Trencher guidance via GPS

• US 6,954,999 B1
• Filed: 12/13/2004
• Issued: 10/18/2005
• Est. Priority Date: 12/13/2004
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Beekman, Robert Marvin, Richardson, Christopher D., Lasher, Vincent Lansing
• Primary Examiner(s): Novosad, Christopher J.
• Application Number:
  US11/010,467
• Time in Patent Office: 309 Days
• Field of Search: 037/348, 037/347, 037352-362, 037/382, 037414-416, 037/907, 037/234, 037308-312, 701/50, 414/222.02, 414/265, 414/270, 414/307, 414/323, 414/148
• US Class Current: 37/348
• CPC Class Codes: E02F 5/02 for digging trenches or ditches machines for making foundation slots E02F3/205, E02F3/475 take precedence; agricultural ploughs for working ridges A01B13/02
• CPC Class Codes: E02F 5/145 control and indicating devices
• 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: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A guidance control system is configured to control the positioning and spatial orientation of a digging implement mounted on a frame of an trenching machine for working a subsurface of earth to a desired trench profile. The position of a dynamic cutting edge of the digging implement is monitored and then controlled so that the sensed dynamic cutting edge position is equal substantially to the calculated dynamic cutting edge position. The guidance control system includes sensors, a processor, and accessible memory providing digital design information regarding the desired trench profile.

Claims

1. A method for regulating positioning and orientation of a dynamic cutting edge of a digging implement mounted to a frame of a trenching machine and adjustably moveable by an actuating mechanism in order to control working of a subsurface of earth to a desired trench profile, said method comprising:

obtaining a current location of the trenching machine via at least one global navigation system receiver;

obtaining a current measurement of the digging implement via a first sensor;

obtaining a current spatial orientation of the trenching machine from a second sensor;

combining said current location of the trenching machine, said current spatial orientation of the trenching machine, and said current measurement of the digging implement with known machine dimensions and calibration information to provide a current position of the cutting edge;

comparing said current position of the cutting edge with digital design information to determine a positional difference between said current position of the cutting edge and a desired position of the cutting edge as indicated by said digital design information for a given position along the desired trench profile; and

adjusting at least the positioning of the dynamic cutting edge of the digging implement if the positional difference is greater than a predetermined degree of error such that the subsurface worked by the digging implement approximates, as closely as possible, the desired trench profile.

2. The method of claim 1 further comprises sending an appropriate adjustment signal to a controller of the trenching machine for adjusting the positioning of the dynamic cutting edge of the digging implement if the positional difference is greater than the predetermined degree of error.

3. The method of claim 1 wherein said method is running as a guidance control system program enabling a processor to regulating the positioning and orientation of a dynamic cutting edge of a digging implement.

4. The method of claim 1 further comprises obtaining a current heading of the trenching machine via said at least one global navigation system receiver.

5. The method of claim 1 wherein said method is running as a guidance control system program enabling a processor to regulating the positioning and orientation of the dynamic cutting edge of the digging implement, and wherein said digital design information is provided in memory accessible by said processor.

6. The method of claim 1 wherein said spatial orientation is at least the pitch of the trenching machine relative to earth.

7. The method of claim 1 wherein said spatial orientation is pitch and roll of the trenching machine relative to earth.

8. The method of claim 1 wherein said at least one global navigation system receiver is a pair of global navigation system receivers, and said method further comprises determining at least roll from differences in coordinate positions provided by said pair of global navigation system receivers.

9. The method of claim 1 wherein said current measurement is linear travel of digging implement relative to a frame of the trenching machine.

10. The method of claim 1 wherein said current position of the cutting edge is provided with at least three coordinate dimensions.

11. The method of claim 1 wherein said current position of the cutting edge is provided with at least three coordinate dimension of the type selected from Cartesian (x, y, and z), ground surveying (North, East, Elevation), and geographical (longitude, latitude, and elevation).

12. The method of claim 1 wherein said calibration information includes a radius of the digging implement about a rotating axis, distance of a center of said rotating axis to said first sensor, and mounting locations of said first and second sensors and said at least one global navigation system receiver relative to a position on the trenching machine.

13. The method of claim 1 wherein the current position of the cutting edge is provided in part by finding a corresponding measurement in a lookup-table for the current measurement provided by the first sensor.

14. The method of claim 1 wherein the current position of the cutting edge is provided in part by using a relationship between a radius of the digging implement about a rotating axis, distance of a center of said rotating axis to said first sensor, and mounting locations of said first and second sensors and said at least one global navigation system receiver relative to a position on the trenching machine.

15. The method of claim 1 comprises sending an appropriate adjustment signal to a controller of the trenching machine for adjusting the positioning of the dynamic cutting edge of the digging implement if the positional difference is greater than the predetermined degree of error, wherein said controller uses said adjustment signal to adjust the positioning of at least one ram.

16. The method of claim 1 further comprises providing a first visual indication on a control system user interface when the cutting edge of the digging implement is out of position, and a second visual indication when the cutting edge of the digging implement is positioned according to the desire trench profile.

17. The method of claim 1 further comprises remotely receiving said digital design information.

18. The method of claim 1 wherein said method is running as a guidance control system program enabling a processor to regulating the positioning and orientation of the dynamic cutting edge of the digging implement, and wherein said digital design information is provided in memory accessible by said processor, and said method further comprises receiving said digital design information into said memory.

