Laser receiver and angle sensor mounted on an excavator

• US 6,263,595 B1
• Filed: 04/26/1999
• Issued: 07/24/2001
• Est. Priority Date: 04/26/1999
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Apache Technologies, Inc. (Trimble Inc.)
• Inventors: Ake, DuWain K.
• Primary Examiner(s): BATSON, VICTOR D
• Application Number:
  US09/299,397
• Time in Patent Office: 820 Days
• Field of Search: 37/348, 37/382, 172/2, 172/4, 172/4.5, 701/50, 356/140, 356/141.1, 356/141.3, 356/141.5, 356/72, 356/622, 414/698, 414/699
• US Class Current: 37/348
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool

Abstract

An improved level indicating system is provided for use with excavating equipment based upon a family of laser light receivers. In a first embodiment, a laser receiver with a single “long” photocell is mounted directly on the dipperstick of an excavator in a position that is designed to intercept pulses of laser light being emitted by a rotating laser light transmitter, and an angle-sensing sensor is also mounted to the dipperstick. In a second embodiment, a laser receiver with two parallel “long” photocells is mounted directly on the dipperstick, in which the pair of photocells are of sufficient precision to determine the angle of the dipperstick. In a third embodiment, a laser receiver with two parallel photocells is mounted directly on the dipperstick on a “servo mast” that can be re-positioned along the length of the dipperstick. The movable photocells thus can be shorter in length than the “long” photocells used in the second embodiment. In a fourth embodiment, a laser receiver with two or more parallel photocells is mounted on an “electric mast” which can have its elevation changed. Rotation sensors are mounted to the pivot joints between the platform and boom, the boom and dipperstick, and the dipperstick and bucket, so as to provide a complete solution in detecting the digging level with respect to the laser plane of light.

Claims

1. A level sensing system comprising:

(a) a digging machine having a chassis, a pivotable boom, a pivotable dipperstick, and a pivotable bucket;

wherein said boom pivots with respect to the chassis at a first pivot joint, said dipperstick pivots with respect to the boom at a second pivot joint, and said bucket pivots with respect to the dipperstick at a third pivot joint;

(b) a first light receiving sensor and a second light receiving sensor both mounted to said dipperstick, each of said first and second light receiving sensors providing an indication as to a location of a moving beam of light impacting upon each of said first and second light receiving sensors, said impacting location for both said first and second light receiving sensors being indicative of a pathway of said moving beam of light, thereby providing both distance information and angular information between the pathway of said moving beam of light and an elevation of said third pivot joint, wherein both said distance and angular information are determined without any additional sensor inputs.

2. The level sensing system as recited in claim 1, wherein said first and second light receiving sensors are oriented so as to be substantially parallel to one another.

3. The level sensing system as recited in claim 1, wherein said moving beam of light comprises a sweeping laser light beam generated by a rotating laser light transmitter, said first and second light receiving sensors each comprise an elongated photocell structure responsive to laser light, said distance information comprises an actual distance between the elevation of said third pivot joint and said pathway of said moving beam of light, and said angular information comprises an angle between the elevation of said third pivot joint and a longitudinal centerline between said first and second light receiving sensors.

4. The level sensing system as recited in claim 3, further comprising:

at least one angle-measuring sensor for measuring an angular orientation between said substantially stationary portion of said digging machine and a cutting edge of a movable portion of said digging machine.

5. The level sensing system as recited in claim 4, wherein said digging machine comprises an excavator, and wherein said at least one angle-measuring sensor comprises:

(a) an angle-measuring sensor that measures an angle between a cab and a boom of said excavator, (b) an angle-measuring sensor that measures an angle between said boom and a dipperstick of said excavator, and (c) an angle-measuring sensor that measures an angle between said dipperstick and a bucket of said excavator.

6. The level sensing system as recited in claim 3, further comprising:

at least one angle-measuring sensor for measuring an angular orientation between vertical and a cutting edge of a movable portion of said digging machine; and

wherein said digging machine comprises an excavator, and wherein said at least one angle-measuring sensor comprises an inclinometer.

7. A level sensing system for use on a digging machine, said system comprising:

a first light receiving sensor and a second light receiving sensor, each of said first and second light receiving sensors providing an indication as to a location of a moving beam of light impacting upon each of said first and second light receiving sensors, said impacting location for both said first and second light receiving sensors being indicative of a pathway of said moving beam of light, thereby providing both distance information and angular information between the pathway of said moving beam of light and a digging elevation, wherein said first and second light receiving sensors are oriented so as to be substantially parallel to one another, and wherein said moving beam of light comprises a sweeping laser light beam generated by a rotating laser light transmitter, said first and second light receiving sensors each comprise an elongated photocell structure responsive to laser light, said digging elevation comprises a desired digging path, said distance information comprises an actual distance between said digging elevation and said pathway of said moving beam of light, and said angular information comprises an angle between vertical and a longitudinal centerline between said first and second light receiving sensors.

