Method and apparatus for satellite positioning of earth-moving equipment
First Claim
1. Apparatus comprising:
- a first arm;
a second arm rotatably connected to said first arm;
an attachment connected to said second arm;
a first satellite positioning system receive antenna mounted on said second arm;
a second satellite positioning system receive antenna mounted on said second arm;
means for determining the position of said first and second satellite positioning system receive antennas; and
means for determining the position of a portion of said attachment as a function of said position of said first and second satellite positioning system receive antennas;
wherein said first arm comprises a boom of an excavator;
said second arm comprises the stick of said excavator; and
said attachment comprises a bucket of said excavator.
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Accused Products
Abstract
A method and apparatus for using satellite positioning systems to more precisely locate the position of a portion of an attachment on an earthmoving machine is disclosed. More specifically, satellite positioning system antennas are mounted to an arm or other point relative to the arm of an illustrative excavator. A reference point relative to these antennas is used to determine the precise location of a portion of an attachment to the excavator, such as the prongs of a bucket. In one embodiment, an angle sensor or inclinometer is used to ascertain the position of the prongs when the bucket is scooped. In another embodiment, an angle sensor or inclinometer is used to measure the tilt of the body of the excavator, such as would occur when the excavator is resting on a sloped surface.
64 Citations
26 Claims
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1. Apparatus comprising:
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a first arm; a second arm rotatably connected to said first arm; an attachment connected to said second arm; a first satellite positioning system receive antenna mounted on said second arm; a second satellite positioning system receive antenna mounted on said second arm; means for determining the position of said first and second satellite positioning system receive antennas; and means for determining the position of a portion of said attachment as a function of said position of said first and second satellite positioning system receive antennas; wherein said first arm comprises a boom of an excavator;
said second arm comprises the stick of said excavator; and
said attachment comprises a bucket of said excavator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. Apparatus comprising:
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a first arm; a second arm rotatably connected to said first arm; an attachment connected to said second arm; a first satellite positioning system receive antenna attached to a known location relative to said second arm; a second satellite positioning system receive antenna attached to a known location relative to said second arm; a third satellite positioning system receive antenna attached to a known location relative to said second arm; means for determining the position of said first, second, and third satellite positioning system receive antennas; and means for determining the position of a portion of said attachment as a function of said positions of said first, second, and third positioning system receive antennas.
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14. A method for use in controlling an earthmoving machine, said earthmoving machine comprising a first arm, a second arm rotatably connected to said first arm, and an attachment connected to said second arm, said method comprising:
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determining the position of at least two satellite positioning system receive antennas mounted on said second arm; and determining the position of a portion of said attachment as a function of said position of said at least two positioning system receive antennas; wherein said first arm comprises a boom of an excavator, said second arm comprises a stick of said excavator, and said attachment comprises a bucket of said excavator. - View Dependent Claims (15, 16, 17, 18)
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19. An earthmoving machine comprising:
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an arm, said arm comprising a tool; a plurality of satellite positioning system receive antennas, each antenna in said plurality mounted on said arm; at least a first positioning system receiver for determining the position of each antenna in said plurality of antennas; and at least a first circuit for geometrically determining the position of a portion of said tool as a function of the position of said plurality of antennas; wherein said arm comprises a stick of an excavator. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26)
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Specification