Method and apparatus for calibrating a tool positioning mechanism on a mobile machine

• US 6,253,160 B1
• Filed: 01/15/1999
• Issued: 06/26/2001
• Est. Priority Date: 01/15/1999
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Hanseder, Anthony
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): Mull, Fred H.
• Application Number:
  US09/232,432
• Time in Patent Office: 893 Days
• Field of Search: 342/357.05, 342/357.17, 342/450, 342/457, 702/94, 702/95, 701/50
• US Class Current: 702/95
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 3/439 Automatic repositioning of the implement, e.g. automatic dumping, auto-return E02F3/438 takes precedence
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Abstract

A method and apparatus for calibrating sensors of a tool positioning mechanism on a mobile machine are provided. The mobile machine includes a tool, a tool positioning mechanism having a plurality of sensors for providing signals indicative of the physical configuration of the mechanism, a satellite positioning system, and a plurality of positioning system antennas. One of the antennas is detachably mounted on the tool while an other antenna is mounted to a location on the machine other than on the tool. With the positioning mechanism configured so that the tool is at its maximum height, the satellite positioning system is operated to acquire real-time kinematic (RTK) data from the antennas and to process the RTK data to precisely determine the position of the tool. The sensors are then calibrated based on the precisely determined position of the tool.

Claims

1. A mobile unit comprising:

a tool;

a mechanism for positioning the tool;

a sensor providing signals indicative of a physical configuration of the mechanism;

a satellite positioning system configured to acquire positioning data while the mechanism is in a predetermined configuration and to precisely determine the position of the tool; and

a processor configured to cause the sensor to be calibrated based on a position of the tool determined by the satellite positioning system.

2. A mobile unit as recited in claim 1, further comprising a plurality of antennas coupled to the satellite positioning system, wherein the positioning data is associated with the plurality of antennas.

3. A mobile unit as recited in claim 2, wherein one of the plurality of antennas is mounted to the tool and another of the plurality of antennas is mounted to a location on the machine other than on the tool.

4. A mobile unit as recited in claim 2, wherein the positioning data comprises real-time kinematic (RTK) data.

5. A mobile unit as recited in claim 2, wherein the satellite positioning system is further configured to compute a vector between the first and second antennas to precisely determine the position of the tool.

6. A mobile machine comprising:

a tool;

a mechanism for positioning the tool;

a sensor providing signals indicative of a physical configuration of the mechanism;

a positioning system operable to acquire positioning data while the mechanism is in a predetermined configuration;

means for processing the positioning data to precisely determine the position of the tool; and

means for calibrating the sensor based on the precisely determined position of the tool.

7. A mobile machine as recited in claim 6, wherein the positioning system comprises a satellite positioning system.

8. A mobile machine as recited in claim 6, further comprising a plurality of antennas coupled to the positioning system, wherein the positioning data is associated with each of the plurality of antennas.

9. A mobile machine as recited in claim 8, wherein one of the plurality of antennas is mounted to the tool and another of the plurality of antennas is mounted to a location on the machine other than on the tool.

10. A mobile machine as recited in claim 6, wherein the positioning data comprises real-time kinematic (RTK) data.

11. A mobile machine as recited in claim 6, wherein said means for processing the positioning data to precisely determine the position of the tool comprises means for computing a vector between the first and second antennas.

12. A mobile machine comprising:

a tool;

a mechanism for positioning the tool;

a plurality of sensors providing signals indicative of a physical configuration of the mechanism;

a plurality of positioning system antennas;

a positioning system configured to acquire real-time kinematic (RTK) data associated with each of the antennas while the mechanism is in a predetermined configuration and to precisely determine the position of the tool based on the RTK data; and

a processor configured to cause the sensors to be calibrated based on the precisely determined position of the tool.

13. A mobile machine as recited in claim 12, wherein one of the plurality of antennas is mounted to the tool and another of the plurality of antennas is mounted to a location on the machine other than on the tool.

14. A mobile machine as recited in claim 12, further comprising means for precisely determining the position of the tool based on a computed vector between the plurality of antennas.

15. A mobile machine as recited in claim 12, wherein the positioning system comprises a satellite positioning system.

16. A mobile machine comprising:

a tool;

means for positioning the tool;

a plurality of sensors providing signals indicative of a physical configuration of the means for positioning the tool;

a first antenna mounted to the tool;

a second antenna mounted to the machine at a location other than on the tool;

processing means coupled to the first and second antennas for acquiring real-time kinematic (RTK) data associated with the first and second antennas while the means for positioning the tool is in a predetermined configuration and for precisely determining the position of the tool based on the RTK data; and

calibration means for calibrating the sensors based on the precisely determined position of the tool.

17. A mobile machine as recited in claim 16, wherein the processing means comprises means for precisely determining the position of the tool based on a computed vector between the plurality of antennas.

