U.S. patent application number 13/214869 was filed with the patent office on 2013-02-28 for buried utility data with exclusion zones.
This patent application is currently assigned to Deere and Company. The applicant listed for this patent is James Leonard Montgomery. Invention is credited to James Leonard Montgomery.
Application Number | 20130054097 13/214869 |
Document ID | / |
Family ID | 47073271 |
Filed Date | 2013-02-28 |
United States Patent
Application |
20130054097 |
Kind Code |
A1 |
Montgomery; James Leonard |
February 28, 2013 |
Buried Utility Data with Exclusion Zones
Abstract
A system is provided for use in work machines that determines
the location of the work machine and compares such location to
reported location of underground utilities. The system further
provides indications of when an implement of the work machine
enters an exclusion zone proximate the underground utilities.
Inventors: |
Montgomery; James Leonard;
(Dubuque, IA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Montgomery; James Leonard |
Dubuque |
IA |
US |
|
|
Assignee: |
Deere and Company
Moline
IL
|
Family ID: |
47073271 |
Appl. No.: |
13/214869 |
Filed: |
August 22, 2011 |
Current U.S.
Class: |
701/50 |
Current CPC
Class: |
G01C 21/005 20130101;
E02F 9/262 20130101; E02F 9/265 20130101; E02F 9/245 20130101 |
Class at
Publication: |
701/50 |
International
Class: |
E02F 9/20 20060101
E02F009/20 |
Claims
1. A work machine comprising: a body; a computing system coupled to
the body, the computing system having data describing the location
of at least one underground feature; an implement extending from
the body capable of moving earth and capable of coming into contact
with the at least one underground feature; a positioning system
coupled to the body and in communication with the computing system,
the positioning system providing data that is passed to the
computing system such that the computing system can determine a
location of the work machine and an orientation of the work
machine; and software stored in memory electrically coupled to the
computing system, the software including instructions that when
interpreted by the computing system perform the steps of:
determining an exclusion zone, the exclusion zone being defined as
a zone within a defined proximity of the at least one underground
feature; monitoring movement of the implement relative to the
exclusion zone; and determining when called for movement of the
implement would place the implement within the exclusion zone.
2. The work machine according to claim 1, further including at
least one sensor coupled to the computing system, the at least one
sensor providing data describing the position of the implement to
the computing system.
3. The work machine according to claim 2, wherein the at least one
sensor includes a plurality of sensors located at articulation
points of the work machine.
4. The work machine of claim 3, wherein data from the plurality of
sensors combined with data from the positioning system provide
input to the display to allow the display to show positioning of
the implement.
5. The work machine according to claim 1, further including a
display viewable by a user of the work machine, the display showing
a map of a workspace and relative positioning of the work machine
in the workspace.
6. The work machine according to claim 5, wherein the display
further provides a visual indication of the exclusion zone.
7. The work machine of claim 5, wherein the position of the work
machine is iteratively updated to provide a real-time
representation of the work machine and its relative position in the
workspace.
8. The work machine of claim 5, wherein the display is part of a
tablet computing device.
9. The work machine of claim 1, wherein the software additionally
includes instructions that when interpreted by the computing system
perform the step of preventing movement of the implement into the
exclusion zone.
10. The work machine according to claim 1, wherein the exclusion
zone size is customizable by the user of the work machine.
11. The work machine according to claim 1, wherein the exclusion
zone size is customizable according to feature around which the
exclusion zone is located.
12. A computer implemented system for monitoring the relative
position of a work machine implement and an underground feature,
including: a first processing sequence that retrieves a map of a
workspace, the map including data regarding an underground feature;
a second processing sequence that receives data from a global
positioning system device coupled to the work machine; a third
processing sequence that uses the data from the global positioning
device to determine a location and orientation of the work machine;
a fourth processing sequence that retrieves data regarding an
implement attached to the work machine; a fifth processing sequence
that determines the position of the implement; a sixth processing
sequence that determines a location of an exclusion zone, the
exclusion zone being defined as a zone within a defined proximity
of the underground feature; a seventh processing sequence that
compares the position of the implement to the exclusion zone.
