US 5,477,459 A · Real time three-dimensional machine locating system

Abstract

A method and system for locating the point P.sub.0 which defines the location of a machine, e.g. an earth moving machine, a surveying or locating machine, etc., in relation to a tract or area of interest by measuring the angles defined by two different sets of reference points selected from at least three reference points that are in known relation to the tract or area.

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Claims18

Dependent claims

A method of defining the location of an earth moving or working machine in relation to a tract or area of land, comprising the steps of:

(a) positioning a plurality of point sources of light at each of at least three reference points P.sub.1, P.sub.2 and P.sub.3 in known, defined spacial relationships with respect to each other and to the tract or area of land;
(b) positioning at an unknown point P.sub.0 that is in a known, spacially defined relation to the machine an angle-measuring charge coupled device incident light angle measuring detector for detecting the light from the aforesaid point sources;
(c) measuring the angle defined by lines extending through P.sub.0 and, respectively, a first set of two of said reference points, P.sub.1 and P.sub.2
(d) measuring the angle defined by lines extending through P.sub.0 and extending respectively through a second set of two of said reference points, P.sub.1 and P.sub.3 or P.sub.2 and P.sub.3 the aforesaid first and second sets of reference points being different from each other and being selected such that a geometric figure spacially defined by P.sub.0 and the first set overlaps a geometric figure spacially defined by P.sub.0 and the second set of reference points;
and
(e) from the known, spacially defined relation of P.sub.0 to the machine and the known, defined spacial relationship of the reference points with respect to each other and to the tract or area of land and data defining said measured angles, calculating the position of P.sub.0 and the earth moving machine in relation to said tract or area of land.

3 more elements

A method of defining the location of an earth moving or working machine in relation to a tract or area of land, comprising the steps of:

(a) positioning a plurality of super bright light emitting diodes as point light sources at each of at least three reference points P.sub.1, P.sub.2 and P.sub.3 in known, defined spacial relationship with respect each other and to the tract or area of land;
(b) positioning at least one angle-measuring charge coupled device light detector for light emitted from the aforesaid point light sources at an unknown point P.sub.0, said point P.sub.0 being in a known spacially defined relation to the machine the location of which is to be defined;
(c) measuring the angle defined by lines extending through P.sub.0 and respectively a first set of two of said reference points P.sub.1 and P.sub.2
(d) measuring the angle defined by lines extending through P.sub.0 and a second set of said reference points P.sub.1 and P.sub.3 or P.sub.2 and P.sub.3 the aforesaid first and second sets of reference points being different from each other and being selected such that a geometric figure spacially defined by the lines through P.sub.0 and the first set of reference points overlaps a geometric figure spacially defined by the lines through P.sub.0 and the second set of reference points;
and
(e) from the known, defined spacial relationship of the reference points with respect to each other and to the tract or area of land and data defining said measured angles, calculating the position of P.sub.0 and the earth moving or working machine in relation to said tract or area of land.

3 more elements

A system for locating and defining the position of an earth moving or working machine in relation to a known area or tract of land upon which the earth moving machine is to work, comprising, in combination:

(a) a plurality of super bright point-source light producing and emitting devices located, respectively, at each of at least three reference points P.sub.1, P.sub.2 and P.sub.3 that are in known, defined spacial relationship to each other and to said area or tract of land;
(b) a charge coupled incident light angle measuring sensor system comprising at least one angle measuring CCD sensor for measuring light from said super bright point-source light producing and emitting devices positioned at an unknown location P.sub.0 said point P.sub.0 being in a known defined spacial relation to said machine, said sensor being so constructed and configured as to measure the angle defined by lines extending through P.sub.0 and a first set of two of said reference points, P.sub.1 and P.sub.2, and substantially simultaneously measuring the angle defined by a second set of two of said reference points, P.sub.1 and P.sub.3 or P.sub.2 and P.sub.3 the first and second sets of reference points being different from each other and being selected such that a geometric figure spacially defined by the lines through P.sub.0 and the first set of reference points overlaps a geometric figure defined by the lines through P.sub.0 and the second set of reference points;
(c) a computer connected to said sensor system for receiving data defining said measured angles and input data defining the relationship of the reference points to each other and to said tract or area and for computing data defining the location of P.sub.0 in relation to said tract or area;
and
(d) means for providing a computed data signal derived from said computed data defining the location of P.sub.0 to a display means or to a machine control means.

