U.S. patent number 3,873,226 [Application Number 05/378,171] was granted by the patent office on 1975-03-25 for laser beam control system for road paving machines.
This patent grant is currently assigned to Laserplane Corporation. Invention is credited to Ted L. Teach.
United States Patent |
3,873,226 |
Teach |
March 25, 1975 |
Laser beam control system for road paving machines
Abstract
Apparatus for controlling the elevation of the pavement
distributor head of a mobile road paving machine in predetermined
relationship to a fixed horizontal plane, as set by a laser beam
which is periodically swept across such plane, such apparatus
comprising a tape dispensing device carried by the machine to
dispense a tape of indefinite length therefrom at zero velocity
relative to the surface being paved, and a tape reader for
detecting indicia on the tape at predetermined intervals to
increase or decrease the predetermined relationship between the
pavement dispensing head and the fixed plane, to thereby increase
or decrease the elevation of the paved surface at predetermined
intervals.
Inventors: |
Teach; Ted L. (Springfield,
OH) |
Assignee: |
Laserplane Corporation (Dayton,
OH)
|
Family
ID: |
23492042 |
Appl.
No.: |
05/378,171 |
Filed: |
July 11, 1973 |
Current U.S.
Class: |
404/84.5; 73/490;
73/510 |
Current CPC
Class: |
E01C
19/008 (20130101); E01C 19/006 (20130101); E01C
19/4873 (20130101) |
Current International
Class: |
E01C
19/48 (20060101); E01C 19/00 (20060101); E01c
019/00 () |
Field of
Search: |
;404/84,83 ;325/320
;178/66 ;73/510 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Byers, Jr.; Nile C.
Attorney, Agent or Firm: Schaich; W. A.
Claims
I claim:
1. Apparatus for controlling the vertical height of a vertically
adjustable working tool of a mobile earth-working machine, said
apparatus comprising, in combination:
means for sensing the elevation of a laser beam periodically moving
in a pre-determined substantially horizontal plane;
control means responsive to said laser beam for maintaining a
pre-determined vertical relationship between said plane and the
vertical height of said tool; and
adjustment means for changing said pre-determined relationship at
pre-determined locations along the intended path of travel of the
said machine, said adjustment means comprising:
1. means on the machine for dispensing an indicia bearing tape
measuring the distance traveled by said machine as said machine
moves along its path of travel, and
2. reader means responsive to said indicia and operatively
associated with said control means for changing said predetermined
relationship as a function of the distance traveled by said
machine.
2. Apparatus according to claim 1 wherein said mobile earth-working
machine is a paving machine and wherein said working tool is the
pavement distributor portion thereof.
3. Apparatus according to claim 1 wherein said indicia on said tape
comprises binary coded punched holes and wherein said reader means
comprises a reader for reading binary coded information.
4. The method for controlling the vertical height of a vertically
adjustable working tool of a mobile earthworking machine comprising
the steps:
l. sensing the elevation of a pre-determined substantially
horizontal plane;
2. controlling the height of the adjustable tool in a
pre-determined relationship to said substantially horizontal
plane;
3. accurately measuring the distance traveled by said earth-working
machine as it moves along its path of travel by dispensing a tape
therefrom at a pre-determined rate relative to its velocity of
travel, said tape bearing detectable indicia along its length;
and
4. changing the pre-determined relationship between the height of
said adjustable tool and said substantially horizontal plane in
response to the indicia carried by said tape.
5. The method according to claim 4 wherein the tape is dispensed at
zero velocity relative to the ground traversed by said machine.
6. The method according to claim 4 wherein said mobile earth
working machine is a road paving machine and wherein said working
tool is the pavement distributor portion thereof.