8. The level sensing system as recited in claim 7, wherein said digging path is horizontal.

9. The level sensing system as recited in claim 7, wherein said digging path is sloped with respect to the horizontal.

10. The level sensing system as recited in claim 7, wherein said first and second light receiving sensors are mounted on a dipperstick of an excavator, and further comprising:

(a) a bucket pivotally mounted at one end of said dipperstick, said bucket including a digging surface which creates said digging path, and (b) an angle-measuring sensor responsive to an angle between said dipperstick and said bucket.

11. The level sensing system as recited in claim 7, wherein said first and second light receiving sensors are mounted on a dipperstick of an excavator, and further comprising:

(a) a bucket pivotally mounted at one end of said dipperstick, said bucket including a digging surface which creates said digging path, and (b) an angle-measuring sensor responsive to an angle between said bucket. and vertical.

12. The level sensing system as recited in claim 11, wherein said angle-measuring sensor comprises an inclinometer.

13. The level sensing system as recited in claim 7, wherein said level sensing system operates in a dynamic mode.

14. The level sensing system as recited in claim 7, wherein said first and second light receiving sensors are mounted on a dipperstick of an excavator;

and further comprising;

a mounting assembly that is movable along said dipperstick, wherein said first and second light receiving sensors are directly. mounted to said movable mounting assembly.

15. The level sensing system as recited in claim 14, wherein said mounting assembly is movable along said longitudinal centerline between said first and second light receiving sensors.

16. The level sensing system as recited in claim 7, wherein said first and second light receiving sensors are mounted on a substantially stationary portion of said digging machine.

17. A level sensing system for use on a digging machine, said system comprising:

a first light receiving sensor and a second light receiving sensor, each of said first and second light receiving sensors providing an indication as to a location of a moving beam of light impacting upon each of said first and second light receiving sensors, said impacting location for both said first and second light receiving sensors being indicative of a pathway of said moving beam of light, thereby providing both distance information and angular information between the pathway of said moving beam of light and a digging elevation, and a mounting assembly that is movable along a mast, wherein said first and second light receiving sensors are directly mounted to said movable mounting assembly;

wherein said moving beam of light comprises a sweeping laser light beam generated by a rotating laser light transmitter, said first and second light receiving sensors each comprise an elongated photocell structure responsive to laser light, said digging elevation comprises a desired digging path, said distance information comprises an actual distance between said digging elevation and said pathway of said moving beam of light, and said angular information comprises an angle between said digging elevation and a longitudinal centerline between said first and second light receiving sensors; and

wherein both said distance and angular information are determined without any additional sensor inputs.

18. The level sensing system as recited in claim 17, wherein said digging path is horizontal.

19. The level sensing system as recited in claim 17, wherein said digging path is sloped with respect to the horizontal.

20. The level sensing system as recited in claim 17, wherein said mounting assembly is movable along said longitudinal centerline between said first and second light receiving sensors.

21. A level sensing system for use on an excavator, said system comprising:

a dipperstick;

a light receiving sensor which provides an indication as to a location of a moving beam of light impacting upon the light receiving sensor; and

an angle-measuring sensor which provides an indication of an orientation of said dipperstick with respect to a known gravity reference;

wherein said light receiving and angle-measuring sensors provide both distance information and angular information between said pathway of said moving beam of light and a digging elevation; and

wherein said moving beam of light comprises a sweeping laser light beam generated by a rotating laser light transmitter, said light receiving sensor comprises an elongated photocell structure responsive to laser light, said digging elevation comprises a desired digging path, said distance information comprises an actual distance between said digging elevation and said pathway of said moving beam of light, and said angular information comprises an angle between vertical and a longitudinal centerline of said dipperstick.

22. The level sensing system as recited in claim 21, further comprising:

(a) a bucket pivotally mounted at one end of said dipperstick, said bucket including a digging surface which creates said digging path, and (b) a second angle-measuring sensor responsive to an angle between said dipperstick and said bucket.

23. The level sensing system as recited in claim 22, wherein said second angle-measuring sensor comprises a rotational sensor.

24. The level sensing system as recited in claim 23, wherein said a rotational sensor comprises an optical encoder.

25. The level sensing system as recited in claim 23, wherein said a rotational sensor comprises a rotational variable differential transformer.

26. The level sensing system as recited in claim 22, wherein said second angle-measuring sensor comprises an inclinometer.

27. The level sensing system as recited in claim 21, further comprising:

(a) a bucket pivotally mounted at one end of said dipperstick, said bucket including a digging surface which creates said digging path; and

(b) a second angle-measuring sensor responsive to an angle between said bucket and vertical.