Blade control apparatuses and methods for an earth-moving machine

• US 6,655,465 B2
• Filed: 03/11/2002
• Issued: 12/02/2003
• Est. Priority Date: 03/16/2001
• Status: Active Grant

• Current Assignee: David S. Carlson, Frederick A. Rogers, James R. Brooks, Ronald H. Soczawa
• Original Assignee: David S. Carlson, Frederick A. Rogers, James R. Brooks, Ronald H. Soczawa
• Inventors: Rogers, Frederick A., Brooks, James R., Carlson, David S., Soczawa, Ronald H.
• Primary Examiner(s): Novosad, Christopher J.
• Application Number:
  US10/094,847
• Publication Number:
  US 20020162668A1
• Time in Patent Office: 631 Days
• Field of Search: 172/4.5, 172/4, 172/2, 379/06, 379/07, 373/48, 356/375, 356/376, 342/357.06, 342/357.01, 342/357.17, 342/451, 342/457, 701/50, 701/207, 701/213, 701/214, 701/216
• US Class Current: 172/4.5
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: Y10S 37/906 Visual aids and indicators for excavating tool
• CPC Class Codes: Y10S 37/907 Automatic leveling excavators

Abstract

A method and apparatus for providing for real time automated control of the position of a blade on a earth-moving machine. The method includes providing a geography altering machine, including a blade and a computer, the computer having stored therein a reference line and a three dimensional computer model of a desired topography, providing a user defined offset relative to the reference line, determining a blade position in local coordinates, converting the local coordinates to reference line coordinates, utilizing the reference line coordinates and the user defined offset to calculate blade movement commands, and moving the blade in a direction required by the blade movement commands.

Claims

1. A method for controlling in real time the position of a blade on a geography altering machine, said method comprising:

providing a geography altering machine, including a blade and a computer, the computer having stored therein a reference line and a three dimensional computer model of a desired topography of a work site;

providing a user defined offset relative to said reference line;

determining a blade position in local coordinates;

converting said local coordinates to reference line coordinates, said reference line coordinates including a reference station value and a reference offset value;

calculating a slope along a segment orthogonal to said reference line at said reference station and extending said slope beyond said user defined offset, defining a temporary design surface; and

moving said blade so that the actual cross slope of said blade is substantially equal to the slope of said temporary design surface.

2. The method of claim 1 wherein said geography altering machine further comprises a GPS receiver system including a GPS signal-receiving antenna disposed on an end of said blade.

3. The method of claim 1 wherein said geography altering machine further comprises a GPS receiver system including a plurality of GPS signal-receiving antennae, disposed on a plurality of ends of said blade.

4. The method of claim 1 wherein said geography altering machine further includes a laser sensor mounted on an end of said blade.

5. The method of claim 1 wherein said geography altering machine is a motor grader.

6. The method of claim 1 wherein said geography altering machine is a bulldozer.

7. The method of claim 1 wherein said computer further includes a three-dimensional model of an actual topography stored therein.

8. The method of claim 1 wherein said computer further includes a plan view file stored therein.

9. The method of claim 1 wherein said providing a user defined offset value comprises an operator inputting said offset value by a computer keypad.

10. The method of claim 1 wherein said providing a user defined offset value comprises:

receiving a GPS signal at a GPS signal-receiving antenna coupled to said geography altering machine and utilizing the GPS signal to calculate a position of said antenna in local coordinates;

converting said local coordinates to reference line coordinates, including a reference station and a reference offset value; and

defining said user defined offset value to be substantially equal to said reference offset value.

11. The method of claim 1 wherein said determining a position comprises receiving a GPS signal at a GPS signal-receiving antenna coupled to said geography altering machine and utilizing the GPS signal to calculate a location of said antenna in at least two dimensions.

12. The method of claim 11 wherein said determining a position further comprises utilizing one or more tilt sensors to provide an angle of tilt of said geography altering machine along at least one axis and utilizing the angle of tilt to calculate the location of said antenna.

13. The method of claim 11 wherein said determining a position further comprises utilizing a laser sensor to determine a third dimension.

14. The method of claim 1 wherein said determining a position comprises calculating the center position of said blade.

15. The method of claim 1 wherein said local coordinates comprise Cartesian coordinates.

16. The method of claim 1 wherein said converting comprises dividing said reference line into a series of segments and arcs.

17. The method of claim 1 wherein said converting comprises utilizing vector mathematics techniques.

18. The method of claim 1 wherein said calculating further comprises utilizing said three-dimensional computer model of a desired topography.