13. The system of claim 12, further including an eighth processing
sequence that displays the map data on a display.
14. The system of claim 13, wherein the eighth processing sequence
further includes a representation of the work machine and the
exclusion zone on the map displayed on the display.
15. The system of claim 14, wherein the work machine is displayed
on the display according to data received from the second
processing sequence.
16. The system of claim 12, further including a ninth processing
sequence that receives data indicative of a desired movement of the
work machine from a first position to a second position.
17. The system of claim 16, further including a tenth processing
sequence that compares the second position to the exclusion
zone.
18. The system of claim 17, wherein the tenth processing sequence
further includes the step of preventing movement of the work
machine to the second position when the second position is within
the exclusion zone.
19. The system of claim 12, wherein the fourth processing sequence
includes retrieving data describing the dimensions of the
implement, the implement being removable.
20. The system of claim 12, wherein the fourth processing sequence
includes receiving data regarding the position of at least one
linkage disposed between a source of global positioning system data
and the implement.
Description
FIELD
[0001] The instant disclosure relates generally to an earth
excavating machine having a means of locating a position on the
earth and/or beneath the surface of the earth. The present
disclosure relates more specifically to an earth excavating machine
having software onboard that monitors the geographic workspace of
the machine and prevents undesired interactions with excluded
locations.
BACKGROUND & SUMMARY
[0002] Excavation machines of various descriptions find application
in the installation, removal, and repair of below and above ground
utilities and structures. Typical below ground utilities include
water mains, sewers, conduit for electrical and communications
lines; electrical and communications lines installed without
conduit, subway transit tunnels, water tunnels and the like.
[0003] Below ground installation of utilities such as electrical
and communication lines removes the utility lines from the visual
appearance of the landscape. The location of underground utilities
is generally established in advance by design engineers and
provided to persons installing the utilities in the form of
drawings. Location includes not only the X-Y-axes location of the
utility with respect to the surface of the earth, but also includes
location on the Z-axis, e.g., the distance beneath the surface of
the earth or possibly referenced to sea level. In practice, the
actual location of underground utilities may deviate from the
location described in preconstruction drawings because of
interference below the surface of the earth resulting from rocks,
or rock formation, trees, building foundations or previously
installed utilities unknown to the design engineers. In
anticipation of the installation of additional below ground
utilities and structures in the vicinity of a first structure, and
in anticipation of possible repair or replacement of a first
underground utility in a vicinity, and to prevent subsequent
excavations from encountering unmarked sub-surface utility
structures or sub-surface obstructions, engineers make a record of
the location of the utility, as installed and possibly other
sub-surface obstructions. Such locations are recorded on drawings
known as "as-built drawings".
[0004] Such "as-built drawings" may be made with, or without, the
aid of technology disclosed in U.S. Patent Publication
2009/0112472, titled Three Dimensional Feature Location From An
Excavator, filed Oct. 26, 2007 and its continuation-in-part
application also titled Three Dimensional Feature Location From An
Excavator, filed Aug. 23, 2011, the disclosures of both
applications are expressly incorporated herein by reference.
[0005] According to a first embodiment, the present disclosure
includes a work machine comprising: a body; a computing system
coupled to the body, the computing system having data describing
the location of at least one underground feature; an implement
extending from the body capable of moving earth and capable of
coming into contact with the at least one underground feature; a
positioning system coupled to the body and in communication with
the computing system, the positioning system providing data that is
passed to the computing system such that the computing system can
determine a location of the work machine and an orientation of the
work machine; and software stored in memory electrically coupled to
the computing system. The software including instructions that when
interpreted by the computing system perform the steps of:
determining an exclusion zone, the exclusion zone being defined as
a zone within a defined proximity of the at least one underground
feature; monitoring movement of the implement; and preventing
movement of the implement into the exclusion zone.
