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

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.

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.

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.

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.

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.

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.

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.

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.