2 more elements

A method for defining the spacial location of a machine, comprising the steps of:

(a) positioning a plurality of point sources of light at each of at least three reference points P.sub.1 P.sub.2 and P.sub.3 in known, defined spacial relationships with respect to each other;
(b) positioning at point P.sub.0 an angle-measuring incident light detector which is capable of receiving and differentiating simultaneously between a plurality of point sources of light emitted respectively from the point sources of light located respectively at points P.sub.1 P.sub.2 and P.sub.3 ;
points P.sub.0, P.sub.1 and P.sub.2 being positioned so as to lie on the circumference of a circle 1 defined by said points P.sub.0, P.sub.1 and P.sub.2 the last said points;
points P.sub.0, P.sub.1 and P.sub.3 being positioned so as to lie on the circumference of a circle 2 defined by said points P.sub.0, P.sub.1 and P.sub.3 and points P.sub.0, P.sub.2 and Ps being positioned so as to lie on the circumference of a circle 3 defined by said points P.sub.0, P.sub.2 and P.sub.3 point P.sub.0 being in a known, defined spacial relationship with respect to said machine;
(c) measuring at least two of angle A, angle B and angle C;
wherein Angle A is defined by lines passing, respectively, through P.sub.0 -P.sub.1 and P.sub.0 -P.sub.2 ;
Angle B is defined by lines passing, respectively, through P.sub.0 -P.sub.1 and P.sub.0 -P.sub.3 ;
and Angle C is defined by lines passing, respectively, through P.sub.0 -P.sub.2 and P.sub.0 -P.sub.3 ;
P.sub.0 being positioned in a known, spacially defined relation to said machine;
said angles being less than 180.degree. angles and not being 90.degree. angles;
(d) measuring at least two of said angles A, B and C, and mathematically defining at least two of circles 1, 2 and 3, wherein:
(i) circle 1 has a radius ##EQU5## where d.sub.1 is the distance P.sub.1 to P.sub.2, the center of the circle lying on a line which is a perpendicular bisector of P.sub.1 P.sub.2 a distance ##EQU6## from the center of a line between P.sub.1 and P.sub.2 ;
(ii) circle 2 has a radius ##EQU7## where d.sub.2 is the distance P.sub.2 to P.sub.3. The center of the circle lying on a line which is a perpendicular bisector of P.sub.2 P.sub.3 a distance ##EQU8## from the center of a line between P.sub.2 and P.sub.3 ;
(iii) circle 3 has a radius ##EQU9## where d.sub.3 is the distance P.sub.1 to P.sub.3, the center of the circle lying on a line which is a perpendicular bisector of P.sub.1 P.sub.3 a distance ##EQU10## from the center of a line between P.sub.1 and P.sub.3 ;
(e) calculating the common intersecting points on the circumference of at least two of said circles 1, 2 and 3, defined by at least two of angles A, B, and C at P.sub.0 to thereby define the spacial position of P.sub.0 relative to the known spacial positions of P.sub.1, P.sub.2 and P.sub.3 with respect to each other thereby defining the spacial relationship of said machine relative to P.sub.1, P.sub.2 and P.sub.3

12 more elements

Dependencies are inferred from the claim text.

Description11,442 words

Summary6,254 words

#In the field of surveying and distance measuring equipment, there is a need to determine the position of objects (markers, etc. ) relative to fixed points. There are several methods for doing this. In general, two approaches are used. One method involves the measurement of linear distances; another, the measurement of angles and distances. Usually a construction site is surveyed and the topography is plotted before work begins. Fixed flags tell the equipment operators to either cut or fill a particular location. An iterative process of survey and grade is used to work the site into the final topography prior to actual construction. This iterative process is slow and laborious and therefore expensive. Since there is a great deal of human work involved, it is also error prone.