[0006] According to a second embodiment, the present disclosure
includes a computer implemented system for monitoring the relative
position of a work machine implement and an underground feature,
including: a first processing sequence that retrieves a map of a
workspace, the map including data regarding an underground feature;
a second processing sequence that receives data from a global
positioning system device coupled to the work machine; a third
processing sequence that uses the data from the global positioning
device to determine a location and orientation of the work machine;
a fourth processing sequence that retrieves data regarding an
implement attached to the work machine; a fifth processing sequence
that determines the position of the implement; a sixth processing
sequence that retrieves data describing an exclusion zone
associated with the underground feature; a seventh processing
sequence that compares the position of the implement to the
exclusion zone.
BRIEF DESCRIPTION OF THE FIGURES
[0007] FIG. 1 illustrates an excavator equipped with offset
range-finding capabilities;
[0008] FIG. 2 illustrates a display of the excavator of FIG. 1;
[0009] FIG. 3 illustrates interaction of data structures running on
an on-board computer of the excavator of FIG. 1; and
[0010] FIG. 4 illustrates display of FIG. 2 showing encroachment
into an exclusion zone.
DETAILED DESCRIPTION
[0011] The instant disclosure provides concepts finding utility
with excavation machines 12 including tracked excavators,
wheel-based excavators, and tractor-based backhoes. The location of
an excavator, or other machine for adjusting and moving surface and
below surface earth, can be determined by a global positioning
device (GPS) 30. GPS device 30 determines the location of its
antenna 14 via transmissions from geosynchronous satellites. In
that antenna 14 is located on machine 12, machine location may be
determined via the satellite transmissions. The present disclosure
contemplates excavation machine 12 having multiple GPS antennas 14
such that the direction that excavation machine 12 is facing can
also be determined along with orientation of machine 12. Antennas
14 are illustratively positioned at top forward corners of cab 38
of machine 12.
[0012] As previously noted, information regarding geographic
workspaces can be obtained from workspace drawings or files that
are constructed via measurements taken by hand, by GPS, or
otherwise. Such geographic workspace information includes
information regarding the placement of sub-surface features such as
utility lines. Such drawings can be formatted according to any
number of known formats, including popular CAD formats.
[0013] Excavation machine 12 includes means for inputting workspace
data, means for storing workspace data, means for displaying
workspace data, and means for interacting with workspace data.
[0014] The means for inputting workspace data are any communication
device that allows for workspace data to be provided to an onboard
computer of excavation machine 12. In the present example, a USB
port 20 capable of receiving a flash drive having workspace data
files thereon is provided as the means for inputting.
Alternatively, the means for inputting is simply a keyboard that
allows a user to type in workspace data. In yet another
alternative, the means for inputting is a wireless link with the
ability to download or otherwise receive data.
[0015] Excavation machine 12 then stores the data, such as in
non-volatile memory 24, and provides for display of the data on
display 34 of machine 12. Display 34 is provided as a simple flat
screen display tablet. However, embodiments are envisioned where
display 34 is a heads-up style display where images are projected
or otherwise displayed on windows 36 of cab 38. The programming of
the on-board computer includes software that can interpret the
received and stored workspace data to provide a visual
representation approximating a map of the workspace. Such a map
includes the locations of various underground elements indicated by
the received workspace data. Options are provided that allow
aerial/satellite maps, such as those obtained from Google Maps or
otherwise, to be combined with the workspace data so that a user
can more easily correlate map positions with real-world
topology.
[0016] The means for interacting includes receiving and integrating
information regarding the location of excavation machine 12 with
the received and stored workspace data. In one embodiment such
interacting takes the form of showing the location of excavation
machine 12 on the map on display 34. Still further, the location of
implements, such as boom arm 26 and bucket 28 are shown on display
34. As will be described below, such interacting also includes
placing restrictions on the placement of excavation machine 12.
