Method and apparatus for determining the location of underground objects during a digging operation

• US 6,437,726 B1
• Filed: 11/30/2000
• Issued: 08/20/2002
• Est. Priority Date: 11/30/2000
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Price, Robert J.
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US09/726,905
• Publication Number:
  US 20020063652A1
• Time in Patent Office: 628 Days
• Field of Search: 342/21, 342/22, 342/27, 342/28, 342/165, 342/173, 342/174, 342/175, 342/195, 342/70, 342/71, 342/72, 342/357-1-3, 373/47, 373/48, 373/81, 373/82, 374/11, 374/13, 701/200, 701/207, 701/213
• US Class Current: 342/22
• 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

Abstract

A method and apparatus for determining a location of an underground object during a digging operation. The method and apparatus includes delivering a signal toward the underground object, receiving a reflected signal from the underground object, determining an initial location of the underground object, creating a region of uncertainty around the underground object as a function of a level of confidence of the determined initial location, performing at least one process to improve the level of confidence, and adjusting the region of uncertainty as a function of the improved level of confidence.

Claims

1. A method for determining a location of an underground object during a digging operation, including the steps of:

delivering a signal toward the underground object;

receiving a reflected signal from the underground object;

determining an initial location of the underground object;

creating a region of uncertainty around the underground object as a function of a level of confidence of the determined initial location;

performing at least one process to improve the level of confidence; and

adjusting the region of uncertainty as a function of the improved level of confidence.

2. A method, as set forth in claim 1, wherein performing at least one process includes the steps of:

a) estimating a first value of dielectric constant of the ground to be dug;

b) performing a first dig pass;

c) determining a first location of the underground object as a function of the estimated first value of dielectric constant and a known first quantity of removed ground;

d) performing a next dig pass;

e) determining a next location of the underground object as a function of the estimated value of dielectric constant and a next known quantity of removed ground;

f) determining an improved value of dielectric constant as a function of a comparison of the current determined location and a previous determined location; and

g) repeating steps d) through f) for each subsequent dig pass.

3. A method, as set forth in claim 2, wherein performing a dig pass includes the steps of:

determining a position of a work implement during the digging operation, the work implement having known dimensions; and

determining a quantity of removed ground during the dig pass as a function of the determined position and the known dimensions of the work implement.

4. A method, as set forth in claim 3, further including the step of controlling the position of the work implement as a function of the region of uncertainty.

5. A method, as set forth in claim 3, further including the step of displaying at least one of the work implement, the underground object, and the region of uncertainty relative to the ground.

6. A method, as set forth in claim 1, wherein performing at least one process includes the steps of:

delivering a signal from a plurality of locations toward the underground object;

receiving a corresponding plurality of reflected signals from the underground object; and

superimposing the plurality of reflected signals to determine a three-dimensional determination of a location of the underground object, and to determine an estimate of a size and shape of the underground object.

7. A method, as set forth in claim 6, wherein the delivered signal is delivered from a work implement as the work implement moves to perform a dig pass.

8. A method, as set forth in claim 6, wherein the delivered signal is delivered from a plurality of fixed locations.

9. A method, as set forth in claim 1, wherein performing at least one process includes the steps of:

delivering a plurality of signals from a plurality of locations toward the underground object;

receiving a corresponding plurality of reflected signals from the underground object; and

superimposing the plurality of reflected signals to determine a three-dimensional determination of a location of the underground object, and to determine an estimate of a size and shape of the underground object.

10. A method, as set forth in claim 1, wherein delivering a signal includes the step of delivering a ground penetrating radar signal.

11. An apparatus for determining a location of an underground object during a digging operation, comprising:

means for delivering a signal toward the underground object and for receiving a corresponding reflected signal from the underground object; and

a controller for determining an initial location of the underground object, creating a region of uncertainty around the underground object as a function of a level of confidence of the determined initial location, performing at least one process to improve the level of confidence, and adjusting the region of uncertainty as a function of the improved level of confidence.

12. An apparatus, as set forth in claim 11, wherein the controller is further for:

a) estimating a first value of dielectric constant of the ground to be dug;

b) performing a first dig pass;

c) determining a first location of the underground object as a function of the estimated first value of dielectric constant and a known first quantity of removed ground;

d) performing a next dig pass;

e) determining a next location of the underground object as a function of the estimated value of dielectric constant and a next known quantity of removed ground;

f) determining an improved value of dielectric constant as a function of a comparison of the current determined location and a previous determined location; and

g) repeating steps d) through f) for each subsequent dig pass.

13. An apparatus, as set forth in claim 12, further including a position determining system for determining a position of a work implement during the digging operation, the work implement having known dimensions, and wherein the controller is further for determining a quantity of removed ground during the dig pass as a function of the determined position and the known dimensions of the work implement.

14. An apparatus, as set forth in claim 13, wherein the controller is further for controlling the position of the work implement as a function of the region of uncertainty.

15. An apparatus, as set forth in claim 13, further including a display for displaying at least one of the work implement, the underground object, and the region of uncertainty relative to the ground.

16. An apparatus, as set forth in claim 11, wherein the controller is further for:

delivering a signal from a plurality of locations toward the underground object;

receiving a corresponding plurality of reflected signals from the underground object; and

superimposing the plurality of reflected signals to determine a three-dimensional determination of a location of the underground object, and to determine an estimate of a size and shape of the underground object.

17. An apparatus, as set forth in claim 16, wherein the means for delivering a signal and for receiving a corresponding reflected signal includes a ground penetrating radar (GPR) antenna.

18. An apparatus, as set forth in claim 17, wherein the GPR antenna is mounted on the work implement.

19. An apparatus, as set forth in claim 11, wherein the controller is further for:

delivering a plurality of signals from a plurality of locations toward the underground object;

receiving a corresponding plurality of reflected signals from the underground object; and

superimposing the plurality of reflected signals to determine a three-dimensional determination of a location of the underground object, and to determine an estimate of a size and shape of the underground object.

20. An apparatus, as set forth in claim 19, wherein the means for delivering a signal and for receiving a corresponding reflected signal includes a plurality of ground penetrating radar (GPR) antennas located at a plurality of predetermined locations to deliver a corresponding plurality of signals.