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US 10,591,640 B2Granted
Processing of terrain data
AssigneeCaterpillar of Australia Pty. Ltd.
InventorDarryl V. Collins
Life of this patent
Estimating the term…
Abstract
Described herein is a method of determining a mine worksite's terrain. The method may include determining positions of a surface of the worksite based on measurements relating to the worksite's terrain. At least some of the measurements may be received from a plurality of mobile machines on the worksite. The method may include transmitting a first subset of the determined positions to a first mobile machine on the worksite. A corresponding computing system and computer-readable medium for executing the method are also described.
Claims20
A method of determining a mine worksite's terrain, the method comprising:
- receiving measurements related to a surface of a worksite's terrain generated from at least one sensor disposed on each of a plurality of mobile machines on or around the worksite, wherein each generated measurement is associated with a time error based on a corresponding age;
- determining surface positions of the surface of the worksite based on the received measurements related to the worksite's terrain, wherein each determined surface position is associated with a precision error based on a performance characterization of the at least one sensor;
- estimating each surface position based on a weighted average of the corresponding determined surface position;
- wherein each determined surface position is weighted based on the corresponding time error and precision error;
- generating a terrain model of the entire worksite based on the estimated surface positions;
- determining a relevant subset of the generated terrain model for at least one of the plurality of mobile machines on the worksite;
- transmitting a first relevant subset of the terrain model to a first mobile machine on the worksite based on the first relevant subset corresponding to the first mobile machine to reduce processing and communication bandwidth.
4 more elements
A system for determining a mine worksite's terrain, the system comprising:
- at least one processing device;
- at least one memory for storing instructions to be executed by the at least one processing device;
- and
- a communications interface;
- wherein, upon executing the instructions, the at least one processing device is configured to:
- receive measurements related to a surface of a worksite's terrain generated from at least one sensor disposed on each of a plurality of mobile machines on or around the worksite, wherein each generated measurement is associated with a time error based on a corresponding age;
- determine surface positions of the surface of the worksite based on the received measurements related to the worksite's terrain, wherein each determined surface position is associated with a precision error based on a performance characterization of the at least one sensor;
- estimating each surface position based on a weighted average of the corresponding determined surface position;
- wherein each determined surface position is weighted based on the corresponding time error and precision error;
- generate a terrain model of the entire worksite based on the estimated surface positions;
- determining a relevant subset of the generated terrain model for at least one of the plurality of mobile machines on the worksite;
- transmit, via the communication interface, a first relevant subset of the terrain model to a first mobile machine on the worksite based on the relevant subset corresponding to the first mobile machine to reduce processing and communication bandwidth.
9 more elements
A method of determining a mine worksite's terrain, the method comprising:
- receiving measurements related to a surface of a worksite's terrain generated from at least one sensor disposed on each of a plurality of worksite machines on or around the worksite, wherein each generated measurement is associated with a time error based on a corresponding age;
- determining positional information indicative of current positions that are associated with first mobile and second mobile machines on the worksite;
- determining surface positions of the surface of the worksite based on the received measurements related to the worksite's terrain, wherein each determined surface position is associated with precision error based on a performance characterization of the at least one sensor;
- estimating each surface position based on a weighted average of the corresponding determined surface positions, wherein each determined surface position is weighted based on the corresponding time error and precision error;
- generating a terrain model of the entire worksite based on the estimated surface positions;
- determining a first relevant subset and a second relevant subset of the terrain model based on the current positions of the first and second machines, respectively;
- and
- transmitting the first subset of the terrain model to the first mobile machine and the second subset of the terrain model to the second mobile machine to reduce processing and communication bandwidth.
5 more elements
Dependencies are inferred from the claim text.