Device and method for determining the position of a working part

• US 7,139,662 B2
• Filed: 04/28/2005
• Issued: 11/21/2006
• Est. Priority Date: 11/28/1997
• Status: Expired due to Term

• Current Assignee: Trimble AB (Trimble Inc.)
• Original Assignee: Trimble AB (Trimble Inc.)
• Inventors: Hertzman, Mikael, Ericsson, Lars
• Primary Examiner(s): NGUYEN, CUONG H
• Application Number:
  US11/116,845
• Publication Number:
  US 20050187731A1
• Time in Patent Office: 572 Days
• Field of Search: 701/50, 701/2, 701/207, 340/989, 340/991, 340/993
• US Class Current: 701/207
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• 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 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004

Abstract

A device and method for determining the position for a working part of a machine with a position-determining apparatus is disclosed. A detector is placed at a defined place on the machine to determine the position in a fixed coordinate system. A positional relationship device determines the positional relationship of the working part in relation to the detector in a machine-based coordinate system. A calculating device calculates, with signals from the position-determining apparatus and the positional relationship device, the position of the working part in the fixed coordinate system. The position-determining apparatus comprises an inclination- and orientation-measuring device that measures the instantaneous position and orientation of the position of the machine in the fixed coordinate system. The calculating device converts the measuring result from the position-determining apparatus and the positional relationship device to give the instantaneous position and orientation of the working part in the fixed coordinate system.

Claims

1. A system for determining the position of a working part of a tool on a machine comprising:

a position-determining apparatus comprising;

at least one detector placed generally at a designated place on said machine spaced away from said working part of the tool, wherein said position-determining apparatus is configured to provide data corresponding to the position and orientation of said designated place on said machine in a fixed coordinate system;

at least one position relationship device configured to determine a positional relationship of said working part of said tool relative to said designated place on said machine in a machine-based coordinate system;

a calculating device resident on said machine configured to provide at least one of the position and the orientation and inclination of said working part of said tool in said fixed coordinate system based upon the position and orientation of said designated place on said machine in a fixed coordinate system and said positional relationship of said working part of said tool relative to said designated place on said machine in said machine-based coordinate system; and

a geodesic instrument with a target-seeking function for measuring the position of at least one target placed on said machine, wherein said geodesic instrument is placed at a distance from said machine from which said at least one target is easily visible from said geodesic instrument.

2. The system according to claim 1, wherein said geodesic instrument and said machine exchange information wirelessly and bidirectional.

3. The system according to claim 2, wherein said geodesic instrument and said machine exchange information wirelessly via radio communication.

4. The system according to claim 1, wherein said at least one detector is a prism.

5. The system according to claim 1, wherein a select one of said at least one detector is a radio navigation antenna.

6. The system according to claim 1, wherein a select one of said at least one detector is a prism and another select one of said at least one detector is a radio navigation antenna.

7. The system according to claim 1, wherein said calculating device controls the movement of said working part of said tool remotely.

8. The system according to claim 1, wherein said calculating device further comprises:

a stored programmed map of a desired topography of an area which is to be treated, wherein said calculating device computes data for said working part of said tool configured to provide position and angular positions of said working part of said tool relative to said desired topography of said programmed map; and

a presentation device configured to present said desired topography of said programmed map and calculated data.

9. The system according to claim 8, wherein said working part of said tool instantaneously maneuvers based on said calculated data.

10. The system according to claim 8, further comprises:

control equipment which automatically maneuvers said working part of said tool to an intended height and orientation of said desired topography of said stored map based on said calculated data.

11. The system according to claim 10, wherein said control equipment uses hydraulic maneuvering means controlled by said calculating device.

12. The system according to claim 8, wherein said presentation unit displays an instantaneous existing position of said working part of said tool and said machine and an instantaneous deviation of said working part of said tool and said machine from said desired topography of said stored map.

13. The system according to claim 8, wherein said computed data includes instantaneous position, alignment, direction of displacement and speed in said fixed coordinate system of said working part of said tool.

14. The system according to claim 8, wherein said computed data is displayed on said presentation device.

15. The system according to claim 8, wherein said computed data is used to determine work progress of said working part of said tool compared to said desired topography of said stored map.

