Laser-guided construction equipment

• US 6,736,216 B2
• Filed: 11/04/2002
• Issued: 05/18/2004
• Est. Priority Date: 05/05/2000
• Status: Expired due to Term

• Current Assignee: Hexagon Holdings Incorporated
• Original Assignee: Leica Geosystems GR LLC (Hexagon AB)
• Inventors: Savard, Hassel J, Hasara, Robert A
• Primary Examiner(s): Novosad, Christopher J.
• Application Number:
  US10/275,408
• Publication Number:
  US 20030226290A1
• Time in Patent Office: 561 Days
• Field of Search: 172/1, 172/2, 172/4.5, 373/82, 373/81, 374/11, 374/12, 374/14, 374/15, 373/48, 371/95, 414/699, 701/50, 404/84.5, 404/83, 405/15.A, 405/17.A, 405/175, 356/139.03, 356/141.2, 356/141.3, 356/141.4, 356/141.5, 356/152--15, 356/139.1, 356/147, 348/141
• US Class Current: 172/1
• CPC Class Codes: E01C 19/006 by laser or ultrasound
• CPC Class Codes: E02F 3/16 Safety or control devices safety devices in general F16P; controlling in general G05
• CPC Class Codes: E02F 3/432 for keeping the bucket in a predetermined position or attitude
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
• CPC Class Codes: E02F 3/438 Memorising movements for repetition, e.g. play-back capability
• 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 9/2037 Coordinating the movements of the implement and of the frame
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool
• CPC Class Codes: G05B 19/401 characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/37571 Camera detecting reflected light from laser
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A construction apparatus (12) and method of controlling a construction apparatus from a laser source (38) made up of a substantially non-rotating beam (56). The construction apparatus includes a body (14), a construction tool (16) adapted to move material, a support moveably supporting the construction tool from the body and a control for guiding movement of the construction tool. A control is provided including a camera (28) that is adapted to capture an illuminated image that is derived from the laser source. The control determines direction information of the illuminated image with respect to the apparatus at least in part from an output of the camera. The control is further adapted to determine separation information of the spot with respect to the body and a physical relationship between the construction tool and the illuminated image. The construction tool (16) can be guided with respect to the illuminated image as a function of the direction and separation information and the physical relationship between the construction tool and the illuminated image.

Claims

1. A construction apparatus that is adapted to be guided from a laser source made up of a substantially non-rotating beam, said construction apparatus comprising:

a body having an operators cab, said body adapted to be moveably supported by a surface, a construction tool adapted to move material, a support moveably supporting said construction tool from said body, and a control for guiding movement of said construction tool;

said control comprising a camera that is adapted to capture an illuminated image that is derived from a laser source, said control adapted to determine direction and separation information of the illuminated image with respect to said apparatus, wherein said control determines said direction information at least in part from an output of said camera;

said control further adapted to determine a physical relationship of said construction tool with respect to said illuminated image;

whereby said construction tool can be guided with respect to the illuminated image as a function of said direction and separation information and said relationship.

2. The construction apparatus of claim 1 including a display at said cab for displaying information related to said direction and separation information and said relationship.

3. The construction apparatus of claim 1 wherein said control is adapted to automatically guide said construction tool with respect to said illuminated image by comparing said direction and separation information and said relationship.

4. The construction apparatus of claim 1 wherein said body comprises an excavator body and said construction tool comprises an excavation bucket.

5. The construction apparatus of claim 1 wherein said body comprises a grader body and said construction tool comprises a blade.

6. The construction apparatus of claim 1 wherein said body comprises a trencher body and said construction tool comprises trenching implement.

7. The construction apparatus of claim 1 wherein said body comprises a paver body and said construction tool comprises a screed.

8. The construction apparatus of claim 7 wherein said screed comprises one of an asphalt screed and a concrete screed.

9. The construction apparatus of claim 1 including a laser source comprising a substantially non-rotating beam.

10. The construction apparatus of claim 9 wherein said control calculates an offset of a portion of said bucket from said body.

11. The construction apparatus of claim 10 including a geographic positioning system at said body, wherein said control calculates a geographic position of said portion of said bucket by combining said offset with an output of said geographic positioning system.

12. The construction apparatus of claim 9 wherein said control determines said physical relationship by capturing with said camera a portion of said bucket and said illuminated image.

13. The construction apparatus of claim 1 wherein said control determines said direction information and said separation information at least in part from said output of said camera.

14. The construction apparatus of claim 1 wherein said control comprises a microcomputer that is programmed with image discrimination software and wherein said control determines said relationship by recognizing with said software a portion of said construction tool that is captured by said camera.

15. The construction apparatus of claim 14 wherein said image discrimination software comprises shape recognition software.

