Method for determining a position and heading of a work machine

• US 6,418,364 B1
• Filed: 12/13/2000
• Issued: 07/09/2002
• Est. Priority Date: 12/13/2000
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Alig, Jeffrey S., Kalafut, James J.
• Primary Examiner(s): Chin, Gary
• Application Number:
  US09/736,901
• Publication Number:
  US 20020072840A1
• Time in Patent Office: 573 Days
• Field of Search: 701/50, 701/207, 172/2, 172/3, 172/4, 172/4.5, 373/48, 373/82, 374/14, 374/15, 374/16
• US Class Current: 701/50
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Abstract

A method for determining a position and a heading of a work machine having a work implement controllably attached. The method includes the steps of positioning the work machine at a desired work location, determining an initial position and heading of the work machine in site coordinates, determining a position of the work implement relative to the work machine, positioning the work implement at a desired reference point, determining the position of the work implement at the reference point in site coordinates, periodically positioning the work implement at the reference point during work operations, and determining a new position and heading of the work machine as a function of the position of the work implement relative to the work machine.

Claims

1. A method for determining a position and a heading of a work machine having a work implement controllably attached, including the steps of:

positioning the work machine at a desired work location;

determining an initial position and heading of the work machine in site coordinates;

determining a position of the work implement relative to the work machine;

positioning the work implement at a desired reference point;

determining the position of the work implement at the reference point in site coordinates;

periodically positioning the work implement at the reference point during work operations; and

determining a new position and heading of the work machine as a function of the position of the work implement relative to the work machine.

2. A method, as set forth in claim 1, wherein determining an initial position and heading of the work machine includes the steps of:

determining a plurality of positions of the work machine in site coordinates as the work machine approaches the desired work location; and

determining the initial position and heading of the work machine at the desired work location as a function of the plurality of determined positions.

3. A method, as set forth in claim 1, wherein determining a position of the work implement relative to the work machine includes the step of sensing an angular position of at least one linkage connecting the work implement to the work machine.

4. A method, as set forth in claim 1, wherein positioning the work implement at a desired reference point includes the step of moving the work implement to a point near the work location that provides a reference in fixed site coordinates, the desired reference point being adapted to remain fixed and accessible during work operations.

5. A method, as set forth in claim 1, wherein periodically positioning the work implement at the reference point includes the step of positioning the work implement at the reference point in response to the work machine moving from the initial position and heading.

6. A method, as set forth in claim 1, wherein periodically positioning the work implement at the reference point is performed by an operator of the work machine to periodically calibrate the position and heading of the work machine.

7. A method, as set forth in claim 2, wherein determining an initial position and heading further includes determining an angle of inclination of the work machine.