19. The method of claim 1 wherein said segment further comprises said user defined offset as a center point.

20. The method of claim 1 wherein said calculating further comprises:

converting the endpoints of said segment from reference line coordinates to Cartesian coordinates;

using said three-dimensional computer model of a desired topography to determine target heights for said endpoints; and

calculating the slope of said segment.

21. The method of claim 1 wherein said moving comprises selectively extending and retracting hydraulic cylinders.

22. The method of claim 1 wherein blade movement commands, comprising hydraulic fluid pumping velocity instructions, are sent to a blade controller.

23. The method of claim 1 wherein blade movement commands are sent to a blade controller by transmitting ASCII characters thereto;

each of said ASCII characters corresponding to a unique hydraulic fluid pumping velocity.

24. The method of claim 1 further comprising displaying the position of said blade relative to said work site.

25. The method of claim 24 wherein said position is displayed relative to said reference line.

26. The method of claim 24 wherein said displaying the position of said blade relative to said work site includes displaying a member of the group consisting of:

a top plan view including the current position of said machine and said blade;

a cross sectional elevational view including a vertical line representing the reference line, and the actual position of said blade taken along a plane parallel to the longitudinal axis of said blade;

and numeric indicia representing said station and offset values.

27. The method of claim 26 wherein said top plan view further includes a reference line.

28. The method of claim 26 wherein said top plan view further includes features of said desired topography.

29. The method of claim 26 wherein said cross sectional elevational view further includes a vertical line representing a user defined offset at which an edge may be selectively cut and filled.

30. The method of claim 26 wherein said displaying the position of said blade relative to said work site includes simultaneously displaying two or more members of the group consisting of:

a top plan view including the current position of said machine and said blade;

a cross sectional elevational view including a vertical line representing the reference line, and the actual position of said blade taken along a plane parallel to the longitudinal axis of said blade; and

numeric indicia representing said station and offset values.

31. The method of claim 1 further comprising displaying a cross slope of said blade to an operator of said machine.

32. The method of claim 31 wherein said displaying the cross slope of said blade is selected from the group consisting of:

displaying a cross sectional elevational view including a vertical line representing the reference line, and the actual position of said blade taken along a plane parallel to the longitudinal axis of said blade; and

displaying numeric indicia representing the values of the actual and target cross slopes.

33. The method of claim 32 wherein the direction of the cross slope is displayed by an angle symbol proximate said numeric indicia.

34. The method of claim 31 wherein said displaying the cross slope of said blade comprises simultaneously:

displaying a cross sectional elevational view including a vertical line representing the reference line, and the actual position of said blade taken along a plane parallel to the longitudinal axis of said blade; and

displaying numeric indicia representing the values of the actual and target cross slopes.

35. The method of claim 1 wherein the amount of selective cut and fill at the left-hand and right-hand ends of said blade are displayed by enlarged alphanumeric indicia, the indicia being disposed in the upper left-hand and upper right-hand corners of the display to indicate the cut and fill at the respective left-hand and right-hand ends of said blade.

36. The method of claim 1 wherein:

said calculating further comprises comparing said reference offset to said user defined offset; and

said moving further comprises moving said blade to a position wherein said reference offset is substantially equal to said user defined offset.

40. The earth-working machine of claim 34 wherein said computer is further configured to

compare said user defined offset to said reference offset;

and

send blade movement commands to said blade controller for moving said blade to a position wherein the reference offset is substantially equal to the user defined offset.

37. An article of manufacture for controlling in real time the position of a blade on a geography altering machine, said article of manufacturing comprising:

a computer usable medium having a computer readable program code embodied therein, said computer usable medium including;

computer readable program code for prompting a user for a user defined offset relative to a reference line;

computer readable program code for determining a blade position in local coordinates;

computer readable program code for converting said local coordinates to reference line coordinates, including reference station and reference offset values;

computer readable program code for calculating a slope along a segment orthogonal to said reference line at said reference station and extending said slope beyond said user defined offset, defining a temporary design surface; and

computer readable program code for sending blade movement commands to a blade controller for moving the blade so that the actual cross slope is substantially equal to the slope of said temporary design surface.

38. The article of manufacture of claim 37 wherein the computer usable medium further comprises:

computer readable program code for comparing said user defined offset to said reference offset; and

computer readable program code for sending blade movement commands to a blade controller for moving the blade to a position wherein said reference offset is substantially equal to said user defined offset.

