System for monitoring movement of a vehicle tool

• US 5,996,702 A
• Filed: 12/29/1997
• Issued: 12/07/1999
• Est. Priority Date: 06/29/1995
• Status: Expired due to Term

• Current Assignee: IPR 4 Pty Ltd
• Original Assignee: David Hall
• Inventors: Hall, David John
• Primary Examiner(s): Novosad, Christopher J.
• Application Number:
  US08/981,479
• Time in Patent Office: 708 Days
• Field of Search: 172/2, 172/3, 172/4, 172/4.5, 172/7, 701/50
• US Class Current: 172/4.5
• CPC Class Codes: B60G 2300/083 Boom carrying vehicles, e.g. for crop spraying
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: G05B 19/4069 Simulating machining process on screen G05B19/4068 takes precedence
• CPC Class Codes: G05B 2219/35349 Display part, programmed locus and tool path, traject, dynamic locus
• CPC Class Codes: G05B 2219/45012 Excavator

Abstract

A method for monitoring a vehicle tool including inputting tool data indicative of the location of the vehicle tool to a data processor, inputting data to the data processor on a topography model in which the vehicle tool is to operate, operating the data processing to compare the vehicle tool location with the model, outputting from the data processor to a visual display, data indicative of the difference in location between the vehicle tool and an adjacent surface of the model, displaying on the visual display an image of the topography model, a representation of the location of the vehicle tool and a representation of the distance of the vehicle tool to the adjacent surface of the model.

Claims

1. A method for monitoring a vehicle tool comprising

inputting tool data indicative of a location of at least a part of the vehicle tool to a data processor,

inputting model data to the data processor on a model zone in which the vehicle tool is to operate,

operating the data processor to compare the vehicle tool location with the model zone,

outputting from the data processor to a display means, data indicative of a difference in location between the vehicle tool and an adjacent surface of the model zone, and

displaying on the display means an image of the model zone, a representation of a part of the vehicle tool and a visual representation of an actual distance of the part of the vehicle tool to the adjacent surface of the model zone.

2. The method for monitoring a vehicle tool as claimed in claim 1, wherein the part of the vehicle tool comprises a bottom edge of the vehicle tool.

3. The method for monitoring a vehicle tool as claimed in claim 1, wherein the representation of the distance between the part of the vehicle tool and the adjacent surface comprises an image representing a shadow of the part of the vehicle tool on the adjacent surface.

4. The method as claimed in claim 3, wherein the model zone represents a desired end result after reshaping by the vehicle tool.

5. The method as claimed in claim 4, wherein the model data comprises a plurality of co-ordinate points referenced to a three-dimensional co-ordinate system.

6. The method as claimed in claim 4, wherein the tool data comprises co-ordinates of said at least a part of the vehicle tool in a three-dimensional co-ordinate system.

7. The method as claimed in claim 6, wherein the tool data comprises data on a location of a point on the body of a vehicle separate from the vehicle tool.

8. The method as claimed in claim 7, including the steps of tracking the location of the vehicle tool using a tracking means and relaying tool data to the data processor.

9. The method as claimed in claim 1, including the steps of processing input tool data over a predetermined period to produce path data on a path travelled by the vehicle tool, comparing the path data with model zone data, producing revised model zone data, outputting the revised model zone data to the display means, displaying on the display means a revised model zone including a representation of a modification to the part of the model zone corresponding to the oath travelled by the vehicle tool.

10. The method as claimed in claim 9, wherein the revised model zone data is produced by comparing the path data with shadow data, which includes data on a distance the vehicle tool extends above and below the adjacent surface over a predetermined period.

11. The method as claimed in claim 10, including the step of calculating the volume of space above or below the path of the model zone corresponding to the path travelled by the vehicle tool over the predetermined period.

12. The method as claimed in claim 11, including the step of processing the calculated volume of space with parameters relating to a material filling the volume of the space to produce an estimate of a resultant profile of the model zone effected by movement of the vehicle tool over the predetermined period.

13. The method as claimed in claim 12, wherein the parameters relating to the material filling the volume of space include viscosity and density and angle of repose.

14. The method as claimed in claim 13, including the step of processing the calculated volume of space with parameters relating to the material filling the volume of space to provide an estimate of a location of the material at the end of the predetermined period and an estimate of a resultant profile of the model zone.

15. The method as claimed in claim 9, wherein the display means comprises two screen images, a first screen image displaying the image of the model zone, the image of the vehicle tool and the visual representation of the actual distance of the part of the vehicle tool to the adjacent surface and the second screen showing the image of the revised model zone.

16. The method as claimed in claim 1, wherein the model data is processed to produce future path data which is output to the display means and the display means is arranged to display on the image of the model zone an indication of the path a vehicle tool should follow to complete an operation.

17. The method as claimed in claim 16, wherein the display means shows the indication of the path the vehicle tool should follow by a pointer.

18. The method as claimed in claim 17, comprising a step of operating the data processor using an optimisation algorithm to calculate a future path and comparing model data at one time with model data at a later time to produce the future path.

19. The method as claimed in claim 1, wherein the model zone comprises a surface model of a terrain or a boundary of an ore body, including the step of calculating the volume of a solid bounded by the surface model at regular time intervals, calculating the difference in volumes between solids bounded by consecutive surface models and displaying a representation of a difference in volumes between consecutive surface models.

20. The method as claimed in claim 19, wherein the volume of the solid calculated is subdivided into a plurality of blocks which are defined by grids in the surface model, the method further comprising displaying an image of the plurality of volume blocks on the display means.

21. A system for monitoring movement of a vehicle tool in a model zone comprising

a position indicator for indicating a location of a vehicle tool,

an orientation indicator for indicating an orientation of the vehicle tool,

tracking means for tracking the position indicator and orientation indicator,

tracker means for transmitting signals indicative of the location of the vehicle tool and the orientation of the vehicle tool,

display means for a location on the vehicle for the vehicle tool, wherein the display means is arranged to display a representation of the vehicle tool in a model zone and a representation of a shadow of the vehicle tool cast on the model zone, and

a data processor for receiving signals transmitted by the tracker means and for processing the signals with data representing a model zone for outputting data to the display means which data enables the display means to display a representation of the vehicle tool and an image of the model zone and a representation of the shadow cast by the vehicle tool on the model zone.

22. The system as claimed in claim 21, wherein the data processor processes received signals representing the location of the vehicle tool to establish image data representing a shape and position of the vehicle tool.