7. The method of controlling the effective height of an
earth-working tool carried by a mobile vehicle and vertically
adjustable relative thereto comprising:
1. moving the vehicle along a known path from a known reference
point;
2. dispensing a tape from a dispensing reel on said vehicle at zero
velocity relative to the ground traversed by the vehicle, whereby
the length of tape dispensed measures the linear movement of the
vehicle from said reference point;
3. providing indicia on said tape corresponding to desired
elevations of said earth-working tool at points along the vehicle
path; and
4. reading said indicia as said tape is dispensed and adjusting the
height of said tool in response to said reading.
8. Apparatus for controlling the working height of an earth-working
tool carried by a mobile vehicle and vertically adjustable relative
thereto by power means comprising:
1. a flexible tape bearing indicia corresponding to desired
elevations of said earth-working tool at points spaced from a
reference point;
2. a dispenser for said tape mounted on said vehicle and
constructed and arranged to dispense tape as said vehicle moves
from said reference point at zero velocity relative to the ground
traversed;
3. electronic means for reading said indicia as said tape is
dispensed; and
4. means for controlling said power means in response to the
reading of said indicia, thereby adjusting the working height of
said earth-working tool as the vehicle moves from said reference
point.
Description
GENERAL BACKGROUND OF THE INVENTION
In U.S. Pat. No. 3,588,349 to Robert H. Studebaker there is
described apparatus for maintaining a predetermined vertical
relationship between the elevation of the working tool of an earth
working machine and a fixed horizontal elevation. As described in
the aforesaid Studebaker patent, such apparatus comprises a laser
beam generating device remote from the machine to periodically
project a laser beam along a multitude of paths lying in a
horizontal plane, and a servo system, including a laser beam
receiver carried by the machine, for sensing the height of the
laser beam plane and for raising or lowering the elevation of the
earth engaging tool to maintain a predetermined difference between
the tool and the laser beam. To change the predetermined
relationship between the laser plane and the tool of the earth
working machine along the path of travel of the machine according
to the teachings of the aforesaid Studebaker patent, however, for
example to increase or decrease the elevation of a road at
predetermined locations, and to thereby establish grade breaks or
vertical curves, it was necessary to manually locate each of such
predetermined locations by conventional surveying techniques and to
manually re-set the servo system of the machine as it reached each
such location. This, of course, involved considerable work and
expense, especially in regard to road paving machines where grade
specifications are normally considerably more narrow than in the
case of earth grading machines, and this requirement thereby has
heretofore substantially impeded the application of the laser plane
control system to road paving systems.
In accordance with the present invention, however, it has been
found that the laser plane elevation control system of the
aforesaid Studebaker patent can be successfully and economically
applied to road paving machines, and without the need to establish,
by manual surveying techniques, the elevation of a very great
number of locations very closely spaced to one another along the
length of the road being paved in order to generate grade breaks or
vertical curves within acceptable standards. In accordance with the
present invention, any earth working machine, particularly a road
paving machine, may be provided with a coil or reel of tape which
is unwound onto the earth surface being worked as the machine moves
along its intended path of travel. This tape is provided with
periodically spaced indicia which indicates the distance travelled
by the machine. The machine is provided with a servo system that
includes a tape reader for reading the indicia on the tape and for
changing the predetermined distance between the laser plane and the
elevation of the earth working tool, such as the pavement
distributor of a paving machine, which is then being established by
the laser beam control system.
Accordingly, it is an object of the present invention to provide an
improved elevation control system for an earth working machine.
More particularly, it is an object of the present invention to
provide an improved laser beam actuated control system for
accurately controlling the elevation of the earth working tool of
an earth working machine as a variable function of the distance
traversed by the machine from a known location as it moves along
its intended path of travel, and it is an even more particular
object of the present invention to provide a road paving machine
with such an improved laser beam actuated control system for
controlling the elevation of the vertically adjustable pavement
distributor thereof.
For a further understanding of the present invention and the
objects thereof, attention is directed to the following portion of
the specification, to the drawing and to the appended claims.
