US 10,094,654 B2 · All-in-one integrated sensing device for machine control

Abstract

An integrated sensing device with a suite of sensors assists construction machine operators in finding the correct level to dig a ditch/trench. The sensing device includes a gravity sensor to determine angles, a laser distance meter (LDM), and a laser receiver for detecting a known jobsite elevation. The sensing device is mounted to the dipper stick of an excavator; the gravity sensor detects the angle of the stick, and the laser receiver detects a laser plane of light that represents a known jobsite elevation. The LDM is aimed at another member of the machine that moves in a predetermined path as the bucket is rotated, and the distance between the LDM and the target member is used to calculate the vertical elevation of the working tool edge. A display graphically shows the operator the proper dig depth and the present position of the working tool edge.

An apparatus, comprising:

(a) an integrated plurality of sensors that is mounted to a construction machine which has a first movable mechanical member that exhibits movement through a pathway that is variable with respect to gravity, and has a second movable mechanical member that includes a working tool edge, wherein said second movable mechanical member has a known physical moving relationship to said first movable mechanical member through a predetermined range of motions, said integrated plurality of sensors comprising:
(i) a laser receiver having at least one photosensor, said laser receiver detecting a position of incoming laser light that reaches said at least one photosensor;
(ii) an electronic angle sensor;
(iii) an electronic distance sensor, having an output port that is directed at a predetermined target, and which determines a distance to said target without making physical contact with said target;
(iv) a processing circuit and a memory circuit including instructions executable by said processing circuit;
and
(v) a housing, in which said laser receiver, said electronic angle sensor, said electronic distance sensor, said processing circuit, and said memory circuit are all mounted with said housing;
(b) wherein:
(i) said integrated plurality of sensors is mounted to said first movable mechanical member of the construction machine at a single position on the construction machine, but not at a pivot point of said second movable mechanical member;
(ii) said electronic distance sensor determines a distance between said output port and said predetermined target;
(iii) said predetermined target comprises a surface portion of said construction machine that moves at the same time as said second movable mechanical member moves with respect to said first movable mechanical member;
(iv) said surface portion comprises one of:
(A) a surface area of a movable mechanical target member;
(B) a reflector placed on said movable mechanical target member;
(C) a surface area of a first movable mechanical linkage member that is mechanically connected to at least one of said first movable mechanical member and said second movable mechanical member;
and
(D) a reflector placed on a second movable mechanical linkage member that is mechanically connected to at least one of said first movable mechanical member and said second movable mechanical member;
and
(v) said first movable mechanical member exhibits a first shape having a known first geometry, said second movable mechanical member exhibits a second shape having a known second geometry;
said first and second known geometries having a known relationship with one another while said first and second movable mechanical members are pivoted during operation, in which said distance involves a rotation of said second movable mechanical member about said first movable mechanical member;
and
(c) wherein:
said processing circuit is configured to:
calculate a vertical distance between said incoming laser light and said working tool edge, based upon a state of sensor outputs of said at least one photosensor, said electronic angle sensor, and said electronic distance sensor.

21 more elements

All-in-one integrated sensing device for machine control

Life of this patent

All-in-one integrated sensing device for machine control

Life of this patent

Abstract

Claims20