[0017] As previously noted the location of GPS antenna 14 on
machine 12 is known to the programmers of the software onboard
excavation machine 12 or is input by a user. Similarly, the
relative offset of antenna 14 to other parts of machine 12 is also
known to the software, either by being preset or being input by a
user. An offset is the distance, direction, orientation, and depth
(or height) of a geographic feature or machine part determined with
respect to the location of the GPS antenna or other location on
machine 12. When the offset is combined with a GPS determined
location of machine 12, the location of the feature or machine part
can be identified in three coordinates. A partial list of relevant
offsets include those between antenna 14 and swing pin 16, the
length and angle and direction of boom arm 26 (also described as
the offset between swing pin 16 and boom pin 17), the length and
angle of dipper arm 18, and the length, width, and angle of bucket
28 or other digging implement. The offsets are used to determine
GPS locations of the pieces of machine 12. Of particular interest
are the edges of bucket 28 in that they provide the most distal
point on the digging apparatus that could interact with the
geography. Such pieces of excavation machine 12 are also then
displayed on display 34 in real-time. Additionally, information
such as an arc defining the reach of bucket 28 of excavation
machine 12 can be depicted on display 34.
[0018] It should also be appreciated that excavation machine 12 can
take on different buckets 28, or other implements, each having
different sizes and shapes, thus producing different offsets
associated therewith. Accordingly, the identity of bucket 28 is
also provided to the on-board computer. While the raw measurement
data of bucket 28 can be provided to the computer, the computer may
also have pre-stored configuration files that provide the offset
data for various common buckets. Similarly, sizes of the other
various pieces (boom arm 26, dipper arm 18, etc.) are also known
such that the perimeters thereof are accounted for in the computer.
Different buckets 28 can be identified to the computer via user
entry, or through an automated means, such as an RFID reader
located near the end of dipper arm 18 (and in communication with
the computer) and a RFID tag located on bucket 28.
[0019] To establish the location of bucket 28 from the swing-pin
16, several axes of rotation and optionally a linear extension in
the form of the variable extension on the dipper arm 18 are
encountered. The first axis of rotation is the entire excavator arm
itself by rotating the table of excavation machine 12 about
swing-pin 16, or in the case of a tractor mounted back-hoe,
rotating boom arm 26 on a backhoe equipped tractor about swing-pin
16. In the case of an excavator operable with a rotating table, it
may not be equipped with an actual `swing-pin`, nonetheless, for
purposes of the description herein, such table type excavators will
be discussed as if a swing-pin were present.
[0020] For rotating table-type excavators, data to determine the
angle of boom arm 26 and dipper arm 18 may be provided as a part of
the signal from the local positioning equipment, or determined by
the receiver on the excavator. For excavators equipped with an
actual swing pin, a rotary encoder at the swing pin provides data
to the on board computer to determine the direction angle .theta.
of boom arm 26. The radial orientation of each rotation axis may be
measured by a rotary encoder. When combined with algorithms
appropriate for the individual excavation machine 12, the computer
can determine the orientation of the dipper arm, and the distance
of bucket 28 with respect to the swing-pin (actual or virtual)
16.
[0021] For excavators equipped with a dipper extension (not shown),
a linear encoder and appropriate algorithm provide the computer
with the additional data required to calculate the position of
bucket 28 on excavators so equipped.
[0022] The working environment of excavators may include uneven
terrain. The body of the excavator may be oriented such that the
pitch and roll of the excavator deviates from horizontal and
vertical. Pitch and roll measurement are determined by noting the
difference in location of antennas 14 mounted on the excavator cab
or elsewhere on the frame of the tractor or excavator which provide
data to the computer respective to pitch and roll of the excavator
`swing-pin` which is rigidly connected with the excavator
mainframe. In like manner, pitch and roll acting on the tracks of
an excavator is translated to the bucket 28 of excavation machine
12 through a rigid frame and the boom 26 and dipper arms 18.
However, various inclinometers and other sensors can also provide
this information. All of the above serves to provide information
about the location of excavation machine 12, including but not
limited to bucket 28. This information is combined with the mapping
information in the computer to provide a real-time interactive
representation of the workspace in which excavation machine 12 is
located. Such mapping information informs a user regarding the
various features of the workspace and the relative position of the
parts of excavation machine 12 to the workspace features. Such
mapping information provides a visual contextual rendering of the
relative spacing of machine 12 in the workspace and of features of
the workspace and exclusion zones (see below) tied to features of
the workspace.
