Sensor cart positioning system and method

• US 9,470,789 B2
• Filed: 07/15/2014
• Issued: 10/18/2016
• Est. Priority Date: 05/16/2006
• Status: Active Grant

• Current Assignee: Underground Imaging Technologies, Inc. (Caterpillar Incorporated)
• Original Assignee: Underground Imaging Technologies, Inc. (Caterpillar Incorporated)
• Inventors: Jones, Ross Peter, Kelly, Peter John
• Primary Examiner(s): Brainard, Timothy A
• Application Number:
  US14/331,716
• Publication Number:
  US 20150009060A1
• Time in Patent Office: 826 Days
• Field of Search: 342/22
• US Class Current: 1/1
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/885 for ground probing prospecting or detecting using electromagnetic waves G01V3/12
• CPC Class Codes: G01V 1/001 Acoustic presence detection

Abstract

A movable platform has a front end, a back end, a longitudinal axis, and at least one axle oriented generally transverse to the longitudinal axis and located between the front and back ends for supporting wheels of the platform. A position sensor is affixed on the platform at a location other than at a location defined by a plane passing through the axle and normal to the longitudinal axis. The position sensor provides position data as the platform traverses a path. A sensor arrangement is supported by the platform and configured to provide subsurface sensor data as the platform traverses the path. A processor is configured to associate the position data with the sensor data relative to a reference frame and in a manner that accounts for dynamic motion of the platform.

Claims

1. An apparatus, comprising:

a platform configured to traverse on the ground and along a path;

one or more position sensors physically coupled to the platform and configured to provide position data as the platform traverses along the path;

a sensor arrangement physically coupled to the platform and configured to provide three-dimensional subsurface sensor data including depth data as the platform traverses along the path, the sensor arrangement comprising a plurality of sensors spaced apart from one another and at a known offset position and orientation relative to the one or more position sensors; and

a processor comprising an output and configured to;

produce geometrically correct position data by correcting for curvilinear dynamic motion errors in the position data using offset data defining the known offset position and orientation of each sensor relative to the one or more position sensors;

associate a geometrically correct position with the three-dimensional data provided by the sensors; and

provide output data comprising the three-dimensional sensor data and associated geometrically correct position data for each of the sensors at the output of the processor.

2. The apparatus of claim 1, wherein the apparatus comprises a plurality of position sensors.

3. The apparatus of claim 2, wherein the processor is configured to determine three-dimensional position and orientation of the platform using the plurality of position sensors.

4. The apparatus of claim 1, wherein:

the apparatus comprises a plurality of position sensors; and

the plurality of position sensors comprises two or more of a GPS, a laser positioning sensor, and a wheel encoder.

5. The apparatus of claim 1, wherein the apparatus comprises a ground station configured to track the one or more position sensors relative to a fixed local coordinate system.

6. The apparatus of claim 1, wherein:

the sensor arrangement is configured to sense terrain elevation variations along the path; and

the processor is configured to determine sensor position in three dimensions including X and Y surface coordinates and elevation.

7. The apparatus of claim 1, wherein the processor is configured to record sample clock times of the plurality of sensors.

8. The apparatus of claim 1, wherein the processor is configured to associate the position data with the sensor data relative to a local or global reference frame and in a manner that accounts for velocity and orientation of the platform.

9. The apparatus of claim 1, further comprising a graphical user interface (GUI) configured to facilitate construction of subsurface objects in three dimensions.

10. The apparatus of claim 1, further comprising a graphical user interface (GUI) configured to facilitate three-dimensional subsurface feature identification.

11. The apparatus of claim 1, further comprising a graphical user interface (GUI) configured to facilitate three-dimensional visualization and user picking of a subsurface feature, the GUI further configured to identify the picked subsurface feature.

12. The apparatus of claim 1, further comprising a graphical user interface (GUI) configured to display multiple sensor data slices at arbitrary orientations.

13. The apparatus of claim 1, wherein:

the plurality of sensors comprises disparate sensors; and

the processor is configured to implement fusion of data produced by the disparate sensors for refining the location of subsurface features and objects.

14. The apparatus of claim 1, wherein:

the plurality of sensors comprises disparate sensors; and

the processor is configured to facilitate co-registration and fusion of data produced by the plurality of disparate sensors.

15. The apparatus of claim 1, wherein the processor is configured to facilitate labeling of subsurface features and storage of subsurface feature labels and sensor data for subsequent access.

16. A method, comprising:

moving a platform along a path, the platform supporting one or more position sensors configured to provide position data as the platform traverses along the path, the platform further supporting a sensor arrangement comprising a plurality of sensors spaced apart from one another and at a known offset position and orientation relative to the one or more position sensors;

obtaining three-dimensional subsurface sensor data including depth data using the plurality of sensors as the platform traverses along the path;

producing geometrically correct position data by correcting for curvilinear dynamic motion errors in the position data using offset data defining the known offset position and orientation of each sensor relative to the one or more position sensors;

associating a geometrically correct position with the three-dimensional subsurface sensor data; and

providing output data comprising the three-dimensional sensor data and associated geometrically correct position data for each of the sensors.

17. The method of claim 16, wherein associating comprises associating the position with the sensor data relative to a reference frame in a manner that accounts for velocity and orientation of the platform.

18. The method of claim 16, further comprising:

sensing terrain elevation variations along the path; and

determining sensor position in three dimensions including X and Y surface coordinates and elevation.

19. The method of claim 16, comprising:

obtaining the subsurface sensor data from a plurality of discrete sensors; and

applying clock times to the position data for each sample of sensor data obtained by each discrete sensor.

20. The method of claim 16, wherein the platform supports a plurality of position sensors.

21. The method of claim 20, further comprising determining three-dimensional position and orientation of the platform using the plurality of position sensors.

22. The method of claim 16, further comprising tracking the one or more position sensors relative to a fixed local coordinate system from a location remote from the platform.

23. The method of claim 16, comprising:

generating a three-dimensional visualization of a subsurface;

displaying a graphical representation of the sensor data within a volume of the subsurface; and

facilitating user interaction with the three-dimensional visualization of the subsurface via a graphical user interface (GUI).

24. The method of claim 23, further comprising facilitating user picking of a subsurface feature within the volume via the GUI and identification of the picked subsurface feature.

25. The method of claim 23, further comprising selectively displaying multiple sensor data slices at arbitrary orientations via the GUI.

26. The method of claim 16, further comprising fusing data produced by disparate sensors for refining the location of subsurface features and objects.