Point Cloud Based Surface Construction

• US 20170044728A1
• Filed: 08/12/2015
• Published: 02/16/2017
• Est. Priority Date: 08/12/2015
• Status: Active Grant

• Current Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Original Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Inventors: Mennink, Jan, Brabec, Vernon Joseph
• Granted Patent: US 10,066,346 B2
• Time in Patent Office: Days
• CPC Class Codes: E01C 11/005 Methods or materials for repairing pavings E01C7/35 takes precedence; for concrete coverings E01C7/147; for bituminous coverings E01C7/187; devices for repair works E01C23/06; repairing bridge floorings E01D22/00
• CPC Class Codes: E01C 19/00 Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving surface stabilisation E01C21/00; apparatus specially adapted for reconditioning or repairing paving E01C23/00
• CPC Class Codes: E01C 19/002 Apparatus for preparing and placing the materials and for consolidating or finishing the paving
• CPC Class Codes: E01C 23/01 Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports form rails E01C19/50; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs E01C23/07 takes precedence; measuring roughness or irregularity in general G01B
• CPC Class Codes: E01C 23/07 Apparatus combining measurement of the surface configuration of paving with application of material in proportion to the measured irregularities measuring means only E01C23/01 G01B
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: G01B 11/303 using photoelectric detection means
• CPC Class Codes: G01B 11/306 for measuring evenness
• CPC Class Codes: G01B 17/08 for measuring roughness or irregularity of surfaces
• CPC Class Codes: G01B 21/00 Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 7/04 involving a vehicle which moves along the profile to be traced

Abstract

A method and apparatus for filtering point cloud data obtained using a plurality of sensors generates data representative of a surface and for use with a specific type of sensor. The filtering allows certain machines and sensor types to be used to acquire point cloud data and different sensor types to be used during surface construction and modification. The method can be utilized with various types of machine controls and surface construction methods.

Claims

1. A method for modifying a surface, the method comprising:

generating a first set of surface data by moving a first plurality of sensors over the surface, the first plurality of sensors comprising a first type of height sensor;

generating a point cloud based on the first set of surface data;

generating a sensor specific surface representation by filtering the point cloud based on a second type of height sensor, the second type of height sensor different from the first type of height sensor;

generating a second set of surface data by moving a second plurality of sensors over the surface, the second plurality of sensors comprising the second type of height sensor; and

modifying the surface based on comparing the second set of surface data to the sensor specific surface representation.

2. The method of claim 1, wherein the first plurality of sensors further comprises a GNSS receiver, inertial measurement sensor, and a wheel sensor.

3. The method of claim 1, wherein the first type of height sensor comprises a laser based distance sensing device.

4. The method of claim 1, wherein the first type of height sensor comprises a sonic based distance sensing device.

5. The method of claim 3, wherein the second type of height sensor is a sonic based distance sensing device.

6. The method of claim 4, wherein the second type of height sensor is a laser based distance sensing device.

7. The method of claim 1, wherein the first type of height sensor comprises a mechanical based distance sensing device.

8. The method of claim 1, wherein the first type of height sensor comprises a camera.

9. The method of claim 1, wherein the filtering is based on a Gaussian filter.

35. The method of claim 1, wherein the first plurality of sensors is associated with a first machine, and the second plurality of sensors is associated with a second machine.

10. (canceled)

11. A method for modifying a surface, the method comprising:

receiving a first set of surface data at a first machine comprising a first plurality of sensors, the first plurality of sensors comprising a first type of height sensor, the first set of surface data generated by moving a second machine over the surface, the second machine comprising a second plurality of sensors, the second plurality of sensors comprising a second type of height sensor, the first type of height sensor different from the second type of height sensor;

generating a point cloud based on the first set of surface data;

generating a sensor specific surface representation by filtering the point cloud based on the first type of height sensor;

generating a second set of surface data by moving the first machine over the surface; and

modifying the surface based on comparing the second set of surface data to the sensor specific surface representation.

12. The method of claim 11, wherein the filtered point cloud is modified to reflect a desired characteristic of the surface.

13. The method of claim 11, wherein the second type of height sensor is a sonic based distance sensing device.

14. The method of claim 11, wherein the second type of height sensor is a laser based distance sensing device.

15. The method of claim 11, wherein the second type of height sensor is a mechanical based distance sensing device.

16. The method of claim 11, wherein the second type of height sensor is a camera.

17. (canceled)

18. An apparatus comprising:

a processor; and

a memory to store computer program instructions, the computer program instructions when executed on the processor cause the processor to perform operations comprising;

receiving a first set of surface data from a first machine comprising a first plurality of sensors, the first plurality of sensors comprising a first type of height sensor, the first set of surface data generated by moving a second machine over the surface, the second machine comprising a second plurality of sensors, the second plurality of sensors comprising a second type of height sensor, the first type of height sensor different from the second type of height sensor;

generating a point cloud based on the first set of surface data;

generating a sensor specific surface representation by filtering the point cloud based on the first type of height sensor;

receiving a second set of surface data from the first machine, the second set of surface data generated by moving the first machine over the surface; and

determining a modification to the surface based on comparing the second set of surface data to the sensor specific surface representation.

19. The apparatus of claim 18, wherein the first plurality of sensors further comprises a GNSS receiver, inertial measurement sensor, and a wheel sensor.

20. The apparatus of claim 18, wherein the first type of height sensor comprises a laser based distance sensing device.

21. The apparatus of claim 18, wherein the first type of height sensor comprises a sonic based distance sensing device.

22. The apparatus of claim 20, wherein the second type of height sensor is a sonic based distance sensing device.

23. The apparatus of claim 21, wherein the second type of height sensor is a laser based distance sensing device.

24. The apparatus of claim 18, wherein the first type of height sensor comprises a mechanical based distance sensing device.

25. The apparatus of claim 18, wherein the first type of height sensor comprises a camera.

26. The apparatus of claim 18, wherein the filtering is based on a Gaussian filter.

27. (canceled)

28. A surface modifying machine comprising:

a processor; and

a memory to store computer program instructions, the computer program instructions when executed on the processor cause the processor to perform operations comprising;

receiving a first set of surface data from a machine comprising a plurality of sensors, the plurality of sensors comprising a second type of height sensor, the first set of surface data generated by moving the machine over a surface, the surface modifying machine having a first type of height sensor different from the second type of height sensor;

generating a point cloud based on the first set of surface data;

generating a sensor specific surface representation by filtering the point cloud based on the first type of height sensor;

generating a second set of surface data by moving the surface modifying machine over the surface; and

modifying the surface based on comparing the second set of surface data to the sensor specific surface representation.

29. The surface modifying machine of claim 28, wherein the filtered point cloud is modified to reflect a desired characteristic of the surface.

30. The surface modifying machine of claim 28, wherein the second type of height sensor is a sonic based sensing device.

31. The surface modifying machine of claim 28, wherein the second type of height sensor is a laser based sensing device.

32. The surface modifying machine of claim 28, wherein the second type of height sensor is a mechanical based sensing device.

33. The surface modifying machine of claim 28, wherein the second type of height sensor is a camera.

34. (canceled)