#The prior art describes many efforts to use modem electromagnetic technology to control the movement and action of earth moving devices. The most pertinent of these efforts known to the inventor is described in U.S. Pat. No. 5,076,690, to deVos et al., that discloses a sophisticated and ingenious system for locating an earthworking machine or handheld survey device and defining the direction of movement thereof. Triangulation between three bar-coded reflective plates positioned at known coordinates relative to each other around the periphery of a two-dimensional coordinate frame is accomplished by rotating a calibrated laser source to impinge upon and be reflected by the reflectors. A computer solves simultaneous equations based upon angular measurements to triangulate the position of the machine and, using a series of such triangulations, to define the direction of travel. While the deVos, et al., system appears to be quite suitable for working a small to moderate tract of relatively flat land, it has certain important limitations that are overcome by the present invention. First, the deVos, et al, system works in only one plane. Secondly, being reflective and requiting accurate readings of reflected bar codes, the system is limited to use on small tracts, i.e. , where the maximum distance from the machine or survey device to any reflector is not more than about 100 meters. There remains a serious need for systems that are suitable for use on hilly or uneven terrain and upon much larger tracts, such as are commonly worked in certain parts of the country and in large housing projects. It is to these needs that the present invention is primarily directed, though it may be used on tracts of any size or terrain.

#Other prior art efforts are described in the following patents and publications.

Brief description of the drawings12 figures

#FIGS. 1 through 10 are geometrical diagrams showing angles and circles defined by or passing through particular points. These diagrams are referred to in the specification to aid in understanding the proofs of the methods described herein.

#FIGS. 1 and 2 depict the relationship of circles and arcs defined by points P.sub.0, P.sub.1 and P.sub.2 and the angles defined by three points, a point P.sub.0 that is to be located or defined, and two points P.sub.1 and P.sub.2 in known relationship to each other.

#FIGS. 3 depicts a set of overlapping circles defined by the points and angles defined as in FIGS. 1 and 2 when the angle A is less than 90.degree.. The point P.sub.0 will lie on either of the two partial circles defined by angle A with respect to P.sub.1 and P.sub.2.

Detailed description4,797 words

#The following discussion explains a method to identify the coordinate location of a point P.sub.0 on a tract of land. The coordinates of at least three points P.sub.1, P.sub.2, and P.sub.3 are known. The method entails placing an instrument at location P.sub.0 which is capable of receiving and differentiating simultaneously between point sources of light emitted from the points and measuring the angles from these points to P.sub.0. Let Angle A=.angle.P.sub.1 P.sub.0 P.sub.2, B=.angle.P.sub.1 P.sub.0 P.sub.3 and C=.angle.P.sub.2 P.sub.0 P.sub.3. Angels A, B, and C are assumed to be between 0 and 180 degrees.

#From a geometry theorem we know if an angle is inscribed in a circle, then the measure of the inscribed arc is twice the measure of the inscribed angle (see FIG. 1 ). It follows if angle A can be measured at P.sub.0, P.sub.0 lies on a circle radius r.sub.1 =d.sub.1 /2sinA where d.sub.1 is the distance P.sub.1 to P.sub.2. The center of the circle will lie on a line which is a perpendicular bisector of P.sub.1 P.sub.2 a distance d.sub.1 /2tanA from P.sub.1 P.sub.2. Furthermore P.sub.0 will not exist on the portion of the circle which lies beyond P.sub.1 P.sub.2 from P.sub.0 (see FIG. 2), except in the case where A=90 degrees.

#Since P.sub.1 and P.sub.2 are at known locations and the angle A at P.sub.0 is known, the position of P.sub.0 can be any point on the portions of two circles located symmetrical about P.sub.1 P.sub.2 (see FIG. 3). If A is less than 90 degrees, the set of solutions for angle A, when graphically depicted, will appear as in FIG. 3. If A is greater than 90 degrees the set of solutions for angle A, when graphically depicted, will appear as in FIG. 4. If A=90 degrees then P.sub.0 could lie anywhere on the circle, radius d.sub.1 /2 which centers at mid point of P.sub.1 P.sub.2. Separate solutions of angels B and C with respect to P.sub.0 will also exist as with A.

Facts

Application

08/394,394Filed 24 Feb 1995 · continuation

Priority

6 Mar 1992

Granted

19 Dec 1995

Term ended

19 Dec 2012

Estimated · how

Pre-1995 term; greater of 17 years from grant or 20 years from filing when eligible. Maintenance-fee lapses, terminal disclaimers and statutory extensions have not been checked. The continuity chain may be incomplete; this is not an enforceability determination.

Classification4 codes

G01S 5/16
Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance…:…
G01C 15/002
Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00: active optical surveying means
G01S
Radio direction-finding
G01C
Measuring distances, levels or bearings

Real time three-dimensional machine locating system

Life of this patent

Real time three-dimensional machine locating system

Life of this patent

Life of this patent

Abstract

Drawings

Drawings

Claims18

Description11,442 words

Drawings

Classification4 codes

Life of this patent

Description11,442 words