apparatus comprising:

a plurality of reflectors mounted on and in a known relationship to said machine, each of said plurality of reflectors being operatively adapted for reflecting light back toward a light source, and said plurality of reflectors including at least one reflector mounted on said earthmoving machine for indicating movement of said arm and another reflector mounted on said earthmoving machine for indicating movement of said bucket;

a laser transceiver mounted on said earthmoving machine in a known relationship to at least one of said plurality of reflectors and said pivot points and operatively adapted for

transmitting a beam of laser light to illuminate each of said plurality of reflectors and thereby generate reflected laser light from each of said plurality of reflectors,

detecting said reflected laser light and the angular orientation of said reflected laser light with respect to an index position,

generating at least one output signal in response to detecting said reflected laser light and the angular orientation of said reflected laser light with respect to said index position; and

a computer for computing the position of said bucket relative to the grade elevation from a plurality of said output signal.

16. The apparatus as recited in claim 15, wherein said arm includes a first arm segment and a second arm segment, said plurality of pivot points includes a first, second and third pivot point, said first arm segment has a rear end pivotally attached to said platform at said first pivot point and a leading end, said second arm segment has a rear end pivotally attached to the leading end of said first arm segment at said second pivot point and a leading end pivotally attached to said bucket at said third pivot point, and said earthmoving machine includes at least one actuating mechanism for pivoting said first arm segment about said first pivot point, at least one actuating mechanism for pivoting said second arm segment about said second pivot point, and at least one actuating mechanism for pivoting said bucket about said third pivot point, and

said at least one reflector includes at least one first reflector for indicating movement of said first arm segment and a second reflector for indicating movement of said second arm segment, said other reflector includes a third reflector for indicating movement of said bucket, and said laser transceiver is mounted on one of said first arm segment and said second arm segment.

17. The apparatus as recited in claim 16, wherein said laser transceiver is mounted on said first arm segment, said at least one first reflector is mounted on said platform, said second reflector is mounted so as to rotate with said second arm segment and said third reflector is mounted to move as said bucket rotates.

18. The apparatus as recited in claim 16, wherein said laser transceiver is mounted on said first arm segment, said at least one first reflector includes two first reflectors, one of said first reflectors is at an elevated position above the other of said first reflectors, said second reflector is mounted so as to rotate with said second arm segment, and said third reflector is mounted to move as said bucket rotates.

19. The apparatus as recited in claim 15, wherein said laser transceiver is mounted on the platform of said earthmoving machine.

20. The apparatus as recited in claim 15, wherein said arm includes a plurality of arm segments, each of said arm segments being rotatable about one of said pivot points, said at least one reflector includes a rotatable reflector mounted so as to rotate with at least one of said arm segments, said other reflector is another rotatable reflector mounted to move as said bucket rotates, each said rotatable reflector is rotated so as to describe at least part of a circle, and said laser transceiver is positioned on said earthmoving machine within said circle.

21. An apparatus for determining a position of a bucket mounted on an earthmoving machine relative to a grade elevation, said earthmoving machine including a platform, an arm having a first arm segment, a second arm segment and a plurality of pivot points, said first arm segment having a rear end pivotally attached to said platform at a first pivot point and a leading end, said second arm segment having a rear end pivotally attached to the leading end of said first arm segment at a second pivot point and a leading end pivotally attached to said bucket at a third pivot point, and said earthmoving machine including at least one actuating mechanism for pivoting said first arm segment about said first pivot point, at least one actuating mechanism for pivoting said second arm segment about said second pivot point, and at least one actuating mechanism for pivoting said bucket about said third pivot point, said apparatus comprising:

a plurality of retroreflectors, including at least one first retroreflector mounted on said platform for indicating movement of said first arm segment, a second retroreflector mounted so as to rotate with said second arm segment, and a third retroreflector mounted to move as said bucket rotates, each of said retroreflectors being mounted on said machine in a known relationship to at least one of said plurality of pivot points and being operatively adapted for reflecting light back toward a light source;

a laser transceiver mounted on said first arm segment in a known relationship to each of said retroreflectors and pivot points, said laser transceiver including a transmitter for transmitting a rotating beam of laser light to illuminate each of said retroreflectors and thereby generate reflected laser light from each of said retroreflectors during each rotation of said beam of laser light, and a detector for detecting said reflected laser light and the angular orientation of said reflected laser light with respect to an index position, and said laser transceiver being operatively adapted for generating at least one output signal in response to detecting said reflected laser light and the corresponding angular orientation;

a reference measuring system for measuring the elevation of a point on said earthmoving machine relative to the grade elevation; and

a computer operatively adapted for determining the position of said bucket relative to the grade elevation from a plurality of said output signal and an elevation measurement from said reference measuring system of the point on said earthmoving machine.

22. The apparatus as recited in claim 21, wherein said at least one first retroreflector includes two first retroreflectors, one of said first retroreflectors is mounted adjacent said first pivot point and the other of said first retroreflectors is mounted at an elevated position above said first pivot point.

23. The apparatus as recited in claim 21, wherein each of said second and third retroreflectors is rotatable about at least one of said pivot points so as to describe at least part of a circle, and said laser transceiver is positioned on said first arm segment so as to remain within said circle during the operation of said earthmoving machine.

24. A method of determining a position of a tool mounted on a machine having a base, an arm with a plurality of pivot points, a rear end pivotally attached to the base at one pivot point and a leading end pivotally attached to the tool at another pivot point, and at least one actuating mechanism for pivotally moving the arm and for pivotally moving the tool, said method comprising the steps of:

transmitting a beam of light at a plurality of light reflectors mounted on the machine in a known relationship to one another;

illuminating each of the reflectors with the beam of light;

generating reflected light when each of the reflectors is illuminated with the beam of light;

detecting the reflected light and the angular orientation of the reflected light from each of the reflectors;

generating at least one output signal in response to detecting the reflected light and the corresponding angular orientation from each of the reflectors; and

determining the position of the tool using a plurality of the output signals generated.

25. The method as recited in claim 24, wherein the step of determining the position of the tool includes the steps of:

providing a light transceiver for transmitting the beam of light,

computing an angular relationship between each of the reflectors and the light transceiver from a plurality of the output signals, and then

determining the position of the tool using the computed angular relationship.

26. The method as recited in claim 24, wherein said method includes the steps of:

providing a light transceiver for transmitting the beam of light, and

using a known relationship between the light transceiver and the reflectors in determining the position of the tool.

27. The method as recited in claim 24, wherein said method includes the steps of:

providing a light transceiver for transmitting the beam of light,

performing a setup procedure to determine at least one dimensional relationship between the light transceiver and at least one of a reflector and the arm of the machine, without measuring the at least one dimensional relationship; and

using the at least one dimensional relationship in determining the position of the tool.

28. The method as recited in claim 24, wherein said method includes the steps of:

providing a reference ruler having a length with at least three targets spaced a known distance apart along the length;

determining, without measuring, at least one dimensional relationship between the light transceiver and at least one of a reflector and the arm of the machine by using the reference ruler and the light transceiver; and

using the at least one dimensional relationship in determining the position of the tool.