System and method for terrain mapping

Patent metadata

Field	Value
Publication number	US-9322148-B2
Application number	US-201414305469-A
Country	US
Kind code	B2
Filing date	Jun 16, 2014
Priority date	Jun 16, 2014
Publication date	Apr 26, 2016
Grant date	Apr 26, 2016

Abstract

A mapping system includes a pose sensor, a mapping sensor, a database defining a work surface, and a controller. The controller is configured to receive pose signals and determine the position and the orientation of the machine and receive mapping signals and determine a plurality of raw data points. The controller further determines a plurality of machine points defining a position of a portion of the machine and filters the plurality of raw data points based upon the plurality of machine points to define a plurality of filtered data points. The database may be updated with the plurality of filtered data points.

First claim

We claim:

1. A system mounted on a machine for mapping a work surface, comprising:
a pose sensor associated with the machine for generating pose signals indicative of a position and an orientation of the machine;
a mapping sensor on the machine for generating a plurality of raw data points defining a mapped surface;
a database including a plurality of points defining the work surface; and
a controller configured to:
receive pose signals from the pose sensor;
determine the position and the orientation of the machine based upon the pose signals;
receive mapping signals from the mapping sensor;
determine the plurality of raw data points based upon the mapping signals;
determine a plurality of machine points defining a position of a portion of the machine based upon the pose signals;
filter the plurality of raw data points based upon the plurality of machine points to define a plurality of filtered data points; and
update the database based upon the plurality of filtered data points.

2. The system of claim 1 , wherein the portion of the machine is a movable work implement and further including an implement position sensor for generating implement position signals indicative of a position of the movable work implement, and the controller being further configured to receive implement position signals, determine the position of the movable work implement based upon the implement position signals and the pose signals, and determine the plurality of machine points based upon the position of the movable work implement.

3. The system of claim 1 , wherein the controller is further configured to compare the plurality of raw data points to the plurality of machine points and update the database based upon those of the plurality of raw data points that do not correspond any of the plurality of to machine points.

4. The system of claim 1 , wherein the plurality of points defining the work surface are generated prior to the controller receiving the mapping signals from the mapping sensor.

5. The system of claim 1 , wherein the plurality of raw data points includes raw height data.

6. The system of claim 5 , wherein the raw height data defines a raw height map.

7. The system of claim 1 , wherein the plurality of raw data points includes colors associated therewith and wherein the controller is further configured to compare the colors associated with plurality of the raw data points to the colors stored within the controller and update the database based upon those of the plurality of raw data points in which the colors do not correspond to the colors stored within the controller.

8. The system of claim 1 , wherein the controller is further configured to filter raw data points corresponding to portions of the machine interposed between the work surface and the mapping sensor.

9. A controller-implemented method of mapping a work surface, comprising:
receiving pose signals from a pose sensor associated with a machine indicative of a position and an orientation of the machine;
determining the position and the orientation of the machine based upon the pose signals;
receiving mapping signals from a mapping sensor on the machine for generating a plurality of raw data points defining a mapped surface;
determining the plurality of raw data points based upon the mapping signals;
determining a plurality of machine points defining a position of a portion of the machine based upon the pose signals;
filtering the plurality of raw data points based upon the plurality of machine points to define a plurality of filtered data points; and
updating a database including a plurality of points defining the work surface based upon the plurality of filtered data points.

10. The method of claim 9 , further including receiving implement position signals from an implement position sensor indicative of a position of the movable work implement, determining the position of the movable work implement based upon the implement position signals and the pose signals, and determining the plurality of machine points based upon the position of the movable work implement.

11. The method of claim 9 , further including comparing the plurality of raw data points to the plurality of machine points and updating the database based upon the plurality of raw data points that do not correspond to machine points.

12. The method of claim 9 , further including generating the plurality of points defining the work surface prior to receiving the mapping signals from the mapping sensor.

13. The method of claim 9 , further including determining raw height data as part of the plurality of raw data points.

14. The method of claim 13 , further including determining a raw height map.

15. The method of claim 9 , further including comparing colors data associated with the plurality of raw data points to colors stored within a controller and updating the database based upon plurality of raw data points in which the colors do not correspond to the colors stored within the controller.

16. The method of claim 9 , further including filtering raw data points corresponding to portions of the machine interposed between the work surface and the mapping sensor.

17. A machine comprising:
a frame;
a prime mover associated with the frame;
a pose sensor for generating pose signals indicative of a position and an orientation of the machine;
a mapping sensor for generating a plurality of raw data points defining a mapped surface;
a database including a plurality of points defining a work surface; and
a controller configured to:
receive pose signals from the pose sensor;
determine the position and the orientation of the machine based upon the pose signals;
receive mapping signals from the mapping sensor;
determine the plurality of raw data points based upon the mapping signals;
determine a plurality of machine points defining a position of a portion of the machine based upon the pose signals;
filter the plurality of raw data points based upon the plurality of machine points to define a plurality of filtered data points; and
update the database based upon the plurality of filtered data points.

18. The machine of claim 17 , wherein the portion of the machine is a movable work implement and further including an implement position sensor for generating implement position signals indicative of a position of the movable work implement, and the controller being further configured to receive implement position signals, determine the position of the movable work implement based upon the implement position signals and the pose signals, and determine the plurality of machine points based upon the position of the movable work implement.

19. The machine of claim 17 , wherein the controller is further configured to compare the plurality of raw data points to the machine points and update the database based upon those of the plurality of raw data points that do not correspond to machine points.

20. The machine of claim 17 , wherein the controller is further configured to filter raw data points corresponding to portions of the machine interposed between the work surface and the mapping sensor.

Assignees

• Caterpillar Inc
• Univ Carnegie Mellon

Inventors

• Stratton Kenneth L
• Bojarski Louis
• Rander Peter
• Warner Randon
• Ziglar Jason

Classifications

• G06F16/23

  Updating · CPC title

• G06F17/30241

  Physics · mapped topic

• G05B15/02

  electric · CPC title

• E02F9/261 Primary

  Surveying the work-site to be treated · CPC title

• G05D1/00

  Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) · CPC title