Three dimensional feature location and characterization from an excavator

• US 9,464,408 B2
• Filed: 07/17/2014
• Issued: 10/11/2016
• Est. Priority Date: 10/26/2007
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Montgomery, James Leonard
• Primary Examiner(s): Chowdhury, Tarifur
• Assistant Examiner(s): AKANBI, ISIAKA O
• Application Number:
  US14/334,264
• Publication Number:
  US 20140330508A1
• Time in Patent Office: 817 Days
• Field of Search: 356/3, 356/3.03
• US Class Current: 1/1
• CPC Class Codes: E02F 9/245 for preventing damage to underground objects during excavation, e.g. indicating buried pipes or the like detection of pipes in the ground F16L1/11
• CPC Class Codes: E02F 9/261 Surveying the work-site to be treated
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool
• CPC Class Codes: G01C 21/04 by terrestrial means G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 19/072 Ionosphere corrections
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

A system for locating a work vehicle at a job site, locating a topographic feature with respect to the work vehicle, and further characterizing the topographic feature from the work vehicle.

Claims

1. A work vehicle for locating and characterizing a topographic feature at a job site, the work vehicle including:

a chassis;

a tool moveably coupled to the chassis to move material at the job site;

a vehicle locating system configured to locate the work vehicle at the job site;

a feature locating system configured to locate the topographic feature relative to the work vehicle; and

a controller in communication with the vehicle locating system and the feature locating system, the controller configured to associate at least one characteristic of the topographic feature with a location of the topographic feature;

wherein the at least one characteristic of the topographic feature includes a length dimension between two locations of the topographic feature relative to the feature locating system.

2. The work vehicle of claim 1, further including at least one user input device in communication with the controller, wherein the controller receives the at least one characteristic of the topographic feature from the at least one user input device.

3. The work vehicle of claim 2, wherein the at least one user input device is a touchscreen, a keyboard, a microphone, or a computer mouse.

4. The work vehicle of claim 1, wherein the at least one characteristic of the topographic feature includes a description identifying the topographic feature.

5. The work vehicle of claim 1, wherein the at least one characteristic of the topographic feature includes a symbol identifying the topographic feature.

6. The work vehicle of claim 5, wherein the symbol is selected from a menu of available symbols.

7. The work vehicle of claim 1, wherein the at least one characteristic of the topographic feature includes another dimension of the topographic feature.

8. The work vehicle of claim 7, wherein the controller calculates the dimension based at least in part on a first location of the topographic feature from the feature locating system and a second location of the topographic feature from the feature locating system.

9. The work vehicle of claim 8, wherein the length of the topographic feature is measured between the first location and the second location.

10. The work vehicle of claim 7, wherein the topographic feature is a stockpile of material, and wherein the other dimension is a volume of the stockpile.

11. The work vehicle of claim 1, wherein the feature locating system includes a laser rangefinder.

12. The work vehicle of claim 1, wherein the feature locating system includes a tooth of the tool.

13. The work vehicle of claim 1, wherein the controller determines the location of the topographic feature relative to the work vehicle based on a plurality of offsets between the vehicle locating system and the feature locating system.

14. A work vehicle for locating and characterizing a topographic feature at a job site, the work vehicle including:

a chassis;

a tool moveably coupled to the chassis to move material at the job site; and

a controller having a memory with software, the software including instructions that, when interpreted by the controller, perform the steps of;

determining a location of the work vehicle at the job site;

determining a location of the topographic feature relative to the work vehicle; and

creating a record of the topographic feature including the location of the topographic feature and at least one characteristic of the topographic feature;

wherein the at least one characteristic of the topographic feature includes a length dimension between two locations of the topographic feature relative to the feature locating system.

15. The work vehicle of claim 14, wherein the step of creating the record comprises producing an as-built drawing.

16. The work vehicle of claim 14, wherein the step of creating the record comprises displaying the at least one characteristic of the topographic feature on a map at the location of the topographic feature.

17. The work vehicle of claim 14, wherein the at least one characteristic of the topographic feature further comprises a description, an identification, or another dimension of the topographic feature.

18. A method for locating and characterizing a topographic feature at a job site from a work vehicle, the work vehicle having a chassis and a tool moveably coupled to the chassis, the method including the steps of:

locating the work vehicle at the job site;

locating the topographic feature relative to the work vehicle by determining a first location of the topographic feature relative to the work vehicle and a second location of the topographic feature relative to the work vehicle;

calculating a distance between the first location and the second location to determine a length of the topographic feature; and

associating the length of the topographic feature with a location of the topographic feature from the locating step.

19. The method of claim 18, wherein the step of locating the topographic feature relative to the work vehicle includes:

illuminating the topographic feature with a laser rangefinder;

or

placing the tool at the topographic feature.