System and method for orienting an implement on a vehicle

• US 9,139,977 B2
• Filed: 01/12/2010
• Issued: 09/22/2015
• Est. Priority Date: 01/12/2010
• Status: Active Grant

• Current Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Original Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Inventors: McCain, Steven Daniel, Brabec, Vernon Joseph, Omelchenko, Alexander
• Primary Examiner(s): Chacko, Joe
• Application Number:
  US12/685,855
• Publication Number:
  US 20110169949A1
• Time in Patent Office: 2,079 Days
• Field of Search: 348/148, 348/137
• US Class Current: 1/1
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
• CPC Class Codes: G01B 11/022 by means of tv-camera scanning

Abstract

A system for determining an orientation of an implement on a vehicle is provided. The system includes a camera mounted to the vehicle, and a target object within a field of vision of the camera and mounted to the implement. The target object includes markings to enable a determination of the orientation of the implement with respect to the camera. A method of determining an orientation of an implement on a vehicle is provided. A system of orienting an implement is provided. A method of installing an implement orientation system is provided. A computer-readable medium having stored thereon computer-executable instructions is provided. The computer-executable instructions cause a processor to perform a method of determining an orientation of an implement when executed.

Claims

1. A system for determining an orientation of an implement on a vehicle, comprising:

a camera mounted to the vehicle;

a sphere within a field of vision of the camera and mounted to the implement, the sphere including a plurality of markings thereon to enable a determination of an intermediate orientation of the sphere with respect to the camera, wherein each of the plurality of markings has a unique shape, and wherein the determination of the orientation of the implement is made using the intermediate orientation of the sphere;

a positioning system antenna mounted to the vehicle at a fixed distance in a fixed direction from the camera;

a positioning system receiver/processor coupled to the positioning system antenna; and

a control system adapted to adjust the orientation of the implement based on a desired orientation of the implement and the determination of the orientation of the implement; and

wherein;

the positioning system receiver/processor is adapted to determine a vehicle position and a vehicle orientation in a world reference frame;

the determination of the intermediate orientation of the sphere with respect to the camera is in a vehicle reference frame;

the determination of the orientation of the implement is in the vehicle reference frame; and

the determination of the orientation of the implement in the vehicle reference frame and the vehicle orientation in the world reference frame enables a determination of a further orientation of the implement in the world reference frame.

2. The system of claim 1, further comprising a second sphere within the field of vision of the camera mounted to the implement, the second sphere including a second plurality of markings to enable a determination of a second intermediate orientation of the second sphere with respect to the camera, wherein each of the second plurality of markings has a unique shape.

3. The system of claim 1, further comprising a second camera with a second fixed distance and a second fixed orientation with respect to the positioning system, the second camera having a second field of vision including the sphere, the plurality of markings of the sphere enabling a determination of a third intermediate orientation of the sphere with respect to the second camera.

4. The system of claim 1, further comprising a processor electrically coupled to the positioning system receiver/processor and the camera, the processor adapted to perform the determination of the intermediate orientation of the sphere with respect to the camera based on at least some of the plurality of markings, and the processor further adapted to perform the determination of the orientation of the implement.

5. The system of claim 4, further comprising a data storage unit coupled to the processor;

wherein the camera is mounted to the implement at a third fixed distance in a third fixed direction from the sphere; and

wherein the processor is further adapted to determine a position of the implement based on the distance, the third fixed distance, the third fixed direction, the vehicle position, and the vehicle orientation.

6. The system of claim 1, wherein:

the implement is an earth-moving implement;

the vehicle is an earth-moving machine; and

the positioning system receiver/processor and the camera are mounted to a cab of the earth-moving machine.

7. The system of claim 1, wherein:

the plurality of markings is arranged on a surface of the sphere, and identification of an arrangement of the at least some of the plurality of markings enables the determination of the orientation.

8. The system of claim 7, wherein:

the plurality of markings have unique sizes; and

identification of the at least some of the plurality of markings having unique sizes enables the determination of the orientation.

9. The system of claim 1, wherein:

the plurality of markings include different colors arranged on a surface of the sphere; and

identification of the at least some of the different colors enables the determination of the orientation.

10. The system of claim 9, wherein:

the different colors include at least some photoreflective elements; and

identification of at least some of the photoreflective elements enables the determination of the orientation.

11. The system of claim 1, wherein:

the at least some of the plurality of markings include active light elements arranged on a surface of the sphere; and

identification of at least some of the active light elements enables the determination of the orientation.

12. A method of determining an orientation of an implement on a vehicle, comprising:

detecting at least one sphere with at least one camera, the at least one sphere being mounted to the implement and including a plurality of markings thereon;

determining, in a vehicle reference frame, an intermediate orientation between the at least one sphere and the at least one camera, wherein the intermediate orientation is determined using at least some of the plurality of markings, wherein each of the plurality of markings has a unique shape;

determining the orientation of the implement using the intermediate orientation between the at least one sphere and the at least one camera, the determining the orientation of the implement being in the vehicle reference frame and based on the intermediate orientation;

determining a vehicle position and a vehicle orientation in a world reference frame; and

determining a further orientation of the implement with respect to the world reference frame based on the orientation of the implement in the vehicle reference frame and the vehicle orientation in the world reference frame.

13. The method of claim 12, further comprising:

determining a position of the at least one camera attached to the vehicle; and

adjusting the orientation of the implement based on a desired orientation of the implement and the determined orientation.

