Excavator data acquisition and control system and process

• US 6,119,376 A
• Filed: 08/25/1997
• Issued: 09/19/2000
• Est. Priority Date: 06/19/1995
• Status: Expired due to Term

• Current Assignee: Vermeer Manufacturing Company
• Original Assignee: Vermeer Manufacturing Company
• Inventors: Stump, Greg
• Primary Examiner(s): PEZZUTO, ROBERT ERIC
• Application Number:
  US08/917,394
• Time in Patent Office: 1,121 Days
• Field of Search: 37/348, 37/352, 37/355, 37/357, 37/900, 37/902, 172/4, 172/3, 172/4.5, 172/7, 405/128, 405/157, 405/234, 414/825, 414/694, 342/22, 342/25, 342/129
• US Class Current: 37/348
• CPC Class Codes: E02F 5/06 with digging elements mounted on an endless chain E02F5/109 takes precedence; with digging elements mounted on an endless chain per se E02F3/08
• CPC Class Codes: E02F 5/145 control and indicating devices
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: E21C 39/00 Devices for testing in situ the hardness or other properties of minerals, e.g. for giving information as to the selection of suitable mining tools
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 13/885 for ground probing prospecting or detecting using electromagnetic waves G01V3/12
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 5/30 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G01V 11/00 Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
• CPC Class Codes: G01V 3/12 operating with electromagnetic waves operating with millimetre waves G01V8/005
• CPC Class Codes: G01V 3/17 operating with electromagnetic waves operating with millimetre waves G01V8/005

Abstract

An excavator data acquisition and control system and process for characterizing the subsurface geology of an excavation site, and for utilizing the acquired data to optimize the production performance of an excavator is disclosed. A geologic imaging system and a geographic positioning system are employed to initially survey a predetermined excavation site or route. A geologic characterization unit may also be employed to enhance the geologic imaging data. The acquired data are processed to provide detailed geologic and position data for the excavation site and utilized by a main control unit to optimize excavator production performance. In one embodiment, the main control unit accesses a geologic filter database, which includes geologic profile data for numerous types of geology, when analyzing unknown subsurface geology. Removing geological filter data content corresponding to known geology from the acquired geologic imaging data provides for immediate recognition of unknown and suspect subsurface objects. The geologic imaging system preferably includes a ground penetrating radar system having a plurality of antennas oriented in an orthogonal relationship to provide three-dimensional imaging of subsurface geology.

Claims

1. A control system for navigating an earth penetrating apparatus along a predetermined route, the system comprising:

a memory for storing first geographic positioning data characteristic of the predetermined route;

a geographic positioning system that generates second geographic positioning data representative of an actual real-time position of the earth penetrating apparatus along the predetermined route;

a detector unit that generates data representative of an underground obstruction along the predetermined route; and

a navigation controller that utilizes the first and second geographic data and the detector unit data to navigate the earth penetrating apparatus along the predetermined route and to deviate from the predetermined route to avoid contact between the earth penetrating apparatus and a detected underground obstruction along the predetermined route.

2. The system of claim 1, wherein the geographic positioning system includes a plurality of ground-based transponders and a Global Positioning System transponder.

3. The system of claim 1, wherein the geographic positioning system includes a plurality of radar transponders and a mobile radar transponder.

4. The system of claim 1, wherein the geographic positioning system includes a plurality of ultrasonic transponders and a mobile ultrasonic transponder.

5. The system of claim 1, further comprising a display for displaying the actual real-time position of the earth penetrating apparatus and the data representative of the detected underground obstruction.

6. The system of claim 1, wherein the second geographic positioning data is stored in the memory.

7. The system of claim 1, wherein the navigation controller, after navigating the earth penetrating apparatus to deviate from the predetermined route to avoid contact between the earth penetrating apparatus and the underground obstruction, automatically adjusts a direction of travel of the earth penetrating apparatus to return the earth penetrating apparatus to the predetermined route.

8. The system of claim 1, wherein the detector unit comprises an electromagnetic signal transmitter and an electromagnetic signal receiver.

9. The system of claim 1, wherein the detector unit comprises a ground penetrating radar system.

10. The system of claim 1, wherein the detector unit generates data representative of an underground obstruction in real-time as the earth penetrating apparatus traverses along the predetermined route.

11. The system of claim 1, wherein the detector unit generates data representative of an underground obstruction prior to the earth penetrating apparatus traversing along the predetermined route.

12. The system of claim 1, wherein the navigation controller stores in the memory second geographic positioning data representative of a location of the detected underground obstruction.

13. The system of claim 1, wherein the navigation controller automatically adjusts a direction of travel of the earth penetrating apparatus such that the earth penetrating apparatus follows the predetermined route.

14. A method for navigating an earth penetrating apparatus along a predetermined route, the method comprising:

providing first geographic positioning data characteristic of the predetermined route;

generating second geographic positioning data representative of an actual real-time position of the earth penetrating apparatus along the predetermined route;

generating data representative of an underground obstruction along the predetermined route; and

using the first and second geographic data and the underground obstruction data to control a direction of the earth penetrating apparatus along the predetermined route and to deviate from the predetermined route to avoid contact between the earth penetrating apparatus and a detected underground obstruction along the predetermined route.

15. The method of claim 14, further comprising displaying the actual real-time position of the earth penetrating apparatus and the detected underground obstruction.

16. The method of claim 14, further comprising automatically adjusting a direction of travel of the earth penetrating apparatus such that the earth penetrating apparatus follows the predetermined route.

17. The method of claim 14, further comprising automatically adjusting a direction of travel of the earth penetrating apparatus to return to the predetermined route after deviating from the predetermined route to avoid contact between the earth penetrating apparatus and the underground obstruction.

18. The method of claim 14, wherein generating data representative of the underground obstruction comprises producing a source electromagnetic signal, directing the source electromagnetic signal toward the ground, and receiving a return electromagnetic signal representative of the underground obstruction.

19. The method of claim 14, wherein generating data representative of the underground obstruction comprises generating the underground obstruction data in real-time as the earth penetrating apparatus traverses along the predetermined route.

20. The method of claim 14, wherein generating data representative of the underground obstruction comprises generating the underground obstruction data prior to the earth penetrating apparatus traversing along the predetermined route.

21. The method of claim 14, further comprising storing second geographic positioning data representative of a location of the underground obstruction.

22. A control system for mapping an actual route traversed by an earth penetrating apparatus, the system comprising:

a geographic positioning system that generates real time geographic positioning data representative of an actual real-time position of the earth penetrating apparatus along the actual route;

a detector unit that generates data representative of an underground obstruction along the actual route; and

memory for storing the real- time geographic positioning data representative of the actual real-time position of the earth penetrating apparatus along the actual route and location data representative of a location of an underground obstruction detected along the actual route.

23. The system of claim 22, wherein the geographic positioning system includes a plurality of ground-based transponders and a Global Positioning System transponder.

24. The system of claim 22, wherein the geographic positioning system includes a plurality of radar transponders and a mobile radar transponder.

25. The system of claim 22, wherein the geographic positioning system includes a plurality of ultrasonic transponders and a mobile ultrasonic transponder.

26. The system of claim 22, wherein the detector unit comprises an electromagnetic signal transmitter and an electromagnetic signal receiver.

27. The system of claim 22, wherein the detector unit comprises a ground penetrating radar system.

28. The system of claim 22, wherein the detector unit generates data representative of the underground obstruction in real-time as the earth penetrating apparatus traverses along the actual route.

29. The system of claim 22, further comprising a display for displaying the actual real-time position of the earth penetrating apparatus and the location of the detected underground obstruction.