16. The system according to claim 15, wherein said work progress is displayed continuously on said presentation unit.

17. A system for determining the position of a working part of a tool on a machine comprising:

a position-determining apparatus comprising;

at least one detector placed generally at a designated place on said machine spaced away from said working part of the tool, wherein said position-determining apparatus is configured to provide data corresponding to the position and orientation of said designated place on said machine in a fixed coordinate system;

at least one position relationship device configured to determine a positional relationship of said working part of said tool relative to said designated place on said machine in a machine-based coordinate system;

a calculating device resident on said machine configured to provide at least one of the position and the orientation and inclination of said working part of said tool in said fixed coordinate system based upon the position and orientation of said designated place on said machine in a fixed coordinate system and said positional relationship of said working part of said tool relative to said designated place on said machine in said machine-based coordinate system;

a geodesic instrument with a target-seeking function for measuring the position of at least one target placed on said machine, wherein said geodesic instrument is placed at a distance from said machine from which said at least one target is easily visible from said geodesic instrument.

a stored programmed map of a desired topography of an area which is to be treated, wherein said calculating device computes data for said working part of said tool configured to provide position and angular positions of said working part of said tool relative to said desired topography of said programmed map; and

a presentation device configured to present said programmed map and said position and angular positions of said working part of said tool relative to said desired topography of said programmed map.

18. The system according to claim 17, further comprises:

control equipment which automatically maneuvers said working part of said tool to an intended height and orientation of said desired topography of said stored map based on said computed data.

19. A method for determining the position of a working part of a tool on a machine comprising:

measuring both a position and an orientation of a designated place on said machine spaced away from said working part of the tool and in a fixed coordinate system;

providing a geodesic instrument with target-seeking function, wherein said geodesic instrument measures position and orientation at least one target on said machine and wherein said geodesic instrument is placed at a distance from said machine from which said at least one target is easily visible from said geodesic instrument;

determining a positional relationship of said working part of said tool relative to said designated place in a machine-based coordinate system; and

computing by a calculating device in said fixed coordinate system, at least one of an instantaneous position of said working part of said tool and an instantaneous orientation and inclination of said working part of the tool based upon the position and orientation of said designated place on said machine and said positional relationship of said working part of said tool relative to said designated place on said machine.

20. The method according to claim 19, wherein said geodesic instrument and said machine exchange information wirelessly.

21. The method according to claim 20, wherein said exchange of information occurs bidirectional.

22. A method for determining the position of a working part of a tool on a machine comprising:

measuring both a position and an orientation of a designated place on said machine spaced away from said working part of the tool and in a fixed coordinate system;

providing a geodesic instrument with target-seeking function, wherein said geodesic instrument measures position and orientation of at least one target on said machine and wherein said geodesic instrument is placed at a distance from said machine from which said at least one target is easily visible from said geodesic instrument;

computing by a calculating device in said fixed coordinate system, at least one of an instantaneous position of said working part of said tool and an instantaneous orientation and inclination of said working part of the tool based upon the position and orientation of said designated place on said machine and said positional relationship of said working part of said tool relative to said designated place on said machine;

storing a programmed map of a desired topography of a region which is to be processed in said calculating device; and

displaying position and angular positions of said working part of said tool relative to said desired topography of said programmed map on a presentation device.

23. The method according to claim 22, further comprising:

instantaneously maneuvering said working part of said tool based on said computed data.

24. The method according to claim 22, further comprises:

automatically maneuvering said working part of said tool to an intended height and orientation of said desired topography of said map based on said computed data.

25. The method according to claim 22, further comprises:

automatically controlling said working part of said tool with said calculating device.

26. The method according to claim 25, wherein automatically controlling said working part of said tool with said calculating device occurs remotely.

27. The method according to claim 22, wherein displaying further comprises:

displaying an instantaneous existing position of said working part of said tool and said machine and an instantaneous deviation of said working part of said tool and said machine from said desired topography of said stored map.

28. The method according to claim 22, further comprises:

determining the progress of said working part of said tool compared to said desired topography of said map.

29. The method according to claim 28, wherein displaying includes continuously displaying said work progress on said presentation device.