14. The method of claim 12, wherein:

the implement is an earth-moving implement;

the vehicle is an earth-moving machine; and

the camera is mounted to a cab of the earth-moving machine.

15. The method of claim 12, further comprising determining a distance from the at least one camera to the at least one sphere by comparing an image of at least some of the plurality of markings on the at least one sphere to stored information relating to a shape and a dimension of the at least some of the plurality of markings of the at least one sphere.

16. The method of claim 12, wherein the at least one sphere includes at least a first sphere and a second sphere.

17. The method of claim 12, wherein the at least one camera includes at least a first camera and a second camera.

18. The method of claim 12, wherein:

the plurality of markings includes different shapes arranged on a surface of the at least one sphere; and

the determining of the orientation includes identifying at least some of the different shapes.

19. The method of claim 18, wherein:

the different shapes have different sizes; and

the determining of the orientation operation includes identifying at least some of the different sizes.

20. The method of claim 12, wherein:

the plurality of markings includes different colors arranged on a surface of the at least one sphere; and

the determining of the orientation includes identifying at least some of the different colors.

21. The method of claim 20, wherein:

the different colors include at least some photoreflective elements; and

the determining of the orientation includes identifying at least some of the photoreflective elements.

22. The method of claim 12, wherein:

the plurality of markings includes active light elements arranged on a surface of the sphere; and

the determining of the orientation includes identifying at least some of the active light elements.

23. A system of orienting an implement, comprising:

means for detecting at least one sphere attached to the implement, the at least one sphere including a plurality of markings thereon;

means for determining an intermediate orientation of the at least one sphere with respect to the means for detecting the at least one sphere using at least some of the plurality of markings, wherein each of the plurality of markings has a unique shape; and

means for determining the orientation of the implement using the intermediate orientation of the at least one sphere; and

wherein;

the intermediate orientation of the at least one sphere is in a vehicle reference frame; and

the orientation of the implement is in the vehicle reference frame; and

further comprising;

means for determining a vehicle position and a vehicle orientation in a world reference frame; and

means for determining a further orientation of the implement with respect to the world reference frame based on the orientation of the implement in the vehicle reference frame and the vehicle orientation in the world reference frame.

24. The system of claim 23, further comprising means for adjusting the orientation of the implement based on a desired orientation.

25. The system of claim 23, further comprising means for determining a position of the vehicle.

26. The system of claim 23, further comprising means for determining a distance from the means for detecting the at least one sphere by comparing an image of the at least some of the plurality of markings on the at least one sphere to stored information relating to a shape and a dimension of the at least some of the plurality of markings on the at least one sphere.

27. A method of installing an implement orientation system, comprising:

mounting a camera on a vehicle having an implement;

mounting a sphere to the implement within a field of vision of the camera, the sphere including a plurality of markings thereon;

coupling the camera to a processor adapted to determine an orientation of the implement by determining an intermediate orientation of the sphere with respect to the camera using at least some of the plurality of markings, wherein each of the plurality of markings has a unique shape;

mounting a positioning system antenna mounted to the vehicle at a fixed distance in a fixed direction from the camera;

mounting a positioning system receiver/processor coupled to the positioning system antenna;

providing a control system adapted to adjust the orientation of the implement based on a desired orientation of the implement and the determination of the orientation of the implement; and

wherein;

the positioning system receiver/processor is adapted to determine a vehicle position and a vehicle orientation in a world reference frame;

the determination of the intermediate orientation of the sphere with respect to the camera is in a vehicle reference frame;

the determination of the orientation of the implement is in the vehicle reference frame; and

the determination of the orientation of the implement in the vehicle reference frame and the vehicle orientation in the world reference frame enables a determination of a further orientation of the implement in the world reference frame.

28. The method of claim 27, further comprising mounting a positioning system on the vehicle.

29. The method of claim 27, further comprising:

mounting a second sphere within a field of vision of the camera and attached to the implement, the second sphere including a second plurality of markings;

wherein the processor is adapted to determine a second intermediate orientation of the second sphere using at least some of the second plurality of markings, wherein each of the plurality of markings has a unique shape.

30. The method of claim 27, further comprising:

mounting a second camera on the vehicle;

arranging the second camera to include the sphere in a second field of vision; and

coupling the second camera to the processor;

wherein the processor is further adapted to determine the orientation of the implement by determining another intermediate orientation of the sphere with respect to the second camera using at least some of the plurality of markings.

31. A non-transitory computer-readable medium storing computer program instructions for determining an orientation of an implement, which, when executed on a processor, cause the processor to perform operations comprising:

determining a position of a camera;

determining an intermediate orientation of a sphere mounted to the implement and within a field of vision of the camera, the sphere including a plurality of markings, the determination of the intermediate orientation of the sphere being performed using at least some of the plurality of markings, wherein each of the plurality of markings has a unique shape, the determining of the intermediate orientation of the sphere is in a vehicle reference frame;

determining the orientation of the implement using the position of the camera and the intermediate orientation of the sphere, the determining the orientation of the implement being in the vehicle reference frame and based on the intermediate orientation;

determining a vehicle position and a vehicle orientation in a world reference frame; and

determining a further orientation of the implement with respect to the world reference frame based on the orientation of the implement in the vehicle reference frame and the vehicle orientation in the world reference frame.