[0023] Along with noting the positions of workspace features
(trees, buildings, underground utilities), such features can also
be associated with a setback or "exclusion zone." Such an exclusion
zone takes the form of, for example, an instruction for the
computer to now allow bucket 28 within 5 feet of a gas line. The
setback or "exclusion zone" can be customized per job or can be
constant across jobs for similar workspace features. The computer
that synthesizes all this data is either the same computer or is
linked to a computer that controls movement of the various parts of
excavation machine 12. Accordingly, movement of excavation machine
12 can be arrested when such movement would place a part of
excavation machine 12 within an exclusion zone 100 (an exclusion
zone 100 encroachment). Such arresting can be one of at least two
types. The first type is an absolute arresting. In such
embodiments, intrusion into an exclusion zone is absolutely
forbidden. No movement of excavation machine 12 is permitted that
would intrude into an exclusion zone. A second type is more of a
warning. An attempt at movement that would intrude into an
exclusion zone is met with an arresting of movement and a
notification of some kind, such as a message on display 34. In
addition to the message, an option is provided to allow the user to
override the exclusion zone. Such override can be a one-time
override, a permanent override specific to one portion of the
specific exclusion zone, a permanent override for the entire
feature, or otherwise. Thus, the warning would provide the user
with notice to proceed with a heightened amount of care.
Embodiments are envisioned in which no arresting takes place, but
rather only a audible warning, visual warning, or both are
presented to the user. Additionally, the arresting need not be
immediate, but rather can be a gradual slowing of the impinging
member to a halt.
[0024] FIG. 4 shows a located sub-surface feature in an excavation.
The computer provides identity of the feature by appropriate
description or notation, for example: words or colors. Software of
the computer interprets the provided workspace data and provides
the map of FIG. 4 on display 34. By way of example, buildings can
be shown by yellow lines 50, gas lines are shown by red lines 60,
water lines are shown by orange lines 70, electrical lines are
shown by purple lines 80, other features 90 such as sewer can be
shown by other colors such as blue and white. Utility lines can be
further differentiated based on diameters of the lines/conduit that
they occupy (i.e. sewer mains and service lines could be colored
differently). Similarly, known locations of other above ground
features such as trees and shrubs can also be shown. For each
feature having one, the computer/display 34 also provides a visual
display of the exclusion zone 100. Exclusion zone 100 is
illustratively shown using dotted lines 102 and shading 104. Dotted
lines 102 are used to mark the edges of exclusion zone 100. Shading
104 is provided between dotted lines 102. Illustratively, shading
104 is provided between dotted lines 102 when exclusion zone 100 is
violated. Embodiments are also envisioned where violation of an
exclusion zone also generates an e-mail that notifies other
entities of the incursion.
[0025] FIG. 4 also shows a representation of machine 12. In
addition to showing a representation of the main body of machine
12, a semi-circular area 110 is also provided at one end of machine
12. Semi-circular area 110 represents that field of travel that is
possible by the implement (such as bucket 28) attached to machine
12.
[0026] Display 34 is illustratively a touchscreen, accordingly, the
screen provides a plurality of commands/input/informational
buttons. Such buttons include informational buttons 112 that give
context to what is being viewed. Examples of informational buttons
112 are ones that indicate whether an entire worksite is being
shown or a workspace is being shown (where a workspace is smaller
and more local to machine 12 relative to "worksite"). Command
buttons 114 include "zoom" and "pan." A zoom button allows a
worksite view to be zoomed in to a workspace view. Similarly,
zooming out is also possible. A pan button allows the map to be
translated across the screen of display 34. Command buttons 114
also include various functions relating to loading, saving,
importing, and exporting files. Additionally, buttons are provided
that are used for data gathering and creation of "as-built"
drawings as described in the co-owned application titled Three
Dimensional Feature Location From An Excavator, filed Aug. 23,
2011. Still other buttons are provided that allow customization of
display features and customization of settings regarding the size
of exclusion zones 100 for various utility types. Additionally
buttons are provided that allow access to screens in which settings
and measurements (such as dimensions of bucket 28) can be entered
and adjusted.
