Guidance system for earthmoving machinery

Patent metadata

Field	Value
Publication number	US-9428885-B2
Application number	US-201414486463-A
Country	US
Kind code	B2
Filing date	Sep 15, 2014
Priority date	Sep 15, 2014
Publication date	Aug 30, 2016
Grant date	Aug 30, 2016

Abstract

Disclosed is a guidance system that helps an earthmoving machine operator to control exactly to what elevation to dig. The system includes an electronic sensing device and a display monitor. In one embodiment, the electronic sensing device includes a distance measuring sensor (LDM), an elevation detecting sensor, an orientation sensor, and a steering mechanism for the LDM. The sensing device is mounted to an earthmoving machine, and sends signals to the display showing the machine operator where to move the digging tool for digging to the desired elevation. The various sensors in the sensing device are calibrated at the factory, so the sensing device can be mounted to an earthmoving machine and then be immediately used by that machine without needing any calibration that involves the machine itself, which is a huge advantage for the equipment operator. The measurements are made via non-contact sensors, thereby preserving the jobsite surface.

First claim

What is claimed is:

1. An integrated sensing device for use with an earthmoving machine that includes a working tool edge, said integrated sensing device comprising:
(a) an electronic distance sensor, having a sensing output that is directed at a jobsite surface, which determines a distance between a datum of said sensing output and said jobsite surface without making physical contact with said jobsite surface;
(b) an electronic orientation sensor for detecting an angular orientation of said sensing output; and
(c) a processing circuit, and a memory circuit;
(d) wherein said processing circuit is configured:
(i) to receive output signals from said electronic distance sensor and said electronic orientation sensor;
(ii) to determine the distances between said datum and a plurality of physical points on said jobsite surface, and to generate a “latest profile” that represents an actual shape of said jobsite surface; and
(iii) to send signals to said visible monitor screen, so as to display said “latest profile”.

2. The integrated sensing device of claim 1 , wherein said processing circuit is further configured to control said visible monitor screen so as to display operational information in at least one of the following modes:
(a) BM centric;
(b) L centric;
(c) Vertical BM centric and Horizontal L centric; and
(d) Non centric.

3. The integrated sensing device of claim 1 , wherein said electronic distance sensor comprises a laser distance meter.

4. The integrated sensing device of claim 1 , wherein said electronic orientation sensor comprises at least one of:
(a) at least one accelerometer;
(b) at least one gyroscope; and
(c) at least one magnetometer;

and wherein said orientation sensor acts as an inclinometer based on direction of gravity.

5. The integrated sensing device of claim 1 , further comprising a housing, wherein:
(a) said electronic distance sensor, said electronic orientation sensor, said processing circuit, and said memory circuit are all installed with said housing at a time of manufacture of said integrated sensing device;
(b) said electronic distance sensor and said electronic orientation sensor are both calibrated to said datum and to a direction of gravity without need of earthmoving machine geometry knowledge;
(c) said integrated sensing device is later mounted to an earthmoving machine; and
(d) immediately thereafter, said integrated sensing device is ready for use without need for any calibration to said earthmoving machine.

6. The integrated sensing device of claim 1 , further comprising a steering mechanism that, under the control of said processing circuit, aims said electronic distance sensing output so as to measure a plurality of distances to said jobsite surface at a plurality of aiming angles;
wherein: said integrated sensing device determines a difference between: (i) a direction of gravity, and (ii) a direction of said sensing output of the electronic distance sensor.

7. The integrated sensing device of claim 6 , wherein, at any particular time, said steering mechanism, under the control of said processing circuit, aims said electronic distance sensor toward one of:
(a) ahead of a direction of movement of a working tool edge of said earthmoving machine;
(b) behind a direction of movement of a working tool edge of said earthmoving machine; and
(c) to the side of a direction of movement of a working tool edge of said earthmoving machine.

8. The integrated sensing device of claim 6 , further comprising:
(a) a first inclinometer sensor mounted to a dipperstick of an excavator earthmoving machine; and
(b) a second inclinometer sensor mounted to a bucket of an excavator earthmoving machine;
(c) wherein said processing circuit is further configured:
(i) to determine a “design profile” for a predetermined digging operation, and to store said design profile in said memory circuit;
(ii) to receive output signals from said first and second inclinometer sensors;
(iii) to receive first reference information about geometries of said dipperstick, said bucket, and a boom of an excavator earthmoving machine, and to store said received dipperstick geometry first reference information, said bucket geometry first reference information, and said boom geometry first reference information in said memory circuit;
(iv) to receive second reference information about said first inclinometer sensor, said second inclinometer sensor, and said sensing device electronic orientation sensor, by way of a calibration function that is performed with said excavator earthmoving machine, and to store said first inclinometer sensor second reference information, said second inclinometer sensor second reference information, and said sensing device electronic orientation sensor second reference information in said memory circuit;
(v) based upon said first inclinometer output signal, second inclinometer output signal, sensing device electronic orientation sensor output signal, first reference information, and said second reference information, to determine a physical position of said bucket, including a working tool edge of said bucket; and
(vi) to control said visible monitor screen so as to display both said physical position of said bucket working tool edge and at least one of:
(A) said latest profile, and
(B) said design profile;

 on a single set of coordinate axes, thereby showing a physical relationship between
(C) said working tool edge, and
(D) at least one of said latest profile and said design profile.

9. The integrated sensing device of claim 8 , wherein during said calibration function: (a) while said dipperstick of an excavator earthmoving machine, said bucket of an excavator earthmoving machine, and said boom of an excavator earthmoving machine are placed in several different positions; and
(b) while said sensing output of the electronic distance sensor is aimed to illuminate a target;
(c) said processing circuit is further configured to determine, based upon said output signals from said first inclinometer, said second inclinometer, said electronic distance sensor, and said electronic orientation sensor, said first reference information and said second reference information.

10. The integrated sensing device of claim 1 , wherein said processing circuit is further configured:
(a) to determine a “design profile” for a predetermined digging operation, and to store said design profile in said memory circuit;
(b) to send signals to said visible monitor screen, so as to display said design profile; and
(c) during operation, to control said visible monitor screen so as to display both said latest profile and said design profile on a single set of coordinate axes, thereby showing a physical relationship between both said latest profile and said design profile for said predetermined digging operation.

11. The integrated sensing device of claim 10 , further comprising at least one of: (i) an electronic position sensor for detecting elevation, and (ii) a steering mechanism that, under the control of said processing circuit, aims said electronic distance sensing output so as to measure a plurality of distances to said jobsite surface at a plurality of aiming angles;
wherein said processing circuit is further configured:
(a) to determine working tool physical profile information, and to identify the working tool edge of said working tool physical profile;
(b) during operation, to recognize a portion of said working tool physical profile information if encountered in said latest profile, then said processing circuit is further configured;
(i) to send output signals to said visible monitor screen, so as to display an image of said working

Assignees

• Trimble Navigation Ltd

Inventors

• Nau Kevin Ray

Classifications

• E02F3/435

  for dipper-arms, backhoes or the like · CPC title

• E02F9/264

  Sensors and their calibration for indicating the position of the work tool · CPC title

• E02F9/265

  with follow-up actions (e.g. control signals sent to actuate the work tool) · CPC title

• E02F9/261 Primary

  Surveying the work-site to be treated · CPC title

• E02F3/842

  using electromagnetic, optical or photoelectric beams, e.g. laser beams · CPC title