Method and apparatus for determining the location of a work implement

• US 5,404,661 A
• Filed: 05/10/1994
• Issued: 04/11/1995
• Est. Priority Date: 05/10/1994
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Gudat, Adam J., Henderson, Daniel E., Sahm, William C.
• Primary Examiner(s): Taylor, Dennis L.
• Assistant Examiner(s): PEZZUTO, ROBERT ERIC
• Application Number:
  US08/240,348
• Time in Patent Office: 336 Days
• Field of Search: 342/25, 342/149, 342/174, 342/191, 342/357, 364/DIG. 1, 364/232.9, 364/230.2, 364/424, 364/458, 364/424.07, 37/348, 37/349, 37/103, 37/905, 111/903, 111/904, 172/4.5, 172/7
• US Class Current: 37/348
• CPC Class Codes: E02F 3/427 with mechanical drives by cables or hoisting ropes E02F3/46 take precedence
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: Y10S 37/905 Nondredge excavating by fluid contact or explosion

Abstract

An apparatus for determining the location of a work implement at a work site is provided. The apparatus includes an undercarriage, a car body rotatably connected to the undercarriage, a boom connected to the car body, a stick connected to the boom, a work implement connected to the stick, and a positioning system including a receiver connected to the stick and a processor for determining the location of the receiver in three dimensional space at a plurality of points as the car body is rotated and for determining the location and orientation of the work implement.

Claims

1. An apparatus for determining the location of a digging implement at a work site, comprising:

an undercarriage;

a car body rotatably connected to said undercarriage;

a boom connected to said car body;

a stick connected to said boom;

a work implement connected to said stick;

means for rotating said car body; and

a positioning system including a receiver connected to said stick and a processing means for determining the location of said receiver in three dimensional space at a plurality of points as said car body is rotated and for determining the location and orientation of said work implement in response to the location of said plurality of points.

2. An apparatus, as set forth in claim 1, wherein said processing means includes means for determining the center and radius of rotation of said receiver as said car body rotates and the height of the plane of rotation of said receiver above the ground.

3. An apparatus, as set forth in claim 1, wherein said stick is pivotally and slidably connected to said boom.

4. An apparatus, as set forth in claim 1, including a storage device in which a site survey of the work site is stored;

and

display means for indicating the location of said work implement in the work site.

5. An apparatus, as set forth in claim 4, wherein said display means includes means for displaying ore locations and overburden locations at the work site.

6. An apparatus, as set forth in claim 4, wherein said display means includes means for displaying areas that remain to be excavated and areas that have been excavated.

7. An apparatus, as set forth in claim 4, wherein said display means includes means for indicating bench slope and elevation.

8. An apparatus, as set forth in claim 1, including means for determining when said work implement is being loaded.

9. An apparatus, as set forth in claim 1, wherein said receiver is located substantially on a centerline extending through said stick in a plane substantially perpendicular to the plane of rotation of said car body.

10. An apparatus, as set forth in claim 1, where wherein said receiver is substantially displaced laterally from a centerline extending through said stick in a plane being substantially perpendicular to the plane of rotation of said car body.

11. An apparatus for determining the location of a digging implement at a work site, comprising:

an undercarriage;

a car body rotatably connected to said undercarriage;

a boom connected to said car body;

a stick connected to said boom;

a work implement connected to said stick;

means for rotating said car body;

a positioning system including a receiver connected to said stick;

an initialization means for determining the location and orientation of said car body when the undercarriage has been moved, said initialization means including a processing means for determining the location of said receiver in three dimensional space at a plurality of points as said car body is rotated and determining the location and orientation of said work implement in response to the location of said plurality of points; and

means for tracking the location of said work implement throughout a work cycle in response to the location of said receiver.

12. An apparatus, as set forth in claim 11, including means for tracking the location of the digging implement as the undercarriage is moved.