[0027] Accordingly, it should be appreciated that the software
running on the computer onboard machine 12 includes a plurality of
data structures. Such data structures include data structures for
importing map data 1000, for storing map data 1010, for retrieving
map data 1015, for interfacing with a GPS device 1020, for
calculating machine orientation 1025, for receiving implement
relative positioning data 1030, for calculating implement absolute
positioning data 1040, for implementing exclusion zones 1050, for
displaying map and positioning data 1060, for receiving user input
1070, and for issuing machine control signals 1080.
[0028] The data structure for importing map data 1000 interfaces
with USB port 20 (or other similar interface) to obtain map data.
This data is passed to the data structure for storing map data
1010. Structure 1010 interfaces with memory 24 to store the map
data. The data structure for retrieving map data 1015 interfaces
with memory 24 to retrieve previously stored map data. The data
structure for interfacing with a GPS device 1020 communicates with
GPS device 30 (which is in communication with the plurality of
antennas 14) to obtain GPS coordinates for antennas 14. The data
structure for calculating machine orientation 1025 takes the
obtained GPS coordinates and determines the position of machine 12
as well as compares the GPS readings from each antenna 14 to
determine the orientation of machine 12. The data structure for
receiving implement relative positioning data 1030 interfaces with
display 34 for any user input data regarding the particular
implement being used (or alternatively with another indicator of
the implement, such as an RFID reader). Structure 1030 also
interfaces with sensors monitoring dipper arm 18, swing pin 16,
boom pin 17, boom arm 26, and bucket 28. Each of the sensors allows
the relative position of each piece 16, 17, 18, 26, 28 to antennas
14 to be calculated. This relative positioning data is then passed
to structure 1040. The structure for calculating implement absolute
positioning data 1040 takes the relative positioning data from
structure 1030 and combines it with the GPS positioning and
orientation data from structure 1025 to determine the physical
space inhabited by each piece 16, 17, 18, 26, 28.
[0029] The structure for implementing exclusion zones 1050 takes
the retrieved map data from structure 1015 and retrieves data from
memory 24 regarding the settings for exclusion zones. Structure
1050 then applies the exclusion rules to the map data. The
exclusion zone data along with the map data is passed to structure
1060.
[0030] The structure for displaying map and positioning data 1060
takes the passed data and presents an integrated data set to
display 34. Structure for receiving user input 1070 allows a user
to interact with display 34 to alter the displayed map and to
otherwise initiate other data structures (such as those that allow
for creation of new map features, to override exclusion zones, or
otherwise). Structure 1070 also receives input regarding desired
movement of machine 12 (including movement of pieces 16, 17, 18,
26, 28. Input regarding movement commands is passed to structure
1080.
[0031] Structure for issuing machine control signals 1080 takes the
passed movement commands and compares the movement command data
with exclusion zones. If structure 1080 determines that the
movement commands will not cause an exclusion zone to be violated,
the movement commands are passed along to other systems that
actually implement the movement. If structure 1080 determines that
the movement commands will cause an exclusion zone to be violated,
structure 1080 does not pass along the movement commands to the
movement systems. Rather, structure 1080 causes warnings to be
displayed on display 34 regarding the exclusion zones interaction
with the requested movement of machine 12.
[0032] If movement commands are passed along from structure 1080
such movement impacts either the relative location of the implement
28 and GPS antenna 14, or impacts the location of GPS antenna 14.
Either way, the calculations to determine the implement's absolute
position are repeated. As should be understood, many of the
structures are implemented in an iterative fashion such that the
map on display 34 is constantly being redrawn and the position of
machine 12 and its parts is constantly being re-asessed. In this
way, a real-time representation of machine 12 in the workspace is
presented on display 34. Similarly, the relative position of
machine 12 and exclusion zones 100 is constantly updated to provide
an accurate interaction therebetween.
[0033] While this application discusses use of satellite based GPS,
the concepts could also be used along with local positioning
stations and other known similar means. Similarly, the utility and
benefits described herein as well as modifications and adaptations
by those skilled in the art may adapt the invention to specific
uses without departing from the spirit and scope of the invention
as claimed.
* * * * *