Apparatus and method for determining the position of a work implement

• US 5,951,613 A
• Filed: 10/23/1996
• Issued: 09/14/1999
• Est. Priority Date: 10/23/1996
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Koehrsen, Craig L., Harrod, Gregory R., Shetty, Satish M., Sahm, William C., Siroky, Ronald J.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US08/735,853
• Time in Patent Office: 1,056 Days
• Field of Search: 701/50, 701/116, 701/207, 701/213, 701/215, 701/216, 701/300, 172/2, 172/4, 172/4.5, 37/382, 37/348, 37/413, 37/414, 37/415, 37/907, 364/167.02, 364/167.07, 364/167.08, 364/167.12
• 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
• CPC Class Codes: G01S 19/03 Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
• CPC Class Codes: G01S 19/05 providing aiding data
• CPC Class Codes: G01S 19/10 providing dedicated supplementary positioning signals
• 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 19/50 whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: Y10S 37/907 Automatic leveling excavators

Abstract

An apparatus for determining a position of a work implement of a work machine in a site coordinate system. 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. The apparatus includes first and second position sensors mounted on the work implement. A pitch sensor connected to the work implement senses a pitch of the work implement and responsively produces a pitch signal. A cross slope sensor connected to the work implement senses a cross slope of the work implement and responsively produces a cross slope signal. A rotation sensor connected to the work implement senses a rotation of the work implement and responsively produces a rotation sensor. A controller, coupled to the first and second GPS receivers, the pitch sensor, the cross slope sensor and the rotation sensor, receives the first and second position, pitch, cross slope, and rotation 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 if the first and second position signals are valid and determines the position of the work implement in the site coordinate system as a function if one of the first and second position signals and the pitch, cross slope and rotation signals if an other of the first and second position signals is not valid.

Claims

1. An apparatus for determining 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 cross slope sensor connected to the work implement for sensing a cross slope of the work implement and responsively producing a cross slope signal;

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

a controller, coupled to the first and second position sensors, the pitch sensor, the cross slope sensor and the rotation sensor, for receiving the first and second position, pitch, cross slope, and rotation signals, determining the position of the work implement in the site coordinate system as a function of either the first and second position signals and the pitch signal if the first and second position signals are valid, or by determining the position of the work implement in the site coordinate system as a function of one of the first and second position signals and the pitch, cross slope and rotation signals if one of the first and second position signals is not valid.

2. A method for determining 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:

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

sensing a position of a second point 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;

sensing a cross slope of the work implement and responsively producing a cross slope signal;

sensing a rotation of the work implement and responsively producing a rotation sensor; and

receiving the first and second position, pitch, cross slope, and rotation signals, then either 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 if the first and second position signals are valid, or determining the position of the work implement in the site coordinate system as a function of one of the first and second position signals and the pitch, cross slope and rotation signals if one of the first and second position signals is not valid.

3. A method, as set forth in claim 2, wherein the step of determining the position of the work implement in site coordinates as a function of one of the first and second position signals and the pitch, cross slope and rotation signals includes the steps of:

calculating an equation of a cone having an apex at one of the first and second points corresponding to the one of the first and second position signals which is valid as a function of the one of the first and second position signals and the pitch and cross slope signals;

determining a point a and a point a", located on a circle defined by the cone, as function of the rotation signal and a direction of travel; and

,

determining a point A as one of point a and point a" as a function of the pitch angle.