Patent ID: 8594879
Filing Date: 2013-11-26
Classification: A01B,G01S,G05D

Abstract:
1. A GNSS guidance and control method for earth-moving equipment including a vehicle movably mounting a ground-engaging tool having multiple articulated connections at an articulated vehicle-tool connection, which method comprises the steps of: providing a grading plan including design elevations; equipping the vehicle with a GNSS system including multiple GNSS antennas, a GNSS receiver connected to the antennas and a programmable controller connected to the GNSS receiver; programming the controller to compute GNSS-defined positions of said antennas using GNSS ranging information; determining with the GNSS-defined antenna positions vehicle position and attitude in three dimensions (3-D); providing an articulation sensor at each articulated connection; outputting from each articulation sensor a signal corresponding to a position and orientation of said vehicle-tool connection; defining said design elevations in relative coordinates based on a benchmark placed at the desired design elevation established by a benchmark position determined by placement of the ground-engaging tool; and guiding said vehicle and the ground-engaging tool with the controller based on said vehicle position and attitude, said vehicle-tool connection position and a task performed by said vehicle and tool.