Terrain map updating system

• US 8,351,684 B2
• Filed: 02/13/2008
• Issued: 01/08/2013
• Est. Priority Date: 02/13/2008
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Clar, Jean-Jacques, Lin, Yifeng, Gudat, Adam J., Stratton, Kenneth L.
• Primary Examiner(s): Wang, Claire X
• Application Number:
  US12/068,929
• Publication Number:
  US 20090202109A1
• Time in Patent Office: 1,791 Days
• Field of Search: 382/109, 382/103, 382/154, 382/113, 701/3
• US Class Current: 382/154
• CPC Class Codes: E02F 9/261 Surveying the work-site to be treated
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G09B 29/003 Maps
• CPC Class Codes: G09B 29/12 Relief maps relief models G09B25/06

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. A terrain mapping system, comprising:

at least one sensor configured to gather a plurality of current points defining a surface of a site at a time t;

a database containing a plurality of previously-gathered points defining the surface of the site at a time T prior to t;

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

receive time-location information indicating the time-location of one or more machines operating on the site;

identify one or more points of the plurality of current points defining the surface of the site at the time t that correspond to the received time-location information of the one or more machines operating on the site;

filter the identified one or more points from the plurality of current points defining the surface of the site at the time t;

compare a characteristic of at least one of the filtered plurality of points defining the surface of the site at the time t to a characteristic of a corresponding at least one of the plurality of previously-gathered points defining the surface of the site at the time T prior to t;

determine if an update to the database is warranted based on the comparison; and

update the database based on the at least one of the filtered plurality of points defining the surface of the site at the time t if it is determined that an update is warranted.

2. The system of claim 1, wherein:

the characteristic is a height;

comparing includes calculating a difference in the height between the at least one of the filtered plurality of points defining the surface of the site at the time t and the height of the corresponding at least one of the plurality of previously-gathered points defining the surface of the site at the time T prior to t to a threshold,

determining if an update to the database is warranted includes determining if a magnitude of the difference in the height is greater than or equal to the threshold, and

the controller is configured to determine that an update to the database is warranted if the magnitude of the difference in the height is greater than or equal to the threshold.

3. The system of claim 1, wherein the controller is further configured to discard the at least one of the filtered plurality of points defining the surface of the site at the time t when it is determined that an update to the database is not warranted.

4. The system of claim 1, wherein updating the database includes replacing the at least one of the plurality of previously-gathered points defining the surface of the site at the time T prior to t with the at least one of the filtered plurality of points defining the surface of the site at the time t.

5. The system of claim 1, wherein the at least one sensor is positioned at a known location with respect to the site.

14. The terrain mapping system of claim 1, wherein the compared characteristic is a height.

15. The terrain mapping system of claim 1, wherein the compared characteristic is a color.

16. The terrain mapping system of claim 1, wherein the compared characteristic is an angle of repose associated with the site.

17. The terrain mapping system of claim 1, wherein the database further contains one or more geometric models associated with the one or more machines operating on the site, and the controller is configured to identify the one or more points of the plurality of current points defining the surface of the site at the time t that correspond to the received time-location information based further on the one or more geometric models.

6. A computer-implemented terrain mapping method, comprising:

gathering a plurality of current points defining a surface of a site at a time t;

accessing a database of a corresponding plurality of points defining the surface of the site at a time T prior to t;

receiving time-location information indicating the time-location of one or more machines operating on the site;

identifying one or more points of the plurality of current points defining the surface of the site at the time t that correspond to the received time-location information of the one or more machines operating on the site;

filtering the identified one or more points from the plurality of current points defining the surface of the site at the time t;

comparing a characteristic of at least one of the filtered plurality of points defining the surface of the site at the time t to a characteristic of a corresponding at least one of a plurality of previously-gathered points defining the surface of the site at the time T prior to t;

determining, based on the comparison, whether a difference in the characteristic of the at least one of the filtered plurality of points defining the surface of the site at the time t and the characteristic of the at least one of the plurality of previously-gathered points defining the surface of the site at the time T prior to t is greater than a threshold; and

updating the database with the at least one of the filtered plurality of points defining the surface of the site at the time t based on a determination that the difference in the characteristic is greater than the threshold.

7. The method of claim 6, further including discarding the at least one of the filtered plurality of points defining the surface of the site at the time t based on a determination that the difference in the characteristic is not greater than the threshold.

8. The method of claim 6, wherein updating the database includes replacing the at least one of the plurality of previously-gathered points defining the surface of the site at the time T prior to t with the at least one of the filtered plurality of points defining the surface of the site at the time t.

9. The method of claim 6, wherein the plurality of points defining the surface of the site at the time t are gathered by at least one sensor positioned at a known location with respect to the site.

18. The method of claim 6, wherein the compared characteristic is a height.

19. The method of claim 6, wherein the compared characteristic is a color.

20. The method of claim 6, wherein the compared characteristic is an angle of repose associated with the site.

21. The method of claim 6, wherein the database contains one or more geometric models associated with the one or more machines operating on the site, and the method further includes identifying the one or more points of the plurality of current points defining the surface of the site at the time t that correspond to the received time-location information based further on the one or more geometric models.

10. A terrain mapping system, comprising:

at least one sensor configured to gather a plurality of current points defining a surface of a site at a time t;

a database containing a corresponding plurality of points defining the surface of the site at a time T prior to t; and

a controller configured to;

receive time-location information indicating the time-location of one or more machines operating on the site;

identify one or more points of the plurality of current points defining the surface of the site at the time t that correspond to the received time-location information of the one or more machines operating on the site;

filter the identified one or more points from the plurality of current points defining the surface of the site at the time t;

compare a characteristic of at least one of the filtered plurality points defining the surface of the site at the time t to a characteristic of a corresponding at least one of a plurality of previously-gathered points defining the surface of the site at the time T prior to t;

determine, based on the comparison, whether a difference in the characteristic of the at least one of the filtered plurality of points defining the surface of the site at the time t and the characteristic of the at least one of the plurality of previously-gathered points defining the surface of the site at the time T prior to t is greater than a threshold; and

update the database with the at least one of the filtered plurality of points defining the surface of the site at the time t based on a determination that the difference in the characteristic is greater than the threshold.

11. The system of claim 10, the controller being further configured to discard the at least one of the filtered plurality of points defining the surface of the site at the time t in response to a determination that the difference in the characteristic is not greater than the threshold.

12. The system of claim 10, wherein the controller is configured to update the database by replacing the at least one of the plurality of previously-gathered points defining the surface of the site at the time T prior to t with the at least one of the filtered plurality of points defining the surface of the site at the time t.

13. The system of claim 10, wherein the at least one sensor is positioned at a known location with respect to the site.

22. The terrain mapping system of claim 10, wherein the compared characteristic is a height.

23. The terrain mapping system of claim 10, wherein the compared characteristic is a color.

24. The terrain mapping system of claim 10, wherein the compared characteristic is an angle of repose associated with the site.

25. The terrain mapping system of claim 10, wherein the database further contains one or more geometric models associated with the one or more machines operating on the site, and the controller is configured to identify the one or more points of the plurality of current points defining the surface of the site at the time t that correspond to the received time-location information based further on the one or more geometric models.