Method and apparatus for machine element control

• US 7,168,174 B2
• Filed: 03/14/2005
• Issued: 01/30/2007
• Est. Priority Date: 03/14/2005
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Piekutowski, Richard Paul
• Primary Examiner(s): Fulton; Christopher W.
• Application Number:
  US11/079,846
• Publication Number:
  US 20060201007A1
• Time in Patent Office: 687 Days
• Field of Search: None
• US Class Current: 33/286
• CPC Class Codes: E01C 19/006 by laser or ultrasound
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams

Abstract

A method of monitoring the location, and the orientation of a machine element, and apparatus for monitoring and controlling the operation of the machine include a robotic total station and a plurality of targets in known positions relative to the machine element. The total station, located at a known location near the machine element, repeatedly, successively determines the location of each target. Acquisition and re-acquisition of the targets is aided by stored data regarding the prior locations and movements of the targets. Further, active targets may be used to facilitate re-acquisition. The operation of the machine is controlled based upon the location and orientation of the machine element.

Claims

1. A method of monitoring the location, and the orientation of a machine element, comprising:

providing a plurality of targets in known positions relative to the machine element,

providing a total station at a known location near said machine element,

repeatedly, successively determining a measured location of each target using said total station,

determining orientation of said machine element based on the measured locations of said plurality of targets,

determining predicted future locations of said targets, and reacquiring each of said targets using said predicted future locations.

2. The method of claim 1 in which the step of repeatedly, successively determining a measured location of each target using said total station comprises directing a beam of laser light from said total station repeatedly in succession to each of said plurality of targets, and measuring distances from said total station to each of said plurality of targets and directions to each of said plurality of targets.

3. The method of claim 1, in which the step of repeatedly, successively determining a measured location of each target using said total station comprises directing a beam of laser light from said total station to said targets by acquiring said targets in succession.

4. The method of claim 1, in which the step of providing a plurality of targets in known positions with respect to the machine element comprises the step of providing a pair of targets that are fixed in known positions on said machine element and moveable with said machine element.

5. The method of claim 4, in which the step of providing a pair of targets that are fixed in known positions on said machine element and moveable with said machine element comprises the step of providing a pair of targets that are fixed in symmetrical positions with respect to said machine element.

6. The method of claim 1, further comprising storing the measured locations of each of said targets and movement history of each of said targets.

7. A method of controlling the movement of a machine element, comprising:

providing a plurality of targets in known positions with respect to a moving machine element,

providing a total station at a known location near said moving machine element,

repeatedly, successively determining a measured location of each target using said total station,

transmitting the measured location of each target determined by the total station from the total station to the machine,

at the machine, determining orientation of said machine element based on the measured locations of said targets,

at the machine controlling movement of the machine element in response to the measured locations of said targets and the determined orientation of said machine element,

determined predicted future locations of said targets, and reacquiring each of said targets using said predicted future locations.

8. The method of claim 7, in which the step of repeatedly, successively determining a measured location of each target using said total station comprises directing a beam of laser light from said total station repeatedly in succession to each of said plurality of targets, and measuring the distances from said total station to each of said plurality of targets and the directions to each of said plurality of targets.

9. The method of claim 7, in which the step of repeatedly, successively determining a measured location of each target using said total station comprises directing a beam of laser light from said total station to said targets by acquiring said targets in succession.

10. The method of claim 7, in which the step of providing a plurality of targets in known positions with respect to said machine element comprises the step of providing a pair of targets that are fixed in known positions on said machine element and moveable with said machine elements.

11. The method of claim 10, in which the step of providing a pair of targets that are fixed in known positions on said machine element and moveable with said machine element comprises the step of providing a pair of targets that are fixed in symmetrical positions with respect to said machine element.

12. The method of claim 7, further comprising storing the measured location of each of said targets and movement history of each of said targets.

13. A system controlling the movement of a machine element on a machine comprising:

a control on said machine controlling said machine element;

a plurality of targets mounted in known positions with respect to a moving machine element; and

a total station positioned at a known location near said moving machine element, said total station including

a laser light source providing a beam of laser light on said targets.

a target prediction unit predicting future locations of each of said targets based on previous locations and movement of the targets,

a beam control directing the beam of laser light on said targets and repeatedly, successively reacquiring each of the targets based on said predicted future location, and

a transmitter transmitting measured locations of each of the targets to the control on said machine, said control using the measured locations of the targets to determine the location, orientation, and movement of the machine element.

14. The system of claim 13, in which the total station further includes a measurement unit for measuring the distances from said total station to each of said targets and the directions to each of said targets.

15. The system of claim 13, in which said plurality of targets comprises a pair of targets.