Excavator control system and method

Abstract

The system determines the orientation, r, of an excavator or other machine sitting on a sloped portion of-a construction or work site with respect to the direction across the site in which there is no slope. This direction across the site in which there is no slope is perpendicular to the direction of the fall line of the sloped portion. The system includes a first inclinometer for determining the pitch angle, Pitch, of the machine and providing a pitch angle output. The system includes a second inclinometer for determining the roll angle, Roll, of the machine and for providing a roll angle output. Finally, the system includes a processor, responsive to said pitch angle output and said roll angle output, with the processor determining the orientation, r, according to one of the following: r=sin −1 [Pitch/(Pitch 2 +Roll 2 ) 1/2 ]; or r=cos −1 [Roll/(Pitch 2 +Roll 2 ) 1/2 ]; or r=tan −1 [Pitch/Roll]. The first and second inclinometers may comprise a single, dual axis inclinometer, or they may comprise a pair of appropriately oriented inclinometers. The system may use only one of the three formulae continuously, or may select various ones of the formulae for use at various times, depending upon which formula is judged to provide the most accurate indication of orientation. For example, the formula may be selected based upon the quadrant in which the longitudinal axis of the machine is oriented.

1 . A system for determining the orientation, r, of an excavating machine sitting on a sloped portion of a construction site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising:
 a first inclinometer for determining the pitch angle, Pitch, of the excavating machine and providing a pitch angle output,   a second inclinometer for determining the roll angle, Roll, of the excavating machine and for providing a roll angle output, and   a processor, responsive to said pitch angle output and said roll angle output, said processor determining the orientation, r, of the pitch axis of the excavating machine according to the following:
     r =sin −1  [Pitch/(Pitch 2 +Roll 2 ) 1/2 ]. 
   
     
     
         2 . A system for determining the orientation, r, of an excavating machine sitting on a sloped portion of a construction site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising:
 a first inclinometer for determining the pitch angle, Pitch, of the excavating machine and providing a pitch angle output,   a second inclinometer for determining the roll angle, Roll, of the excavating machine and for providing a roll angle output, and   a processor, responsive to said pitch angle output and said roll angle output, said processor determining the orientation, r, of the pitch axis of the excavating machine according to the following:
     r =cos −1  [Roll/(Pitch 2 +Roll 2 ) 1/2 ]. 
   
     
     
         3 . A system for determining the orientation, r, of an excavating machine sitting on a sloped portion of a construction site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising:
 a first inclinometer for determining the pitch angle, Pitch, of the excavating machine and providing a pitch angle output,   a second inclinometer for determining the roll angle, Roll, of the excavating machine and for providing a roll angle output, and   a processor, responsive to said pitch angle output and said roll angle output, said processor determining the orientation, r, of the pitch axis of the machine according to the following:
     r =tan −1  [Pitch/Roll]. 
   
     
     
         4 . A system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising:
 a first inclinometer for determining the pitch angle, Pitch, of the machine and providing a pitch angle output,   a second inclinometer for determining the roll angle, Roll, of the machine and for providing a roll angle output, and   a processor, responsive to said pitch angle output and said roll angle output, said processor determining the orientation, r, of the pitch axis of the machine according to a selected one of the following:
     r =sin −1  [Pitch/(Pitch 2 +Roll 2 ) 1/2 ], or 
     r =cos −1  [Roll/(Pitch 2 +Roll 2 ) 1/2 ], or 
     r =tan −1  [Pitch/Roll]. 
   
     
     
         5 . The system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 4 , in which said processor selects among the formulae for determining the orientation, r, in dependence upon which formula is likely to provide the most accurate indication of orientation. 
     
     
         6 . The system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 4 , in which said first and second inclinometers comprise a single, dual axis inclinometer. 
     
     
         7 . The system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 4 , in which said processor selects among the formulae for determining the orientation, r, in dependence upon which quadrant the longitudinal direction of the machine is found. 
     
     
         8 . The system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 7 , in which said processor selects a cosine formula when the orientation of the machine is near ±90°, and in which-said processor selects a sine formula when the orientation of the machine is near 0° or near 180°. 
     
     
         9 . A method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising the steps of:
 determining the pitch angle, Pitch, of the machine and providing a pitch angle output,   determining the roll angle, Roll, of the machine and for providing a roll angle output, and   determining the orientation, r, of the pitch axis of the machine according to the relationship:
     r =sin −1  [Pitch/(Pitch 2 +Roll 2 ) 1/2 ]. 
   