DESCRIPTION OF THE DRAWING
FIG. 1 is a perspective view of a self-propelled type of bituminous
paving machine incorporating a control system in accordance with
the present invention;
FIG. 2 is a fragmentary plan view of a typical portion of the tape
being dispensed by the paving machine of FIG. 1;
FIG. 3 is a schematic view of the control system of the paving
machine; and
FIG. 4 is a schematic view of a control which is an alternate to
that shown in FIG. 3.
DETAILED DESCRIPTION OF THE INVENTION
As is shown in FIG. 1, the control system of the present invention
may be applied to a bituminous paving machine, shown generally at
11. For purposes of illustration, paving machine 11 may be
considered to be of the self-powered type manufactured by the
Construction Equipment Division of Blaw-Knox Company under the
designation PF-220, except as is otherwise hereinafter specifically
described. Paving machine 11 is shown as receiving a fresh load of
bituminous paving material in a hopper portion at its front end
from a conventional dump truck 12, shown fragmentarily. A thin
laterally extending layer of bituminous paving material 13 is
applied to the road bed by one or more generally laterally
extending pavement distributors, shown as two distributors 14 each
of which may be considered to extend at a slight angle as it
extends from the center of the road toward the edge, in order to
properly crown the road for the drainage of water therefrom.
Since the bed of the road being paved is generally not graded to
elevation specifications as stringent as those to which the road
must be paved, variations in grading are overcome by making the
vertical elevation of distributors 14 adjustable, relative to the
road bed, to apply paving material thereto in varying depth as the
paving machine moves along its intended path of travel. Vertical
adjustability of distributors 14 is accomplished by mounting each
at the load end of a first class lever arm 15, the other or force
end of which is connected to the end of the cylinder rod of an
hydraulic cylinder 16. Hydraulic fluid is controllably admitted
under pressure to either the rod end or the open end of the piston
to raise or lower the force end of arms 15 and to thereby lower or
raise the load end thereof.
As is explained in the aforesaid Studebaker U.S. Pat. No.
3,588,249, and also in U.S. Pat. No. 3,494,426 to Robert H.
Studebaker, the control of hydraulic fluid to and from hydraulic
cylinder 16 to maintain distributors 14 at a predetermined
elevation may be controlled by a control system which senses the
elevation of a plane along which a laser beam is periodically
projected. To that end, machine 11 is provided with a vertically
extending laser beam receiving device 17 which may be of the type
described in the aforesaid U.S. Pat. No. 3,494,426, or the type
described in my copending patent application Ser. No. 358,881,
filed on May 10, 1973, and which is attached to lever arm 15 as
shown.
Typically, a laser beam receiving device of such a type is capable
of adjustment in elevation, relative to the elevation of one or
both of the pavement distributors, in increments of 0.01 feet over
a total range of adjustment of 5 feet, there thereby being 500
different predetermined relationships between the elevations of the
laser beam receiver and the controlled pavement distributor which
can be selected by the operator. This fact can be used to advantage
to accurately and automatically control the grade of the paved
surface at a non-horizontal angle or at a variable angle, that is
at an angle which is not parallel to the plane along which the
laser beam is projected or which periodically changes from the
angle of such plane, by providing means to automatically select a
different one of the 500 of such predetermined relationships as the
machine travels to each of a plurality of different locations along
its longitudinal path of travel from a known starting location.
These different locations can be accurately determined, without the
need to manually locate each by conventional surveying techniques,
by providing machine 11 with a tape dispenser 18 to dispense a tape
19, on which each of the locations is pre-identified by detectable
indicia and by dispensing the tape at zero velocity relative to the
paved surface, as the paving machine moves along its path of
travel. Tape 19 is preferably of a weather-resistant, relatively
non-stretchable material such as Mylar, and it is fed at zero
velocity relative to the paved surface over distributor 14 to be
applied to the paved surface 13 by a floating press down wheel 21
which is attached to paving machine 11.
