Boom-mounted machine locating system

• US 8,515,671 B2
• Filed: 09/13/2012
• Issued: 08/20/2013
• Est. Priority Date: 04/27/2006
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Politick, Martin Joseph Nicolas Andre Eric, Levchenko, Yuri
• Primary Examiner(s): Jen, Ian
• Application Number:
  US13/614,955
• Publication Number:
  US 20130006467A1
• Time in Patent Office: 341 Days
• Field of Search: 701/50, 701468-470
• US Class Current: 701/469
• CPC Class Codes: E02F 3/43 Control of dipper or bucket position; Control of sequence of drive operations
• CPC Class Codes: E02F 3/46 with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor E02F3/205, E02F3/905 take precedence
• CPC Class Codes: E02F 3/48 Drag-lines
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence
• CPC Class Codes: E02F 9/2037 Coordinating the movements of the implement and of the frame
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

A locating system for a machine having a boom is disclosed. The locating system has a first GPS unit and a second GPS unit. The second GPS unit is located on the boom.

Claims

1. A locating system for a machine having a boom connected to a rotating body, the locating system comprising:

a first GPS unit associated with the body, the first GPS unit being operable to generate a first signal indicative of a position of the first GPS unit;

a second GPS unit located on the boom, the second GPS unit being operable to generate a second signal indicative of a position of the boom; and

a controller in communication with the first and second GPS units, and configured to receive the first and second signals.

2. The locating system of claim 1, wherein the second GPS unit is located on a tip end of the boom.

3. The locating system of claim 1, wherein the first GPS unit is operable to generate a signal indicative of a position of the body.

4. The locating system of claim 1, wherein the body is connected to a base, and is configured to rotate relative to the base about an axis of the machine.

5. The locating system of claim 4, wherein the body includes a gantry member disposed proximate the axis and extending in a vertical direction relative to the base, the first GPS unit being positioned to rotate with the gantry member relative to the base.

6. The locating system of claim 5, wherein the machine includes a tool, and a cable extending from the gantry member over a tip of the boom to the tool,

the gantry member being disposed rearward of the boom relative to the tool, and the first GPS unit being located at a tip end of the gantry member.

7. The locating system of claim 5, wherein the controller is configured to determine a position of the body based on the first signal and a geometry of the gantry member.

8. The locating system of claim 1, wherein the controller is configured to determine at least one of a heading and a pitch angle of the machine based on the first and second signals.

9. The locating system of claim 1, wherein the controller is configured to:

compare a second signal generated during a loaded operation of the boom to a second signal generated during an unloaded operation of the boom; and

determine an amount of flexing of the boom based the comparison.

10. A locating system for a machine having a base, a body rotatable with respect to the base, a boom pivotally connected to the body, and a gantry member extending substantially vertically from the body rearward of the boom, the locating system comprising:

a first GPS unit positioned to rotate with the body relative to the base, the first GPS unit being operable to generate a first signal indicative of a position of the body;

a second GPS unit positioned to pivot with the boom relative to the body, the second GPS unit being operable to generate a second signal indicative of a position of the boom; and

a controller in communication with the first and second GPS units, the controller configured to,

compare at least two second signals received from the second GPS unit, and

determine an amount of flexing of the boom based on the comparison.

11. The locating system of claim 10, wherein the first GPS unit is positioned to rotate with the gantry member relative to the base.

12. The locating system of claim 10, wherein the first GPS unit is located at a tip end of the gantry member, and the gantry member is substantially aligned with an axis of the machine about which the body rotates with respect to the base.

13. The locating system of claim 10, further including a display system in communication with the controller, the display system being configured to graphically display the amount of flexing of the boom.

14. The locating system of claim 13, wherein the display system is further configured to display a positional characteristic of the machine, wherein the positional characteristic is determined by the controller based on at least one of the first and second signals.

15. The locating system of claim 14, wherein the positional characteristic comprises a location of the machine relative to a work surface on which the machine is disposed.

16. The locating system of claim 14, wherein the positional characteristic comprises a pitch angle warning, and wherein the pitch angle warning is generated by the controller in response to a determination that a pitch angle of the machine exceeds a maximum pitch angle.

17. The locating system of claim 10, wherein the at least two second signals comprise a second signal generated during a loaded operation of the boom and a second signal generated during an unloaded operation of the boom.

18. A method of locating a machine having a boom, the method comprising:

generating, with a first GPS unit associated with a body of the machine, a first signal indicative of a position of the first GPS unit;

generating, with a second GPS unit located on the boom, a second signal indicative of a position of the boom;

receiving the first and second signals; and

determining the location of the machine, relative to a work surface on which the machine is disposed, based on at least one of the first and second received signals.

19. The method of claim 18, further including

generating a second signal with the second GPS unit during a loaded operation of the boom,

generating a second signal with the second GPS unit during an unloaded operation of the boom,

comparing the second signal generated during the loaded operation of the boom to the second signal generated during the unloaded operation of the boom, and

determining an amount of flexing of the boom based on the comparison.

20. The method of claim 18, further including displaying a positional characteristic of the machine, wherein the positional characteristic is determined based on the at least one of the first and second received signals.