16. A construction apparatus that is adapted to be guided from a laser source made up of a substantially non-rotating beam, said construction apparatus comprising:

a body having an operators cab, said body adapted to be moveably supported by a surface, a construction tool adapted to move material, a support moveably supporting said construction tool from said body, and a control for guiding movement of said construction tool;

said control comprising a camera that is adapted to capture an illuminated image that is derived from a laser source, said control adapted to determine direction and separation information of the illuminated image with respect to said apparatus, wherein said camera is gimbal mounted and wherein said control determines said direction information by substantially tracking with said camera the illuminated image and by monitoring with said control a position of said camera about said gimbal;

said control further adapted to determine a physical relationship of said construction tool with respect to said illuminated image;

whereby said construction tool can be guided with respect to the image derived from a laser source as a function of said direction and separation information and said relationship.

17. The construction apparatus of claim 16 including a laser source comprising a substantially non-rotating beam.

18. The construction apparatus of claim 17 wherein said laser source is positioned at one end of a pipe and said illuminated image comprises a spot produced by said laser source impinging a target at an opposite end of the pipe.

19. The construction apparatus of claim 18 including another camera that is gimbal mounted and wherein said control determines said separation information by monitoring positions of said cameras about their respective gimbals.

20. The construction apparatus of claim 17 wherein said laser source is positioned at said body and directed toward material being moved by said construction tool, thereby creating said illuminated image at said material.

21. The construction apparatus of claim 20 wherein said control determines said direction information and said separation information at least in part from said output of said camera.

22. The construction apparatus of claim 16 including a display at said cab for displaying information related to said direction and separation information and said relationship.

23. The construction apparatus of claim 16 wherein said control is adapted to automatically guide said construction tool with respect to said illuminated image by comparing said direction and separation information and said relationship.

24. The construction apparatus of claim 16 wherein said control comprises a microcomputer that is programmed with image discrimination software and wherein said control determines an offset of said construction tool from said body by recognizing with said software at least a portion of said construction tool or said support that is captured by said camera.

25. The construction apparatus of claim 24 wherein said image discrimination software comprises shape recognition software.

26. A construction apparatus that is adapted to be guided from a laser source made up of a substantially non-rotating beam, said construction apparatus comprising:

a body having an operator'"'"'s cab, said body adapted to be moveably supported by a surface, a construction tool adapted to move material, a support moveably supporting said construction tool from said body, and a control for guiding movement of said construction tool;

said control comprising a camera that is adapted to capture an illuminated image that is derived from a laser source, said control adapted to determine direction and separation information of the illuminated image with respect to said apparatus, wherein said camera includes a sensing array and a focusing optic that focuses light onto a portion of said sensing array and wherein said control determines said direction information by determining which portion of said sensing array receives light from said illuminated image;

said control further adapted to determine a physical relationship of said construction tool with respect to said illuminated image;

whereby said construction tool can be guided with respect to the image derived from a laser source as a function of said direction and separation information and said physical relationship.

27. The construction apparatus of claim 26 including a laser source comprising a substantially non-rotating beam.

28. The construction apparatus of claim 27 wherein said laser source is positioned at one end of a pipe and said illuminated image comprises a spot produced by said laser source impinging a target at an opposite end of the pipe.

29. The construction apparatus of claim 28 including another camera including another sensing array and another focusing optic that focuses light onto a portion of said another sensing array and wherein said control determines said separation information by determining which portions of said sensing arrays receive light from their respective gimbals.

30. The construction apparatus of claim 27 wherein said laser source is positioned at said body and directed toward material being moved by said construction tool, thereby creating said illuminated image at said material.

31. The construction apparatus of claim 30 wherein said control determines said direction information and said separation information at least in part from said output of said camera.

32. The construction apparatus of claim 27 wherein said control comprises a microcomputer that is programmed with image discrimination software and wherein said control determines an offset of said construction tool from said body by recognizing with said software at least a portion of said construction tool or said support that is captured by said camera.

33. The construction apparatus of claim 32 including a geographic positioning system at said body, wherein said control calculates a geographic position of said construction tool by combining said offset with an output of said geographic positioning system.

34. The construction apparatus of claim 26 including a display at said cab for displaying information related to said direction and separation information and said relationship.

35. The construction apparatus of claim 26 wherein said control is adapted to automatically guide said construction tool with respect to said illuminated image by comparing said direction and separation information and said relationship.