     
     
         10 . A method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising the steps of:
 determining the pitch angle, Pitch, of the machine and providing a pitch angle output,   determining the roll angle, Roll, of the machine and for providing a roll angle output, and   determining the orientation, r, of the pitch axis of the machine according to the relationship:
     r =tan −1  [Pitch/Roll]. 
   
     
     
         11 . A method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising the steps of:
 determining the pitch angle, Pitch, of the machine and providing a pitch angle output,   determining the roll angle, Roll, of the machine and for providing a roll angle output, and   determining the orientation, r, of the pitch axis of the machine according to the relationship:
     r =cost −1  [Roll/(Pitch 2 +Roll 2 ) 1/2 ]. 
   
     
     
         12 . A method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising the steps of:
 determining the pitch angle, Pitch, of the machine and providing a pitch angle output,   determining the roll angle, Roll, of the machine and providing a roll angle output, and   determining the orientation, r, of the pitch axis of the machine according to a selected one of the relationships:
     r =sin −1  [Pitch/(Pitch 2 +Roll 2 ) 1/2 ], or 
     r =cos −1  [Roll/(Pitch 2 +Roll 2 ) 1/2 ], or 
     r =tan −1  [Pitch/Roll]. 
   
     
     
         13 . The method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 12 , in which the step of determining the orientation, r, according to a selected one of the relationships includes the step of selecting among the relationships in dependence upon which relationship is likely to provide the most accurate indication of orientation. 
     
     
         14 . The method for determining the orientation, r, of a machine sitting on a sloped portion of a construction site with respect to the direction across the site in which there is no slope, according to  claim 12 , in which the steps of determining the pitch angle, Pitch, of the machine and providing a pitch angle output, determining the roll angle, Roll, of the machine and for providing a roll angle output, comprises the steps of measuring said Pitch angle and said Roll angle with first and second inclinometers, said inclinometers oriented to provide measured angles in the desired orientation. 
     
     
         15 . The method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 12 , in which the steps of determining the pitch angle, Pitch, of the machine and providing a pitch angle output, determining the roll angle, Roll, of the machine and for providing a roll angle output, comprise the step of selecting among the formulae for determining the orientation, r, in dependence upon which quadrant the longitudinal direction of the machine is found. 
     
     
         16 . The method for determining the orientation, r, of an excavating machine sitting on a sloped portion of a construction site with respect to the direction across the site in which there is no slope, in which a cosine formula when the orientation of the excavating machine is near ±90°, and in which said processor selects a sine formula when the orientation of the excavating machine is near 0° or near 180°. 
     
     
         17 . A system for determining the orientation, r, of an excavating machine sitting on a sloped portion of a construction site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising:
 a first inclinometer for determining the pitch angle, Pitch, of the excavating machine and providing a pitch angle output,   a second inclinometer for determining the roll angle, Roll, of the excavating machine and for providing a roll angle output, and   a processor, responsive to said pitch angle output and said roll angle output, said processor determining the orientation, r, using the said pitch and roll output.   
     
     
         18 . The system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 17 , in which said first and second inclinometers comprise a single, dual axis inclinometer. 
     
     
         19 . A system for determining the orientation, r, of an excavating machine sitting on a sloped portion of a construction site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising:
 a first inclinometer for determining the pitch angle, Pitch, of the excavating machine and providing a pitch angle output,   a second inclinometer for determining the roll angle, Roll, of the excavating machine and for providing a roll angle output, and   a processor, responsive to said pitch angle output and said roll angle output, said processor determining the orientation, r, of the roll axis of the excavating machine according to the following:
     r =sin −1  [Roll/(Pitch 2 +Roll 2 ) 1/2].    
   
     
     
         20 . A system for determining the orientation, r, of an excavating machine sitting on a sloped portion of a construction site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising:
 a first inclinometer for determining the pitch angle, Pitch, of the excavating machine and providing a pitch angle output,   a second inclinometer for determining the roll angle, Roll, of the excavating machine and for providing a roll angle output, and   a processor, responsive to said pitch angle output and said roll angle output, said processor determining the orientation, r, of the roll axis of the excavating machine according to the following:
     r =cos −1  [Pitch/(Pitch 2 +Roll 2 ) 1/2 ]. 
   
