Laser-guided construction equipment

A construction apparatus that is adapted to be guided from a laser source made up of a substantially non-rotating beam, said construction apparatus comprising:

• a body having an operators cab, said body adapted to be moveably supported by a surface, a construction tool adapted to move material, a support moveably supporting said construction tool from said body, and a control for guiding movement of said construction tool;
• said control comprising a camera that is adapted to capture an illuminated image that is derived from a laser source, said control adapted to determine direction and separation information of the illuminated image with respect to said apparatus, wherein said camera is gimbal mounted and wherein said control determines said direction information by substantially tracking with said camera the illuminated image and by monitoring with said control a position of said camera about said gimbal;
• said control further adapted to determine a physical relationship of said construction tool with respect to said illuminated image;
• whereby said construction tool can be guided with respect to the image derived from a laser source as a function of said direction and separation information and said relationship.

A construction apparatus that is adapted to be guided from a laser source made up of a substantially non-rotating beam, said construction apparatus comprising:

• a body having an operator's cab, said body adapted to be moveably supported by a surface, a construction tool adapted to move material, a support moveably supporting said construction tool from said body, and a control for guiding movement of said construction tool;
• said control comprising a camera that is adapted to capture an illuminated image that is derived from a laser source, said control adapted to determine direction and separation information of the illuminated image with respect to said apparatus, wherein said camera includes a sensing array and a focusing optic that focuses light onto a portion of said sensing array and wherein said control determines said direction information by determining which portion of said sensing array receives light from said illuminated image;
• said control further adapted to determine a physical relationship of said construction tool with respect to said illuminated image;
• whereby said construction tool can be guided with respect to the image derived from a laser source as a function of said direction and separation information and said physical relationship.

A pipe-laying system, comprising:

• a laser source that is positionable at one end of a pipe and a target that is positionable at an opposite end of the pipe, said laser source generating a beam that produces a spot on said target;
• an excavator having a body, a bucket and a support moveably supporting said bucket from said body, and a control for guiding movement of said bucket, said body including propelling devices and an operator's cab;
• said control comprising a camera that is adapted to capture the spot on said target and to determine direction information of the spot on said target with respect to said excavator, wherein said control determines separation information of the spot with respect to the excavator, wherein said control determines said direction information at least in part from an output of said camera;
• said control further adapted to determine a physical relationship of a portion of said bucket with respect to said illuminated image;
• whereby said bucket can-be guided with respect to the spot on said target as a function of said direction and separation information and said relationships.

An excavator for excavating material, comprising:

• a body, a bucket and a support moveably supporting said bucket from said body, and a control for guiding movement of said bucket, said body including propelling devices and an operator's cab;
• a laser source positioned at said body, said laser source comprising a substantially non-rotating beam that is directable toward material being excavated by said bucket, thereby creating an illuminated image at the material;
• said control comprising a camera that is adapted to capture the illuminated image and to determine direction information of the illuminated image with respect to the excavator, wherein said control determines separation information of the illuminated image with respect to the excavator, wherein said control determines said direction information at least in part from an output of said camera;
• said control further adapted to determine a physical relationship of a portion of said bucket with respect to said illuminated image;
• whereby said portion of said bucket can be guided with respect to the illuminated image at the material as a function of said direction and separation information and said relationship.

A method of controlling a construction apparatus having a body, a construction tool adapted to move material, a support moveably supporting said construction tool from said body, and a control for guiding movement of said construction tool including an operators cab, said body adapted to be moveably supported by a surface, said method comprising:

• providing a laser source that generates a substantially non-rotating beam and directing said beam with respect to the material to be moved to create an illuminated image with said laser source;
• providing a camera and capturing with said camera said illuminated image;
• determining direction information of said illuminated image at least in part from an output of said camera;
• determining separation information between said illuminated image and said body;
• determining a physical relationship between said construction tool and said illuminated image;
• and
• guiding said construction tool with respect to said illuminated image as a function of said direction and separation information and said relationship.