Light detector for multi-axis position control

• US 6,470,251 B1
• Filed: 08/31/2000
• Issued: 10/22/2002
• Est. Priority Date: 08/31/2000
• Status: Expired due to Fees

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Enix, Bruce Wayne
• Primary Examiner(s): Nguyen, Tan
• Assistant Examiner(s): Tran, Dalena
• Application Number:
  US09/653,430
• Time in Patent Office: 782 Days
• Field of Search: 701/50, 356/138, 356/3.16, 356/139.04, 356/152.1, 172/4.5, 172/12, 373/82, 379/07, 373/48, 373/81
• US Class Current: 701/50
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams

Abstract

An apparatus and method for controlling a hydraulically movable tool carried by a machine in order to maintain a selected horizontal orientation and a selected elevation relative to an external light reference. The apparatus is a control device, having a light detector, placed at a known location along a longitudinal axis of the tool and a single-axis gravity-based sensor. The gravity-based sensor is also provided within the housing of the control device to measure the horizontal orientation (side-to-side slope or pitch) of the longitudinal axis of the tool relative to true horizontal at the known location. Finally, with internal valve drivers, the control device individually controls the lift mechanism(s) of the hydraulically movable tool to maintain both a selected elevation and a selected horizontal orientation with only the signals provided by the light detector and the gravity-based sensor.

Claims

1. An apparatus for automatically controlling a hydraulically movable tool carried by a machine in order to maintain a selected horizontal orientation and an elevation to an external light reference, comprising:

a housing adapted to be mounted on the hydraulically movable tool;

a light detector accommodated within said housing and capable of producing a signal in response to detecting said external light reference;

a gravity-based sensor accommodated within said housing and capable of producing a signal indicative of a detected angle of deflection of said tool from true horizontal; and

a computer accommodated within the housing and electrically coupled to said light detector and said gravity-based sensor, said computer being adapted to receive said signals from both said light detector and said gravity-based sensor and to responsively control both said selected horizontal orientation and said elevation of said hydraulically movable tool in response to said signals.

2. The apparatus, as set forth in claim 1, wherein said selected horizontal orientation is a side-to-side slope of said hydraulically movable tool.

3. The apparatus, as set forth in claim 1, wherein said selected horizontal orientation is a pitch of said hydraulically movable tool.

4. The apparatus, as set forth in claim 1, further including a viewable display accommodated within said housing and electrically connected to said computer, and in which said computer is configured to display on said viewable display information related to said elevation and said horizontal orientation of said hydraulically movable tool.

5. The apparatus, as set forth in claim 1, wherein said computer is configured to drive electrical hydraulic valves of said hydraulically movable tool.

6. A method for automatically controlling a hydraulically movable tool carried by a machine in order to maintain a selected horizontal orientation and a selected elevation to an external light reference, said method comprising:

providing a control device at a known location along a longitudinal axis of said tool;

entering into said control device a desired horizontal orientation;

detecting an external signal from the external light reference by said control device indicating actual height of said tool at said known location;

sensing gravity which relates to an angle of deflection of said tool to true horizontal by said control device at said known location;

determining by said control device computing if said angle of deflection and said external signal match said desire horizontal orientation and said selected elevation; and

responsively controlling said hydraulically movable tool carried by said machine to maintain said desired horizontal orientation and said selected elevation.

7. The method, as set forth in claim 6, wherein said desired horizontal orientation is selected from the group consisting of pitch, and a side-to-side slope.

8. The method, as set forth in claim 6, further including the step of displaying said angle of deflection and said external signal.

9. A machine for operating with an external light reference, comprising

a tool;

a mast attached to said tool;

a control device having a housing, said housing accommodating a computer, a light detector, and a gravity-based sensor, said control device is attached to said mast, wherein said computer is operably coupled to said light detector and said gravity-based sensor, and configured to determine based on signals received from said light detector and said gravity-based sensor both an elevation to said external light reference and a horizontal orientation to true horizontal of said tool.

10. The machine, as set forth in claim 9, wherein said horizontal orientation is side-to-side slope of said tool.

11. The machine, as set forth in claim 10, wherein said horizontal orientation is pitch of said tool.

12. A method for automatically controlling a hydraulically movable tool carried by a machine, comprising:

providing an external light reference at a selected elevation;

providing a control device at a known location along a longitudinal axis of said tool;

entering into said control device a desired horizontal orientation;

sensing with the control device said external light reference and an angle of deflection of said tool to true horizontal at said known location;

using said control device to compare said angle of deflection and said sensed external light reference to said desire horizontal orientation and said selected elevation, respectively; and

using said control device to responsively controlling said hydraulically movable tool carried by said machine to maintain said desired horizontal orientation and said selected elevation.