Method and apparatus for determining the attitude of an implement

• US 5,951,612 A
• Filed: 07/26/1996
• Issued: 09/14/1999
• Est. Priority Date: 07/26/1996
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Sahm, William C.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/690,435
• Time in Patent Office: 1,145 Days
• Field of Search: 701/50, 701/1, 701/300, 364/167.1, 356/4.08, 356/27, 356/141.5, 356/3.01, 356/138, 324/2450, 324/451, 37/348
• US Class Current: 701/50
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams

Abstract

A method and apparatus for determining at least one of the pitch and slope of an implement on an earthmoving machine. The apparatus includes a mast connected to an upper corner of the implement, a first set of laser detectors connected to the mast, a second set of laser detectors connected to the mast, a third set of laser detectors connected to the mast, and a computer adapted to receive signals from the first, second, and third sets of laser detectors and responsively determine the angle of pitch and the angle of slope of the implement.

Claims

1. An apparatus for determining the fore to aft pitch of an implement on an earthmoving machine, the implement having a front surface and a back surface, and two end portions, comprising:

a vertical mast having a first end portion and a second end portion, said first end portion being attached to an end portion of said implement;

a first laser receiver having a first set of laser detectors, said first set of laser detectors being arranged in a column and being attached to said second end portion of said vertical mast;

a second laser receiver having a second set of laser detectors, said second set of laser detectors being arranged in a column and being attached to said second end portion of said vertical mast; and

a computer being adapted to receive signals from said first set of laser detectors and said second set of laser detectors, and to compare a first signal from said first set of laser detectors to a second signal from said second set of laser detectors and responsively determine an angle of pitch of said implement.

2. An apparatus, as set forth in claim 1, for determining the side to side slope of said implement, including:

a third laser receiver having a third set of laser detectors, said third set of laser detectors being arranged in a column and being attached to said second end portion of said vertical mast; and

said computer being adapted to receive signals from said third set of laser detectors, and to compare said first signal from said first set of laser detectors to a third signal from said third set of laser detectors and responsively determine an angle of slope of said implement.

3. An apparatus, as set forth in claim 1, wherein said first set of laser detectors and said second set of laser detectors are horizontally opposed to each other in a plane substantially perpendicular to the front and back surfaces of said implement.

4. An apparatus, as set forth in claim 1, wherein said first set of laser detectors and said third set of laser detectors are horizontally opposed to each other in a plane substantially parallel to the front and back surfaces of said implement.

5. An apparatus, as set forth in claim 1, wherein said first set of laser detectors is spaced a known distance from said second set of laser detectors and from said third set of laser detectors, respectively.

6. An apparatus, as set forth in claim 1, wherein each detector in said first set of laser detectors has a corresponding detector in said second set of laser detectors, and a corresponding detector in said third set of laser detectors.

7. An apparatus, as set forth in claim 1, including a display electrically connected to said computer.

8. A method for determining the fore to aft pitch of an implement on an earthmoving machine, the implement having a front surface and a back surface, including the steps of:

receiving a first signal from a first set of laser detectors;

receiving a second signal from a second set of laser detectors;

comparing said first signal and said second signal; and

determining an angle of pitch responsive to said first signal and said second signal.

9. A method, as set forth in claim 8, for determining the side to side slope of said implement, including the steps of:

receiving a third signal from a third set of laser detectors;

comparing said first signal and said third signal; and

determining an angle of slope responsive to said first signal and said third signal.

10. A method, as set forth in claim 9, including the step of displaying at least one of said angle of pitch and said angle of slope.

11. An earthmoving machine, comprising:

an earthmoving implement;

a mast attached to said earthmoving implement;

a first set of at least one laser detectors attached to said mast;

a second set of at least one laser detectors attached to said mast; and

a computer operably coupled to said first and second sets of at least one laser detectors, said computer configured to determine an angle of pitch of said earthmoving implement based on signals received from said first and second sets of at least one laser detectors.

12. An earthmoving machine as recited in claim 11, further comprising:

a third set of at least one laser detectors attached to said mast;

wherein said computer is configured to determine an angle of slope of said earthmoving implement based on signals received from said third set of at least one laser detectors and said first set of at least one laser detectors.