     
     
         21 . A system for determining the orientation, r, of an excavating machine sitting on a sloped portion of a construction site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising:
 a first inclinometer for determining the pitch angle, Pitch, of the excavating machine and providing a pitch angle output,   a second inclinometer for determining the roll angle, Roll, of the excavating machine and for providing a roll angle output, and   a processor, responsive to said pitch angle output and said roll angle output, said processor determining the orientation, r, of the roll axis of the machine according to the following:
     r =tan −1  [Roll/Pitch]. 
   
     
     
         22 . A system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising:
 a first inclinometer for determining the pitch angle, Pitch, of the machine and providing a pitch angle output,   a second inclinometer for determining the roll angle, Roll, of the machine and for providing a roll angle output, and   a processor, responsive to said pitch angle output and said roll angle output, said processor determining the orientation, r, of the roll axis of the machine according to a selected one of the following:
     r =sin −1  [Roll/(Pitch 2 +Roll 2 ) 1/2 ], or 
     r =cos −1  [Pitch/(Pitch 2 +Roll 2 ) 1/2 ], or 
     r =tan −1  [Roll/Pitch]. 
   
     
     
         23 . The system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 22 , in which said processor selects among the formulae for determining the orientation, r, in dependence upon which formula is likely to provide the most accurate indication of orientation. 
     
     
         24 . The system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 22 , in which said first and second inclinometers comprise a single, dual axis inclinometer. 
     
     
         25 . The system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 22 , in which said processor selects among the formulae for determining the orientation, r, in dependence upon which quadrant the longitudinal direction of the machine is found. 
     
     
         26 . The system for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 25 , in which said processor selects a cosine formula when the orientation of the machine is near ±90°, and in which said processor selects a sine formula when the orientation of the machine is near 0° or near 180°. 
     
     
         27 . A method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising the steps of:
 determining the pitch angle, Pitch, of the machine and providing a pitch angle output,   determining the roll angle, Roll, of the machine and for providing a roll angle output, and   determining the orientation, r, of the roll axis of the machine according to the relationship:
     r =sin −1  [Roll/(Pitch 2 +Roll 2 ) 1/2].    
   
     
     
         28 . A method for determining the orientation, r, of a machine sifting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising the steps of:
 determining the pitch angle, Pitch, of the machine and providing a pitch angle output,   determining the roll angle, Roll, of the machine and for providing a roll angle output, and   determining the orientation, r, of the roll axis of the machine according to the relationship:
     r =tan −1  [Roll/Pitch]. 
   
     
     
         29 . A method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising the steps of:
 determining the pitch angle, Pitch, of the machine and providing a pitch angle output,   determining the roll angle, Roll, of the machine and for providing a roll angle output, and   determining the orientation, r, of the roll axis of the machine according to the relationship:
     r =cos −1  [Pitch/(Pitch 2 +Roll 2 ) 1/2 ]. 
   
     
     
         30 . A method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, which is perpendicular to the direction of the fall line of the sloped portion, comprising the steps of:
 determining the pitch angle, Pitch, of the machine and providing a pitch angle output,   determining the roll angle, Roll, of the machine and providing a roll angle output, and   determining the orientation, r, of the roll axis of the machine according toga selected one of the relationships:
     r =sin −1  [Roll/(Pitch 2 +Roll) 1/2 ], or 
     r =cos −1  [Pitch/(Pitch 2 +Roll 2 ) 1/2 ], or 
     r =tan −1  [Roll/Pitch]. 
   
     
     
         31 . The method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 30 , in which the step of determining the orientation, r, according to a selected one of the relationships includes the step of selecting among the relationships in dependence upon which relationship is likely to provide the most accurate indication of orientation; 
     
     
         32 . The method for determining the orientation, r, of a machine sitting on a sloped portion of a construction site with respect to the direction across the site in which there is no slope, according to  claim 30 , in which the steps of determining the pitch angle, Pitch, of the machine and providing a pitch angle output, determining the roll angle, Roll, of the machine and for providing a roll angle output, comprises the steps of measuring said Pitch angle and said Roll angle with first and second inclinometers, said inclinometers oriented to provide measured angles in the desired orientation. 
     
     
         33 . The method for determining the orientation, r, of a machine sitting on a sloped portion of a work site with respect to the direction across the site in which there is no slope, according to  claim 30 , in which the steps of determining the pitch angle, Pitch, of the machine and providing a pitch angle output, determining the roll angle, Roll, of the machine and for providing a roll angle output, comprise the step of selecting among the formulae for determining the orientation, r, in dependence upon which quadrant the longitudinal direction of the machine is found.