Apparatus and method for determining and displaying the position of a work implement

• US 5,925,085 A
• Filed: 10/23/1996
• Issued: 07/20/1999
• Est. Priority Date: 10/23/1996
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Siroky, Ronald J., Koehrsen, Craig L., Kleimenhagen, Karl W.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US08/735,861
• Time in Patent Office: 1,000 Days
• Field of Search: 701/49, 701/50, 701/1, 701/207, 701/213, 701/214, 701/216, 701/208, 172/4.5, 172/9, 37/348, 364/167.05, 56/10.2 E
• US Class Current: 701/50
• CPC Class Codes: E01C 19/004 Devices for guiding or controlling the machines along a predetermined path for graders or bulldozers E02F3/841; for other soil-shifting machines E02F9/2045
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0282 generated in a local control room

Abstract

An apparatus and method for determining and displaying a position of a work implement of a work machine in a site coordinate system is provided. First and second position sensors mounted on the work implement determine the position of the first and second position sensors and produce first and second position signals, respectively. A pitch sensor connected to the work implement senses a pitch of the work implement and responsively produces a pitch signal. A site database contains a digitized model of the work site defined by actual work site data. A controller is coupled to the first and second position sensors and the pitch sensor. The controller receives the first and second position and pitch signals, determines the position of the work implement in the site coordinate system as a function of the first and second position signals and the pitch signal, and updates the actual work site data as a function of the position of the work implement. A display, coupled to the controller, displays the position of the work implement and the digitized model of the work site. The display includes a representation of a front view of the work implement and a representation of the surface of the work site. The representation of the work implement is displayed horizontally level relative to the display.

Claims

1. An apparatus for determining and displaying a position of a work implement of a work machine in a site coordinate system, wherein the position of the work implement defined as the position in the site coordinate system of two fixed points located on the work implement, comprising:

a first position sensor mounted on the work implement for determining the position of the first position sensor and producing a first position signal;

a second position sensor mounted on the work implement for determining the position of the second position sensor and producing a second position signal;

a pitch sensor connected to the work implement for sensing a pitch of the work implement and responsively producing a pitch signal;

a site database containing a digitized model of the work site, the work site being defined by actual work site data;

a controller, coupled to the first and second position sensors and the pitch sensor, for receiving the first and second position and pitch signals, determining the position of the work implement in the site coordinate system as a function of the first and second position signals and the pitch signal, and updating the actual work site data as a function of the position of the work implement; and

,

a display, coupled to the controller, for displaying the position of the work implement and the digitized model of the work site, the display including a work implement representation of a front view of the work implement and a work site representation of the surface of the work site, wherein one of the work implement representation and the work site representation is displayed horizontally level relative to the display.

2. An apparatus, as set forth in claim 1, wherein the display includes at least one grid bar illustrating a difference between the position of the work implement and a desired position.

3. An apparatus, as set forth in claim 1, wherein the work site representation 812 represents the current actual profile of the work site.

4. An apparatus, as set forth in claim 1, wherein the work site representation 812 represents the desired profile of the ground surface.

5. An apparatus, as set forth in claim 1, wherein the work site representation includes a desired segment 814 representing the desired profile of the ground surface and an actual segment representing the actual profile of the ground surface.

6. An apparatus, as set forth in claim 1, wherein the display includes first, second, and third display areas.

7. An apparatus, as set forth in claim 6, wherein the first display area includes a front view of the work implement.

8. An apparatus, as set forth in claim 6, wherein the second display area includes a side view of the work machine.

9. An apparatus, as set forth in claim 6, wherein the third display area includes a top view of the work machine.

10. A method for determining and displaying a position of a work implement of a work machine in a site coordinate system, wherein the position of the work implement defined as the position in the site coordinate system of two fixed points located on the work implement, comprising:

determining the position of a first point located on the work implement using a first position sensor and producing a first position signal;

determining the position of a second point location on the work implement using a second position sensor and producing a second position signal;

sensing a pitch of the work implement and responsively producing a pitch signal;

maintaining a site database containing a digitized model of the work site, the work site being defined by actual work site data;

receiving the first and second position and cross slope signals, determining the position of the work implement in the site coordinate system as a function of the first and second position signals and the pitch signal, and updating the actual work site data as a function of the position of the work implement; and

,

displaying the position of the work implement and the digitized model of the work site on a display, the display including a representation of a front view of the work implement and a representation of the surface of the work site, wherein the representation of the work implement is displayed horizontally level relative to the display.