As is shown in FIG. 2, the longitudinal location on the tape at
which it is desired to select one of the 500 predetermined
relationships to be controlled by the laser beam actuated control
system can be indicated by the binary coded placement of punched
holes 22, it being necessary to have nine positions at each
longitudinal position along the tape, extending in lateral rows
thereacross, where such holes can be placed or omitted to select
from 500 possible predetermined locations. The tape may also be
advantageously provided with visually detectable station and
elevation identification data, 23 and 24 respectively, to permit
inspectors to verify the elevation or grade of the road after the
paving machine has passed thereover.
To determine the distance that paving machine 11 has travelled from
a known starting point by the binary coded placement of punched
holes 22 thereon, paving machine 11 is provided with a tape reader
25 of conventional character. At the start of the paving operation,
the tape 19 is pulled through reader 25 and is positioned properly
on the ground at the start point. The tape reader will then sense
the first location which is indicated on the tape 19 and will
deliver this information, in binary code, to a memory circuit 26.
The memory circuit 26, in turn, activates a driver 27 which is
operatively connected to an electronic display panel 28. In the
meanwhile the position of the vertically adjustable laser beam
receiver 17 is mechanically sensed and is indicated on a mechanical
counter 29, preferably mounted closely adjacent electronic display
28 at the operator's station so that equivalent readings on the two
devices can be quickly verified.
As the paving machine 11 moves along its intended path of travel it
will reach the first point where it is desired to effect an
elevation change, changes usually being made in increments of 0.01
feet, for the type of laser beam receivers heretofore described. At
this point the new instructions on the tape 19 are read by reader
25, and this information is simultaneously passed to memory circuit
26 and to a comparator circuit 31. The comparator circuit will
sense that this position is greater or less than that indicated by
the information stored in the memory circuit, and will then feed a
signal to the "up" circuit 32, or to the "down" circuit 33, which
will instruct the control box 34 to raise or lower, respectively,
the laser beam receiver 17 by one increment. At the same time up
circuit 32 or down circuit 33, as the case may be, will cause a
strobe 35 to erase the information stored in memory circuit 26 and
will replace it with information as to the new elevation.
Mechanical counter 29 and electronic display 28 must now each
indicate the new elevation.
To generate a linear grade break by the utilization of the
aforesaid control system, for example one of 1 foot per 100 feet,
it will be necessary to raise or lower the mast 17 by one increment
of 0.01 feet for each foot of forward travel, and to generate a
grade break of 2 feet per 100 feet, it will be necessary to raise
or lower the mast by one increment of 0.01 feet for each 0.5 feet
of forward travel. Vertical curves can also be generated by the
utilization of the control system by maintaining uneven spacing
between the points on the tape where the rows of punched holes are
located.
As is shown in FIG. 4, some simplification in the control circuitry
may be achieved with the use of a tape 119 having eleven positions
for the location of punched holes, rather than the nine positions
on tape 19. The first nine of such positions provide the display
through the memory and driver circuits 26 and 27, as heretofore
described. The next two positions provide the elevation change
information to an up-down decoder circuit 36 which determines any
required change and appropriately instructs the up circuit 32 or
down circuit 33. Up circuit 32 or down circuit 33, as the case may
be, in turn will to cause strobe 35 to strobe memory circuit 26
cause it to remember the new elevation rather than the previous
elevation.
It is to be pointed out that the forward advance of a
self-propelled type of paving machine of the type described herein,
for the purpose of the practice of the present invention, can be
measured by a ground contacting fifth wheel rather than by the tape
dispensing arrangement described above. However, it is felt, with
the present state of the art of such devices, that the use thereof
would involve some chance of error arising from slippage of the
wheel relative to the ground.
The best mode known to me to carry out this invention has been
described above in terms sufficiently full, clear, concise and
exact so as to enable any person skilled in the art to make and use
the same. It is to be understood, however, that it is within my
contemplation that certain modifications of the above described
mode of practicing the invention can be made by a skilled artisan
without departing from the scope of the invention, and it is
therefore desired to limit the invention only in accordance with
the appended claims.
* * * * *