Method and apparatus for accurately positioning a tool on a mobile machine using on-board laser and positioning system

摘要

A method and apparatus for accurately positioning a tool on a mobile machine are provided. The machine is equipped with a satellite positioning system (SPS) receiver, a robotic total station with an integrated scanning laser and a storage facility storing a digital terrain model (DTM) of a work area. The machine operates within the work area and a number of stationary reflectors are positioned at various locations about the work area. The SPS receiver determines the current location of the machine. A system controller then references the DTM to determine the closest stationary reflector to the current location of the machine. Location data of the closest reflector is then provided to the robotic total station, which locates the closest reflector. The scanning laser then locks on to the reflector and the system controller determines the angle between the laser and the reflector. Based upon a computed angle, a displacement between the actual elevation of the machine and the design elevation for the current location of the machine is computed. The position of the tool is then adjusted based upon the computed displacement. If the closest reflector is out of range or obstructed by another object, the onboard system automatically determines the next closest reflector.