36. A pipe-laying system, comprising:

a laser source that is positionable at one end of a pipe and a target that is positionable at an opposite end of the pipe, said laser source generating a beam that produces a spot on said target;

an excavator having a body, a bucket and a support moveably supporting said bucket from said body, and a control for guiding movement of said bucket, said body including propelling devices and an operator'"'"'s cab;

said control comprising a camera that is adapted to capture the spot on said target and to determine direction information of the spot on said target with respect to said excavator, wherein said control determines separation information of the spot with respect to the excavator, wherein said control determines said direction information at least in part from an output of said camera;

said control further adapted to determine a physical relationship of a portion of said bucket with respect to said illuminated image;

whereby said bucket can-be guided with respect to the spot on said target as a function of said direction and separation information and said relationships.

37. The pipe-laying system of claim 36 including a display at said cab for displaying information related to said direction and separation information and said relationship.

38. The pipe-laying system of claim 36 wherein said control is adapted to automatically guide said portion of said bucket with respect to the spot on said target by comparing said direction and separation information and said relationship.

39. The pipe-laying system of claim 36 wherein said camera is positioned below a portion of said body that is joined with said articulated support.

40. The pipe-laying system of claim 36 including another camera that is adapted to capture the spot on said target and to determine direction information of the spot on said target with respect to said excavator and wherein said control determines said separation information from said direction information of said cameras.

41. An excavator for excavating material, comprising:

a body, a bucket and a support moveably supporting said bucket from said body, and a control for guiding movement of said bucket, said body including propelling devices and an operator'"'"'s cab;

a laser source positioned at said body, said laser source comprising a substantially non-rotating beam that is directable toward material being excavated by said bucket, thereby creating an illuminated image at the material;

said control comprising a camera that is adapted to capture the illuminated image and to determine direction information of the illuminated image with respect to the excavator, wherein said control determines separation information of the illuminated image with respect to the excavator, wherein said control determines said direction information at least in part from an output of said camera;

said control further adapted to determine a physical relationship of a portion of said bucket with respect to said illuminated image;

whereby said portion of said bucket can be guided with respect to the illuminated image at the material as a function of said direction and separation information and said relationship.

42. The excavator of claim 41 wherein said laser source is adapted to create the illuminated image at the material having a pattern, wherein said pattern varies as a function of separation between said laser source and the illuminated image at the material.

43. The excavator of claim 42 wherein said control determines vertical depth of the material being moved as a function of said pattern.

44. The excavator of claim 43 wherein said laser source creates said pattern from at least two laser units generating beams that are distinguishable from each other and at an angle with respect to each other.

45. The excavator of claim 41 wherein said control comprises a microcomputer that is programmed with image discrimination software and wherein said control determines an offset of said portion of said bucket with said software, said portion of said bucket or said support that is captured by said camera.

46. The excavator of claim 45 including a geographic positioning system at said body, wherein said control calculates a geographic position of said portion of said bucket by combining said offset with an output of said geographic positioning system.

47. The excavator of claim 45 wherein said articulated support is made up of multiple members that are articulated with respect to each other and wherein said control determines said offset at least in part by recognizing with said software portions of at least some of said multiple members.

48. The excavator of claim 47 including a geographic positioning system at said body, wherein said control calculates a geographic position of said construction tool by combining said offset with an output of said geographic positioning system.

49. The excavator of claim 41 including a display at said cab for displaying information related to said direction and separation information and said relationship.

50. The excavator of claim 41 wherein said control is adapted to automatically guide said portion of said bucket with respect to the material being excavated by comparing said direction and separation information and said relationship.

51. The excavator of claim 41 wherein said camera is positioned below a portion of said body that is joined with said articulated support.

52. A method of controlling a construction apparatus having a body, a construction tool adapted to move material, a support moveably supporting said construction tool from said body, and a control for guiding movement of said construction tool including an operators cab, said body adapted to be moveably supported by a surface, said method comprising:

providing a laser source that generates a substantially non-rotating beam and directing said beam with respect to the material to be moved to create an illuminated image with said laser source;

providing a camera and capturing with said camera said illuminated image;

determining direction information of said illuminated image at least in part from an output of said camera;

determining separation information between said illuminated image and said body;

determining a physical relationship between said construction tool and said illuminated image; and

guiding said construction tool with respect to said illuminated image as a function of said direction and separation information and said relationship.

53. The method of claim 52 including displaying to an operator information related to said direction and separation information and said relationship and manually guiding said construction tool with the operator.

54. The method of claim 52 including automatically guiding said construction tool with respect to said illuminated image by comparing said direction and separation information and said relationship.

55. The method of claim 52 including determining from an output of said camera an offset from the body of a portion of the construction tool.

56. The method of claim 55 including determining a geographic position of said body and calculating a geographic position of said construction tool by combining said offset with an output of said geographic positioning system.

57. The method of claim 52 including determining said separation information from an output of said camera.