39. The article of manufacture of claim 37 wherein the computer usable medium further comprises computer readable program code for utilizing a GPS signal to calculate the blade position in Cartesian coordinates.

41. The article of manufacture of claim 37 wherein the computer usable medium further comprises computer readable program code for utilizing a GPS signal and an angle of tilt acquired from one or more tilt sensors to calculate the blade position in Cartesian coordinates.

42. The article of manufacture of claim 37 wherein the computer usable medium further comprises computer readable program code for:

converting the endpoints of said segment from reference line coordinates to Cartesian coordinates;

using said three-dimensional computer model of a desired topography to determine target heights for said endpoints; and

calculating the slope of said segment.

43. The article of manufacturing of claim 37 wherein the computer usable medium further comprises computer readable program code for transmitting blade movement commands to a blade controller by transmitting ASCII characters thereto, each of said ASCII characters corresponding to a unique hydraulic fluid pumping velocity.

44. The article of manufacturing of claim 37 wherein the computer usable medium further comprises computer readable program code for:

displaying the position of said blade relative to said reference line; and

displaying a cross slope of said blade.

45. An earth-working machine comprising:

a blade;

a blade controller configured for moving said blade;

a computer having stored therein a reference line and a three dimensional computer model of a desired topography;

said computer being configured to prompt a user for a user defined offset relative to a reference line, determine a blade position in local coordinates, convert said local coordinates to reference line coordinates, including reference station and reference offset values, calculate a slope along a segment orthogonal to said reference line at said reference station and extend said slope beyond said user defined offset, defining a temporary design surface, and send blade movement commands to said blade controller for moving said blade so that the actual cross slope of said blade is substantially equal to the slope of said temporary design surface.

46. A method for controlling in real time the position of a blade on a geography altering machine, said method comprising:

providing a geography altering machine, including a blade and a computer, the computer having stored therein a reference line for a work site;

providing a user defined offset value relative to said reference line;

determining a blade position in local coordinates;

converting said local coordinates to reference line coordinates, said reference line coordinates including a reference station value and a reference offset value;

comparing said user defined offset to said reference offset; and

moving said blade in a lateral direction relative to the geography altering machine to a position wherein said reference offset is substantially equal to said user defined offset.

47. The method of claim 46 wherein said geography altering machine further comprises a GPS receiver system including a GPS signal-receiving antenna disposed on one end of said blade.

48. The method of claim 46 wherein said geography altering machine further comprises a GPS receiver system including two GPS signal-receiving antenna, one disposed on each end of said blade.

49. The method of claim 46 wherein said geography altering machine further includes a laser sensor mounted on one end of said blade.

50. The method of claim 46 wherein said geography altering machine is a motor grader.

51. The method of claim 46 wherein said geography altering machine is a bulldozer.

52. The method of claim 46 wherein said computer further includes a three-dimensional model of an actual topography stored therein.

53. The method of claim 46 wherein said computer further includes a three-dimensional model of a desired topography stored therein.

54. The method of claim 46 wherein said computer further includes a plan view file stored therein.

55. The method of claim 46 wherein said providing a user defined offset value comprises an operator inputting said offset value by a computer keypad.

56. The method of claim 46 wherein said providing a user defined offset value comprises:

receiving a GPS signal at a GPS signal-receiving antenna coupled to said geography altering machine and utilizing the GPS signal to calculate a position of said antenna in local coordinates;

converting said local coordinates to reference line coordinates, including a reference station and a reference offset value; and

defining said user defined offset value to be substantially equal to said reference offset value.

57. The method of claim 46 wherein said determining a position comprises receiving a GPS signal at a GPS signal-receiving antenna coupled to said geography altering machine and utilizing the GPS signal to calculate a location of said antenna in at least two dimensions.

58. The method of claim 46 wherein said determining a position further comprises utilizing one or more tilt sensors to provide an angle of tilt of said geography altering machine along at least one axis and utilizing the angle of tilt to calculate the location of said antenna.

59. The method of claim 46 wherein said local coordinates comprise Cartesian coordinates.

60. The method of claim 46 wherein said converting comprises dividing said reference line into a series of segments and arcs.

61. The method of claim 46 wherein said converting comprises utilizing vector mathematics techniques.

62. The method of claim 46 wherein said moving comprises selectively extending and retracting hydraulic cylinders.

63. The method of claim 46 wherein blade movement commands, comprising hydraulic fluid pumping velocity instructions, are sent to a blade controller.