13. An apparatus, as set forth in claim 11, wherein said stick is rotatably and slidably connected to said boom.

14. An apparatus, as set forth in claim 11, wherein said stick is at a known point of extension during initialization.

15. An apparatus for determining the location of a digging implement at a work site, comprising:

an undercarriage;

a car body rotatably connected to said undercarriage;

a boom connected to said car body;

a stick connected to said boom;

a work implement connected to said stick;

means for rotating said car body;

means for applying force to said work implement;

means for sensing power being delivered to said work implement and responsively producing a digging signal;

a positioning system including a receiver connected to said stick and a processing means for determining the location of said receiver in three dimensional space at a plurality of points;

means for determining the location of said work implement in response to the location of said plurality of points; and

means for determining the location of material being excavated from the work site in response to said digging signal and the location of said work implement.

16. An apparatus, as set forth in claim 15, including a storage device in which a site survey of the work site is stored;

and

display means for indicating the location of said work implement in the work site.

17. An apparatus, as set forth in claim 16, wherein said display means includes means for displaying ore locations and overburden locations at the work site.

18. An apparatus, as set forth in claim 16, wherein said display means includes means for displaying areas that remain to be excavated and areas that have been excavated.

19. An apparatus, as set forth in claim 16, wherein said display means includes means for indicating bench slope and elevation.

20. An apparatus, as set forth in claim 15, including means for determining when said work implement is being loaded.

21. A method for determining the location of a mining shovel at a work site, the mining shovel including an undercarriage, a car body rotatably connected to the undercarriage, a boom connected to the car body, a stick connected to the boom, and a work implement connected to the stick, comprising the steps of:

rotating the car body;

receiving signals from an external reference source;

determining the position of a point on the stick in response to the received signals;

determining the location of the point on the stick in three dimensional space at a plurality of points as said car body is rotated; and

determining the location and orientation of the work implement in response to the location of the plurality of points.

22. A method, as set forth in claim 21, including the steps of determining the center and radius of rotation of said receiver as said car body rotates and the height of the plane of rotation of said receiver above the ground.

23. A method, as set forth in claim 21, including the step of displaying the location of the work implement in the work site.

24. A method, as set forth in claim 23, including the step of displaying ore locations and overburden locations at the work site.

25. A method, as set forth in claim 23, including the step of displaying areas that remain to be excavated and areas that have been excavated.

26. A method, as set forth in claim 21, including the step of determining when the work implement is being loaded.

27. A method for determining the location of a mining shovel at a work site, the mining shovel including an undercarriage, a car body rotatably connected to the undercarriage, a boom connected to the car body, a stick connected to the boom, and a work implement connected to the stick, comprising the steps of:

rotating the car body;

receiving signals from an external reference source;

determining the position of a point on the stick in response to the received signals;

initializing the determining the location and orientation of the car body after the undercarriage has been moved, said initializing step including the steps of determining the location of said point on the stick in three dimensional space at a plurality of points as said car body is rotated and determining the location and orientation of the work implement in response to the location of the plurality of points; and

tracking the location of the work implement throughout a work cycle in response to the location of the point on the stick.

28. A method, as set forth in claim 27, including the step of tracking the location of the digging implement as the undercarriage is moved.

29. A method for determining the location of a mining shovel at a work site, the mining shovel including an undercarriage, a car body rotatably connected to the undercarriage, a boom connected to the car body, a stick connected to the boom, and a work implement connected to the stick, comprising the steps of:

rotating the car body;

receiving signals from an external reference source;

determining the position of a point on the stick in response to the received signals;

determining the location of the point on the stick in three dimensional space at a plurality of points as said car body is rotated; and

determining the location of the work implement in response to the location of the plurality of points.

applying force to the work implement;

sensing the amount of power being delivered to the work implement and responsively producing a digging signal; and

determining the location of material being excavated from the work site in response to the digging signal and the location of the work implement.

30. A method, as set forth in claim 29, including the step of displaying the location of the work implement in the work site.

31. A method, as set forth in claim 30, including the step of displaying ore locations and overburden locations at the work site.

32. A method, as set forth in claim 30, including the step of displaying areas that remain to be excavated and areas that have been excavated.

33. A method, as set forth in claim 30, including the step of indicating bench slope and elevation.

34. A method, as set forth in claim 29, the step of determining when said work implement is being loaded.