19. The method of claim 1 further comprises detecting a laser reference with a laser receiver mounted on the trenching machine, but not on the digging implement, to provide additional information regarding the location and elevation of the trenching machine.

20. A guidance control system for controlling the positioning of a cutting edge of a digging implement mounted to a frame of a trenching machine and adjustably moveable by an actuating mechanism in order to control the working of a subsurface of earth to a desired trench profile, said guidance control system comprising:

a first sensor adapted to generate a first signal indicative of pitch of the digging implement relative to the frame of the trenching machine;

a second sensor adapted to generate a second signal indicative of a spatial orientation of the trenching machine relative to earth;

at least one global navigational system receiver adapted to generate a third signal indicative of a global position of the trenching machine; and

a processor electrically coupled to said actuating mechanism and said sensor system and programmed to control the positioning of said cutting edge of said digging implement by controlling the activation of said actuating mechanism in response to at least said first signal from said first sensor, at least said second signal from said second sensor, and at least said third signal from said at least one global navigational system receiver.

21. The control system of claim 20, wherein said first sensor comprises an encoder.

22. The control system of claim 20, wherein said first sensor comprises an encoder selected from the group consisting of a linear encoder and a resistive potentiometer.

23. The control system of claim 20, wherein said second sensor comprises a gravity-based sensor.

24. The control system of claim 20, wherein said second sensor is selected from the group consisting of a slope sensor, an inclinometer, an accelerometer, and a pendulum sensor.

25. The control system of claim 20, wherein said at least one global navigational system receiver comprises a pair of laterally spaced global navigational system receivers.

26. The control system of claim 20, wherein said at least one global navigational system receiver comprises a pair of laterally spaced global navigational system receivers, and said processor is adapted to determine at least roll from differences in coordinate positions provided by said pair of global navigation system receivers via said third signal.

27. The control system of claim 20, wherein said sensor system further comprises a third sensor mounted on the trenching machine but not the digging implement generating a fourth signal indicative of relative height of the trenching machine, and wherein said processor is programmed to control the positioning of said cutting edge of said digging implement by controlling the activation of the actuating mechanism in response to said first signal from said first sensor, said second signal from said second sensor, said third signal from said at least one global navigational system receiver, and said fourth signal from said third sensor.

28. The control system of claim 20, wherein the digging implement is a digging chain.

29. The control system of claim 20, wherein the trenching machine is a track trencher.

30. The control system of claim 20, wherein said guidance control system further comprises a data transceiver, said guidance control system being adapted to received digital information providing said desired trench profile via said data transceiver.

31. An trenching machine comprising:

a vehicle having a frame;

an digging implement coupled to said frame and adjustably moveable with respect to said frame by an actuating mechanism; and

a guidance control system arranged to control a positioning and orientation of said digging implement in order to control the working of a subsurface of earth to a desired trench profile, said guidance control system comprising;

a first sensor adapted to generate a first signal indicative of pitch of the digging implement relative to the frame of the trenching machine;

a second sensor adapted to generate a second signal indicative of a spatial orientation of the trenching machine relative to earth;

at least one global navigational system receiver adapted to generate a third signal indicative of a global position of the trenching machine; and

a processor electrically coupled to said actuating mechanism and said sensor system and programmed to control the positioning of said cutting edge of said digging implement by controlling the activation of said actuating mechanism in response to at least said first signal from said first sensor, at least said second signal from said second sensor, and at least said third signal from said at least one global navigational system receiver.

32. The trenching machine of claim 31, wherein said first sensor comprises an encoder.

33. The trenching machine of claim 31, wherein said first sensor comprises an encoder selected from the group consisting of a linear encoder and a resistive potentiometer.

34. The trenching machine of claim 31, wherein said second sensor comprises a gravity-based sensor.

35. The trenching machine of claim 31, wherein said second sensor is selected from the group consisting of a slope sensor, an inclinometer, an accelerometer, and a pendulum sensor.

36. The trenching machine of claim 31, wherein said at least one global navigational system receiver comprises a pair of laterally spaced global navigational system receivers.

37. The trenching machine of claim 31, wherein said at least one global navigational system receiver comprises a pair of laterally spaced global navigational system receivers, and said processor is adapted to determine at least roll from differences in coordinate positions provided by said pair of global navigation system receivers via said third signal.

38. The trenching machine of claim 31, wherein said sensor system further comprises a third sensor mounted on the trenching machine but not the digging implement generating a fourth signal indicative of relative height of the trenching machine, and wherein said processor is programmed to control the positioning of said cutting edge of said digging implement by controlling the activation of the actuating mechanism in response to said first signal from said first sensor, said second signal from said second sensor, said third signal from said at least one global navigational system receiver, and said fourth signal from said third sensor.

39. The trenching machine of claim 31, wherein the digging implement is a digging chain.

40. The trenching machine of claim 31, wherein the trenching machine is a track trencher.

41. The trenching machine of claim 31, wherein said guidance control system further comprises a data transceiver, said guidance control system being adapted to received digital information providing said desired trench profile via said data transceiver.

42. The trenching machine of claim 31, wherein said guidance control system is adapted to automatically maintain said digging implement positioned in accordance with said desire trench profile.