TERRAIN MAP UPDATING SYSTEM

• US 20140163885A1
• Filed: 12/07/2012
• Published: 06/12/2014
• Est. Priority Date: 12/07/2012
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Lin, Yifeng, Gudat, Adam J., Stratton, Kenneth L., CLAR, Jean-Jacques
• Application Number:
  US13/708,721
• Publication Number:
  US 20140163885A1
• Time in Patent Office: Days
• US Class Current: 702/5
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01V 9/00 Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
• CPC Class Codes: G06F 15/00 Digital computers in general details G06F1/00 – G06F13/00; Data processing equipment in general

Abstract

A terrain mapping system is disclosed. The system has at least one sensor configured to gather a plurality of current points defining a current surface of a site and a database containing a plurality of previously-gathered points defining a previous surface of the site. The system also has a controller in communication with the at least one sensor. The controller is configured to compare a height of at least one of the plurality of the current points to a height of a corresponding at least one of the plurality of previously-gathered points and to determine if an update to the database is warranted based on the comparison. The controller is further configured to update the database if it is determined that an update is warranted.

Claims

1-10. -10. (canceled)

11. A terrain mapping system, comprising:

at least one sensor configured to gather a plurality of points defining a surface of a site; and

a controller in communication with the at least one sensor, the controller being configured to;

identify points among the gathered plurality of points that do not define terrain of the site;

filter from the gathered plurality of points the identified points that do not define the terrain of the site; and

generate a map of the terrain based on the filtered gathered plurality of points.

12. The system of claim 11, wherein:

the points that do not define terrain of the site include at least one of points that fall outside a site boundary or points defining objects on the surface of the site, and

the controller is further configured to receive at least one characteristic of at least one of the objects, wherein the controller is further configured to identify the points that do not define terrain of the site based on the at least one characteristic.

13. The system of claim 12, wherein the at least one characteristic includes at least one of a geometry, a color, a location, an orientation, a gradient, or a time location associated with the least one of the objects.

14. The system of claim 12, wherein the controller is in communication with the at least one of the objects and configured to receive therefrom information indicative of the at least one characteristic.

15. The system of claim 12, wherein the at least one of the objects is a mobile machine on the site.

16. (Currently Amendment) The system of claim 11, wherein the controller is configured to identify, as points that do not define terrain of the site, at least one of:

points defining boundaries between the objects and the terrain;

points defining edges of the objects;

or

points defining surfaces between the boundaries and the edges.

17. A computer-associated method of mapping terrain, comprising:

receiving a plurality of points defining a surface of a site;

identifying, by at least one computer processor, points among the gathered plurality of points that do not define terrain of the site;

filtering, by the at least one computer processor, from the gathered plurality of points, the identified points that do not define the terrain of the site; and

generating, by the at least one computer processor, a map of the terrain using the filtered gathered plurality of points.

18. The method of claim 17, wherein the points that do not define terrain of the site include at least one of points that fall outside a site boundary or points defining objects on the surface of the site.

19. The method of claim 18, wherein:

the at least one of the objects is a mobile machine on the site, and

the gathered plurality of points are gathered by at least one sensor is positioned at a known location with respect to the site.

20. The method of claim 18, further including:

receiving information indicative of at least one characteristic of at least one of the objects, and

identifying the points that do not define terrain of the site based on the at least one characteristic.

21. The method of claim 19, wherein:

the at least one characteristic includes at least one of a geometry, a color, a location, an orientation, a gradient, or a time location associated with the least one of the objects, and

the information indicative of the at least one characteristic is received from the at least one of the objects.

22. The method of claim 17, wherein identifying includes identifying, as points that do not define terrain of the site, as least one of:

points defining boundaries between the objects and the terrain;

points defining edges of the objects; and

points defining surfaces between the boundaries and the edges.

23. A terrain mapping system for mapping a site, comprising:

at least one sensor for scanning the site to collect a plurality of points defining a surface of the site;

a database for storing one or more models representative of one or more objects that may be found on the site; and

at least one processor in communication with the at least one sensor and the database, the at least one processor being configured to;

receive the plurality of points defining the surface of the site;

identify, based on the one or more object models, points in the collected plurality of points that correspond to one or more objects present on the surface of the site at the time of scanning;

filter from the collected plurality of points the identified points that correspond to one or more objects present on the surface of the site at the time of scanning; and

generate a site map based on the filtered plurality of points.

24. The system of claim 23, wherein the at least one processor is further configured to:

identify points of the collected plurality of points that fall outside a boundary of the site; and

filter from the collected plurality of points the identified points that fall outside the boundary of the site.

25. The system of claim 23, wherein the at least one processor is further configured to:

identify points of the plurality of points having a height greater than an expected height of the site at a location corresponding to the plurality of points by more than a threshold; and

filter from the collected plurality of points the identified points having a height greater than the expected height by more than the threshold.

27. The system of claim 23, wherein, to identify points in the collected plurality of points that correspond to one or more objects, the at least one processor is further configured to:

identify points of the plurality of points corresponding to discontinuities on the surface of the site; and

filter from the collected plurality of points the identified points corresponding to discontinuities.

28. The system of claim 23, wherein, to identify points in the collected plurality of points that correspond to one or more objects, the at least one processor is further configured to:

determine an angle of repose of the collected plurality of points;

identify points of the plurality of points corresponding to an angle of repose that is greater than an expected angle of repose of the site at a location corresponding to plurality of points by more than a threshold; and

filter from the collected plurality of points the identified points corresponding to the greater angle of repose.

29. The system of claim 23, wherein:

the one or more objects include one or more of infrastructure, machines, or people that may be found on the site;

the database stores models representative of the one or more of infrastructure, machines, or people that may be found on the site, and

the at least one processor is configured to filter, from the collected plurality of points, points that correspond to the one or more of infrastructure, machines, or people.

30. The system of claim 23, wherein:

the one or more objects include machines operating on the site;

the system further includes a communication device configured to communicate with the one or more machines to receive, from the one or more machines, time-location information indicative of the time-location of the one more machines; and

the at least one processor is further configured to;

identify points of the collected plurality of points that correspond to the time-location of the one or more machines; and

filter, from the collected plurality of points, the identified points corresponding to the time-location of the one or more machines.

26. The system of claim 26, wherein the at least one processor is further configured to:

identify points of the plurality of points having a color that differs from an expected color of the terrain; and

filter from the collected plurality of points the identified points having the differing color.