64. The method of claim 46 wherein blade movement commands are sent to a blade controller by transmitting ASCII characters thereto;

each of said ASCII characters corresponding to a unique hydraulic fluid pumping velocity.

65. The method of claim 46 further comprising displaying the position of said blade relative to said work site.

66. The method of claim 65 wherein said displaying the position of said blade relative to said work site includes displaying a member of the group consisting of:

a top plan view including the current position of said machine and said blade;

a cross sectional elevational view including a vertical line representing the reference line, and the actual position of said blade taken along a plane parallel to the longitudinal axis of said blade; and

numeric indicia representing said station and offset values.

67. The method of claim 66 wherein said top plan view further includes a reference line.

68. The method of claim 66 wherein said top plan view further includes features of said work site.

69. The method of claim 66 wherein said cross sectional elevational view further includes a vertical line representing a user defined offset at which an edge may be selectively cut and filled.

70. The method of claim 65 wherein said displaying the position of said blade relative to said work site includes simultaneously displaying two or more members of the group consisting of:

a top plan view including the current position of said machine and said blade;

a cross sectional elevational view including a vertical line representing the reference line, and the actual position of said blade taken along a plane parallel to the longitudinal axis of said blade; and

numeric indicia representing said station and offset values.

71. The method of claim 46 further comprising displaying a cross slope of said blade.

72. The method of claim 71 wherein said displaying the cross slope of said blade is selected from the group consisting of:

displaying a cross sectional elevational view including a vertical line representing the reference line, and the actual position of said blade taken along a plane parallel to the longitudinal axis of said blade; and

displaying numeric indicia representing the values of the actual and target cross slopes.

73. The method of claim 71 wherein the direction of the cross slope is displayed by an angle symbol proximate said numeric indicia.

74. The method of claim 71 wherein said displaying the cross slope of said blade includes simultaneously:

displaying a cross sectional elevational view including a vertical line representing the reference line, and the actual position of said blade taken along a plane parallel to the longitudinal axis of said blade; and

displaying numeric indicia representing the values of the actual and target cross slopes.

75. The method of claim 46 wherein the amount of selective cut and fill at the left-hand and right-hand ends of said blade are displayed by enlarged alphanumeric indicia, the indicia being disposed in the upper left-hand and upper right-hand corners of the display to indicate the cut and fill at the respective left-hand and right-hand ends of said blade.

76. The method of claim 46 further comprising calculating a slope along a segment orthogonal to said reference line at said reference station and extending said slope beyond said user defined offset, defining a temporary design surface.

77. The method of claim 76 wherein said moving further comprises moving said blade so that the actual cross slope of said blade is substantially equal to the slope of said temporary design surface.

78. An article of manufacture for controlling in real time the position of a blade on a geography altering machine, said article of manufacturing comprising:

a computer usable medium having a computer readable program code embodied therein, said computer usable medium including;

computer readable program code for prompting a user for a user defined offset relative to a reference line;

computer readable program code for determining a blade position in local coordinates;

computer readable program code for converting said local coordinates to reference line coordinates, including reference station and reference offset values;

computer readable program code for comparing said user defined offset to said reference offset; and

computer readable program code for sending blade movement commands to a blade controller.

79. The article of manufacture of claim 78 wherein the computer usable medium further comprises computer readable program code for utilizing a GPS signal to calculate the blade position in Cartesian coordinates.

80. The article of manufacture of claim 78 wherein the computer usable medium further comprises computer readable program code for utilizing a GPS signal and an angle of tilt acquired from one or more tilt sensors to calculate the blade position in Cartesian coordinates.

81. The article of manufacturing of claim 78 wherein the computer usable medium further comprises computer readable program code for transmitting blade movement commands to a blade controller by transmitting ASCII characters thereto, each of said ASCII characters corresponding to a unique hydraulic fluid pumping velocity.

82. The article of manufacturing of claim 78 wherein the computer usable medium further comprises computer readable program code for:

displaying the position of said blade relative to said reference line; and

displaying the position of said blade relative to said user defined offset.

83. An earth-working machine comprising:

a blade;

a blade controller for moving said blade;

a computer having stored therein a reference line and a three dimensional computer model of a desired topography;

said computer being configured to prompt a user for a user defined offset relative to a reference line, determine a blade position in local coordinates, convert said local coordinates to reference line coordinates, including reference station and reference offset values, compare said user defined offset to said reference offset, and send blade movement commands to said blade controller.