Method and apparatus for displaying an object at an earthworking site

• US 6,282,477 B1
• Filed: 06/13/2000
• Issued: 08/28/2001
• Est. Priority Date: 03/09/2000
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Lay, N. Keith, Gudat, Adam J., Price, Robert J., Kalafut, James J.
• Primary Examiner(s): Nguyen, Tan
• Assistant Examiner(s): Tran, Dalena
• Application Number:
  US09/592,960
• Time in Patent Office: 441 Days
• Field of Search: 701/50, 701/213, 324/326, 373/48, 374/14, 172/3, 172/5, 172/233
• US Class Current: 701/50
• CPC Class Codes: E02F 9/245 for preventing damage to underground objects during excavation, e.g. indicating buried pipes or the like detection of pipes in the ground F16L1/11
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence

Abstract

A method and apparatus for displaying a location of an object at an earthworking site. The method and apparatus includes determining a location in geographical coordinates of an earthworking implement at the earthworking site, determining a location in geographical coordinates of the object, displaying the earthworking implement and the object on a display having a top view and a side profile view of the earthworking site, selecting a perimeter of interest in the top view with respect to the earthworking implement, determining the coordinates of a portion of the object bounded by the perimeter of interest, and displaying a three-dimensional image of the portion of the object in the side profile view as a function of the perimeter of interest.

Claims

1. A computer-based method for displaying a location of an object at an earthworking site, including the steps of:

determining a location in geographical coordinates of an earthworking implement at the earthworking site;

determining a location in geographical coordinates of the object;

displaying the earthworking implement and the object on a display having a top view and a side profile view of the earthworking site;

selecting a perimeter of interest in the top view with respect to the earthworking implement;

determining the coordinates of a portion of the object bounded by the perimeter of interest; and

displaying a three-dimensional image of the portion of the object in the side profile view as a function of the perimeter of interest.

2. A computer-based method, as set forth in claim 1, further including the steps of:

determining a region of uncertainty of the object as a function of at least one parameter; and

enlarging the side profile view of the image of the object as a function of the region of uncertainty.

3. A computer-based method, as set forth in claim 1, further including the steps of:

determining a location of an earthworking machine, the earthworking implement being controllably attached to the earthworking machine; and

displaying the location of the earthworking machine on the display.

4. A computer-based method, as set forth in claim 2, wherein the object is located under the surface of the earth.

5. A computer-based method, as set forth in claim 4, wherein determining a location in geographical coordinates of the object includes the step of determining the location of the object in three coordinates of a three-coordinate system.

6. A computer-based method, as set forth in claim 5, wherein enlarging the side profile view of the image of the object includes the step of enlarging the dimensions of the object with respect to the rest of the display dimensions.

7. A computer-based method, as set forth in claim 4, wherein determining a location in geographical coordinates of the object includes the step of determining an estimated location of the object with respect to the surface of the earth.

8. A computer-based method, as set forth in claim 7, wherein determining a region of uncertainty includes the step of determining a wall of uncertainty extending in a downward direction from the surface of the earth at the estimated location of the object.

9. A computer-based method, as set forth in claim 2, wherein the at least one parameter includes a margin of error of the step of determining a location of the earthworking implement.

10. A computer-based method, as set forth in claim 2, wherein the at least one parameter includes a margin of error of the step of determining a location of the object.

11. A computer-based method, as set forth in claim 2, wherein the at least one parameter includes a priority factor of the object, the priority factor being a function of a level of importance of maintaining the object in an undisturbed state during earthworking operations.

12. A computer-based method, as set forth in claim 1, wherein selecting a perimeter of interest includes the step of selecting a desired area of the earthworking site, the desired area having a center portion in which the earthworking implement performs earthworking operations.

13. A computer-based method for displaying a location of an object at an earthworking site, including the steps of:

determining a location in geographical coordinates of an earthworking implement at the earthworking site;

determining a location in geographical coordinates of the object;

displaying the earthworking implement and the object on a display having a top view and a side profile view of the earthworking site;

determining a region of uncertainty of the object as a function of at least one parameter; and

enlarging the side profile view of the image of the object as a function of the region of uncertainty.

14. A computer-based method, as set forth in claim 13, further including the steps of:

selecting a perimeter of interest in the top view with respect to the earthworking implement;

determining the coordinates of a portion of the object bounded by the perimeter of interest; and

displaying a three-dimensional image of the portion of the object in the side profile view as a function of the perimeter of interest.

15. A computer-based method, as set forth in claim 14, wherein the object is located underground.

16. A computer-based method, as set forth in claim 15, wherein the geographical coordinates are determined in a Cartesian coordinate system, and wherein determining a location of the object includes the step of determining the location of the object in three-dimensional Cartesian coordinates.

17. A computer-based method, as set forth in claim 16, wherein enlarging the side profile view of the image of the object includes the step of enlarging the dimensions of the object without enlarging the dimensions of the rest of the display.

18. A computer-based method, as set forth in claim 15, wherein determining a location of the object includes the step of estimating a location of the object with respect to the surface of the earth.

19. A computer-based method, as set forth in claim 18, wherein determining a region of uncertainty includes the step of determining a wall of uncertainty, the wall of uncertainty being determined by estimating an area on the surface of the earth and extending the estimated area in a downward direction into the earth.

20. A computer-based method, as set forth in claim 14, wherein the at least one parameter includes at least one of:

a margin of error of the step of determining a location of the earthworking implement;

a margin of error of the step of determining a location of the object; and

a priority factor of the object, the priority factor being a function of a level of importance of maintaining the object in an undisturbed state during earthworking operations.

21. A computer-based method for displaying a location of an object at an earthworking site, including the steps of:

determining a location in geographical coordinates of an earthworking implement at the earthworking site;

determining a location in geographical coordinates of the object;

displaying the earthworking implement and the object on a display having a top view and a side profile view of the earthworking site;

selecting a perimeter of interest in the top view with respect to the earthworking implement;

determining the coordinates of a portion of the object bounded by the perimeter of interest;

displaying a three-dimensional image of the portion of the object in the side profile view as a function of the perimeter of interest;

determining a region of uncertainty of the object as a function of at least one parameter; and

enlarging the side profile view of the image of the object as a function of the region of uncertainty.

22. An apparatus for displaying a location of an object at an earthworking site, comprising:

a position determining system adapted to determine a location of an earthworking implement at the earthworking site;

means for determining a location of the object;

a display having a top view and a side profile view of the earthworking site;

means for selecting a perimeter of interest in the top view; and

a processor adapted to determine a set of coordinates of a portion of the object within the perimeter of interest, display a three-dimensional image of the portion of the object in the side profile view, determine a region of uncertainty of the coordinates of the object, and enlarge the image of the object in the side profile view as a function of the region of uncertainty.

23. An apparatus, as set forth in claim 22, wherein the means for determining the location of an object includes a terrain map database.

24. An apparatus, as set forth in claim 22, wherein the display is adapted to display the location of the earthworking implement and the object with respect to the earthworking site.

25. An apparatus, as set forth in claim 22, wherein the perimeter of interest is a function of a desired area of the earthworking site, the desired area having a center portion in which the earthworking implement performs earthworking operations.

26. An apparatus, as set forth in claim 25, wherein the means for selecting a perimeter of interest includes operator selectable controls.

27. An apparatus, as set forth in claim 22, further including an earthworking machine, the earthworking implement being controllably attached to the earthworking machine, and wherein the position determining system, the means for determining a location of the object, the display, the means for selecting a perimeter of interest, and the processor are located on the earthworking machine.