18. A mobile machine as recited in claim 16, wherein the processing means comprises a satellite positioning system.

19. In a mobile unit equipped with a tool and a mechanism for positioning the tool, a method of calibrating the mechanism, the mechanism having a plurality of sensors providing signals indicative of a physical configuration of the mechanism, the method comprising:

using an on-board satellite positioning system to acquire positioning data while the mechanism is in a predetermined configuration;

processing the positioning data to precisely determine the position of the tool; and

calibrating the sensors based on the precisely determined position of the tool.

20. A method as recited in claim 19, wherein said using the on-board satellite positioning system to acquire positioning data comprises using the on-board satellite positioning system to acquire data associated with a plurality of on-board antennas.

21. A method as recited in claim 20, wherein said processing the positioning data to precisely determine the position of the tool comprises computing a vector between the first and second antennas.

22. A method as recited in claim 20, wherein one of the plurality of antennas is mounted to the tool and another of the plurality of antennas is mounted to a location on the machine other than on the tool.

23. A method as recited in claim 20, wherein said using the on-board satellite positioning system to acquire positioning data comprises using the on-board satellite positioning system to acquire real-time kinematic (RTK) data.

24. In a mobile machine equipped with a tool and a mechanism for positioning the tool, a method of calibrating the mechanism, the mechanism having a plurality of sensors for providing signals indicative of a physical configuration of the mechanism, the machine further equipped with a satellite positioning system coupled to first and second antennas, one of the first and second antennas mounted to the tool, the other of the first and second antennas mounted to a location on the machine other than on the tool, the method comprising:

using the positioning system to acquire data associated with both the first and second antennas while the mechanism is in a predetermined configuration;

processing the data to precisely determine the height of the tool; and

calibrating the sensors based on the precisely determined height of the tool.

25. A method as recited in claim 24, wherein the data comprises real-time kinematic (RTK) data.

26. A method as recited in claim 24, wherein said processing the data to precisely determine the height of the tool comprises computing a vector between the first and second antennas.

27. A method as recited in claim 24, wherein the positioning system comprises a Global Positioning System (GPS) receiver system.

28. In a mobile machine equipped with a tool and a mechanism for positioning the tool, a method of calibrating the mechanism, the mechanism having a plurality of sensors for providing signals indicative of a physical configuration of the mechanism, the machine further equipped with a satellite positioning system coupled to first and second antennas, one of the first and second antennas mounted to the tool, the other of the first and second antennas mounted to a location on the machine other than on the tool, the method comprising:

operating the receiver system to acquire real-time kinematic (RTK) data associated with both the first and second antennas while the mechanism is in a predetermined configuration;

operating the receiver system to process the RTK data to precisely determine the position of the tool; and

operating an on-board tool control system to calibrate the sensors based on the precisely determined position of the tool.

29. A method as recited in claim 28, wherein said using the GPS receiver system to process the RTK data to precisely determine the position of the tool comprises operating the GPS receiver system to compute a vector between the first and second antennas.

30. A method as recited in claim 28, wherein the receiver system comprises a Global Positioning system receiver system.

31. In a mobile machine equipped with a tool and a mechanism for positioning the tool, a method of calibrating the mechanism, the mechanism having a plurality of sensors for providing signals indicative of a physical configuration of the mechanism, the machine further equipped with a first positioning system antenna coupled to a positioning system receiver system, the first positioning system antenna mounted to the machine in a location other than on the tool, the method comprising:

attaching a second positioning system antenna to the tool;

coupling the second positioning system antenna to the receiver system;

placing the mechanism in a predetermined configuration;

using the receiver system to acquire data associated with both the first and second antennas while the mechanism is in the predetermined configuration;

using the receiver system to process the data to precisely determine the height of the tool; and

using an on-board tool control system to calibrate the sensors based on the precisely determined height of the tool.

32. A method as recited in claim 31, wherein the data comprises real-time kinematic (RTK) data.

33. A method as recited in claim 31, wherein said using the GPS receiver system to process the data to precisely determine the height of the tool comprises operating the GPS receiver system to compute a vector between the first and second antennas.

34. A method as recited in claim 31, wherein the receiver system comprises a satellite positioning system receiver system.

35. In a mobile machine equipped with a tool and a mechanism for moving the tool, a method of calibrating the mechanism, the mechanism having a plurality of sensors for providing data indicative of a physical configuration of the mechanism, the machine further equipped with a first Global Positioning System (GPS) antenna coupled to a GPS receiver system, the first GPS antenna mounted to the machine in a location other than on the tool, the method comprising:

attaching a second GPS antenna to the tool;

coupling the second GPS antenna to the GPS receiver system;

operating the mechanism to position the tool at a maximum height;

using the GPS receiver system to acquire real-time kinematic (RTK) data associated with both the first and second antennas while the tool is extended to the maximum height;

using the GPS receiver system to process the RTK data to precisely determine the height of the tool, including operating the GPS receiver system to compute a vector between the first and second antennas; and

using an on-board tool control system to calibrate the sensors based on the precisely determined height of the tool.