11. A method, as set forth in claim 10, wherein the step of displaying the position of the work implement includes the step of displaying at least one grid bar illustrating a difference between the position of the work implement and a desired position.

12. An apparatus for determining and displaying a position of a work implement of a work machine in a site coordinate system, wherein the position of the work implement is defined as the position in the site coordinate system of two fixed points located on the work implement, comprising:

a first position sensor mounted on the work implement for determining the position of the first position sensor and producing a first position signal;

a second position sensor mounted on the work implement for determining the position of the second position sensor and producing a second position signal;

a pitch sensor connected to the work implement for sensing a pitch of the work implement and responsively producing a pitch signal;

a site database containing a digitized model of the work site, the work site being defined by actual work site data;

a controller, coupled to the first and second position sensors and the pitch sensor, for receiving the first and second position and pitch signals, determining the position of the work implement in the site coordinate system as a function of the first and second position signals and the pitch signal, and updating the actual work site data as a function of the position of the work implement; and

,

a display, coupled to the controller, for displaying the position of the work implement and the digitized model of the work site, the display including a work implement representation of a front view of the work implement and a work site representation of the surface of the work site, wherein one of the work implement representation and the work site representation is displayed horizontally level relative to the display, the display including at least one grid bar illustrating a difference between the position of the work implement and a desired position.

13. An apparatus, as set forth in claim 12, wherein the display includes first, second, and third display areas.

14. An apparatus, as set forth in claim 13, wherein the first display area includes a front view of the work implement.

15. An apparatus, as set forth in claim 14, wherein the second display area includes a side view of the work machine.

16. An apparatus, as set forth in claim 15, wherein the third display area includes a top view of the work machine.

17. An apparatus for determining and displaying a position of a work implement of a work machine in a site coordinate system, wherein the position of the work implement is defined as the position in the site coordinate system of two fixed points located on the work implement, comprising:

a first position sensor mounted on the work implement for determining the position of the first position sensor and producing a first position signal;

a second position sensor mounted on the work implement for determining the position of the second position sensor and producing a second position signal;

a pitch sensor connected to the work implement for sensing a pitch of the work implement and responsively producing a pitch signal;

a site database containing a digitized model of the work site, the work site being defined by actual work site data;

a controller, coupled to the first and second position sensors and the pitch sensor, for receiving the first and second position and pitch signals, determining the position of the work implement in the site coordinate system as a function of the first and second position signals and the pitch signal, and updating the actual work site data as a function of the position of the work implement; and

,

a display, coupled to the controller, for displaying the position of the work implement and the digitized model of the work site, the display including a work implement representation of a front view of the work implement and a work site representation of the surface of the work site, wherein one of the work implement representation and the work site representation is displayed horizontally level relative to the display, and wherein the work site representation is one of an actual profile of the work site and a desired profile of the work site.

18. A method for determining and displaying a position of a work implement of a work machine in a site coordinate system, wherein the position of the work implement defined as the position in the site coordinate system of two fixed points located on the work implement, comprising:

determining the position of a first point located on the work implement using a first position sensor and producing a first position signal;

determining the position of a second point location on the work implement using a second position sensor and producing a second position signal;

sensing a pitch of the work implement and responsively producing a pitch signal;

maintaining a site database containing a digitized model of the work site, the work site being defined by actual work site data;

receiving the first and second position and cross slope signals, determining the position of the work implement in the site coordinate system as a function of the first and second position signals and the pitch signal, and updating the actual work site data as a function of the position of the work implement; and

,

displaying the position of the work implement and the digitized model of the work site on a display, the display including a representation of a front view of the work implement and a representation of the surface of the work site, wherein the representation of the work implement is displayed horizontally level relative to the display, and wherein the work site representation is a desired profile of the work site.