# US 11,308,735 B2 · Unmanned aerial vehicle (UAV)-assisted worksite data acquisition > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,308,735 B2 - Document ID: US11308735B2 - Status: Granted - Kind: B2 - Application number: 15/783,277 - Filed: 2017-10-13 - Published: 2019-04-18 - Granted: 2022-04-19 - Earliest claimed: 2017-10-13 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: Tammo Wagner; Noel W. Anderson; Charles J. Schleusner; Sebastian Blank - Web page: https://patentgrep.com/patent/US11308735B2 ## CPC - G07C 5/008: {communicating information to a remotely located station (transmission systems for measured values G08C)} - G05D 1/0016: {characterised by the operator's input device (input arrangements for computing systems in general G06F3/00)} - G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)} - G05D 1/0038: {by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation (images analyzed by a computer and used for automatic navigation G05D1/0246)} - G06Q 10/0631: Resource planning, allocation, distributing or scheduling for enterprises or organisations - G07C 3/00: Registering or indicating the condition or the working of machines or other apparatus, other than vehicles - B64U 2101/30: for imaging, photography or videography - B64U 2101/40: for agriculture or forestry operations - B64U 2201/00: UAVs characterised by their flight controls - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - B64U 2201/20: Remote controls - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract Worksite data from an unmanned aerial vehicle (UAV) is received and an indication of the worksite data is generated. A quality of the received worksite data is calculated based on quality data within the received worksite data. Control signals are generated and provided to the UAV based on the calculated quality of the received worksite data. Additional worksite data corresponding to a modified surface of a worksite area is received from a plurality of mobile machines at the worksite area. A worksite error is calculated for the modified surface of the worksite area. Control signals are generated and provided to a UAV based on the calculated worksite error for the modified surface of the worksite area. ## Claims ### Claim 1 A worksite control system, comprising: one or more processor(s); a communication system that receives worksite data, corresponding to a worksite, generated by an unmanned aerial vehicle (UAV) traveling a first route at the worksite, the worksite data being indicative of characteristics of the worksite detected by the UAV; quality logic, implemented by the one or more processor(s), that: receives an indication of the worksite data from the communication system and calculates a quality of the received worksite data based on quality data, within the worksite data, that is indicative of conditions, at the worksite, under which the characteristics of the worksite were detected by the UAV, wherein the conditions, at the worksite, under which the characteristics of the worksite were detected by the UAV include conditions at the worksite which obstruct a view of a surface of the worksite; and compares the calculated quality of the received worksite data to a quality threshold: action identifier logic, implemented by the one or more processor(s), that, based on the comparison, identifies a location of an area of the worksite for which the received worksite data is deficient and an improvement action; and a route generator configured to generate a second route, different than the first route, for the UAV to the area of the worksite based on the identified location; and a control system that generates a control signal to control the UAV to travel to the area of the worksite, based on the second route, and execute the improvement action. ### Claim 2 (depends on 1) The worksite control system of claim 1, wherein the UAV obtains the worksite data as part of a worksite mission and travels to a plurality of worksite areas as part of the worksite mission. ### Claim 3 (depends on 2) The worksite control system of claim 2, further comprising: a mission generator, implemented by the one or more processor(s), that receives the improvement action and modifies the worksite mission based on the improvement action. ### Claim 4 (depends on 3) The worksite control system of claim 3, wherein the control system generates the control signal to control the UAV such that the UAV executes the improvement action as part of the modified worksite mission. ### Claim 5 (depends on 1) The worksite control system of claim 1, wherein the improvement action comprises controlling the UAV to land at the area of the worksite and collect ground control point data. ### Claim 6 (depends on 1) The worksite control system of claim 1, wherein the improvement action comprises controlling the UAV to fly over the area of the worksite, operate with one or more different operating parameters than that of the operating parameters of the UAV as it traveled the first route, and generate additional worksite data indicative of characteristics of the area of the worksite. ### Claim 7 (depends on 6) The worksite control system of claim 6, wherein the improvement action comprises controlling the UAV to travel to the area of the worksite and acquire additional worksite data for the area of the worksite after a defined time period. ### Claim 8 (depends on 1) The worksite control system of claim 1, wherein the control system further generates an additional control signal instructing a construction machine to obtain additional worksite data corresponding to the area of the worksite. ### Claim 9 (depends on 1) The worksite control system of claim 1, further comprising: aggregation logic, implemented by the one or more processor(s), that aggregates worksite data generated by a plurality of unmanned aerial vehicles (UAVs), and wherein the quality logic calculates a quality of the aggregated worksite data based on quality data within the aggregated worksite data indicative of conditions under which the worksite data was detected by the plurality of UAVs. ### Claim 10 (depends on 1) The worksite control system of claim 1, further comprising: a user interface device; and user interface logic, implemented by the one or more processor(s), that generates a display of the identified improvement action to a user of the worksite control system on the user interface device. ### Claim 11 (depends on 10) The worksite control system of claim 10, further comprising: a user input mechanism that receives a user input approving/rejecting the identified improvement action. ### Claim 12 (depends on 1) The worksite control system of claim 1, therein the conditions under which the characteristics of the worksite were detected, indicated by the quality data within the worksite data also include one or more of operating parameters for one or more sensors of the UAV, weather conditions corresponding to the worksite, and operating parameters of the UAV when the worksite data was detected. ### Claim 13 (depends on 1) The worksite control system of claim 1, wherein the conditions at the worksite which obscure a view of a surface of the worksite include one or more of vegetation at the worksite and weather related obscurants at the worksite. ### Claim 14 A worksite control system, comprising: one or more processor(s): a communication system that receives worksite data indicative of characteristics corresponding to a modified surface area of a surface of a worksite area from a mobile machine operating on the surface to modify the surface of the worksite area; error logic, implemented by the one or more processor(s), that receives an indication of the worksite data and calculates a worksite error, the worksite error being indicative of an estimation of an inaccuracy of the characteristics indicated by the worksite data; error threshold logic, implemented by the one or more processor(s), that compares the calculated worksite error to a worksite error threshold value and generates an error output based on the comparison of the calculated worksite error to the threshold value; a control system that receives the error output from the error threshold logic and generates a control signal for an unmanned aerial vehicle (UAV) to conduct a worksite mission over the modified surface of the worksite area based on the received error output and to generate additional worksite data indicative of the characteristics corresponding to the modified surface of the worksite area, wherein the additional worksite data is received by the communication system; and back calculation logic, implemented by the one or more processor(s), that generates, based on the additional worksite data generated by the UAV, corrected worksite data and a productivity metric indicative of a productivity of the mobile machine based on the corrected worksite data. ### Claim 15 (depends on 14) The worksite control system of claim 14, wherein the worksite data is indicative of a topography of the modified surface of the worksite area. ### Claim 16 (depends on 15) The worksite control system of claim 15, wherein the error logic calculates the worksite error as a difference between the topography of the modified surface of the worksite area indicated by the worksite data and an estimated topography of the modified worksite area. ### Claim 17 (depends on 14) The worksite control system of claim 14, further comprising: a user interface device; and user interface logic, implemented by the one or more processor(s), that generates a display of the corrected worksite data on the user interface device. ### Claim 18 (depends on 14) The worksite control system of claim 14, further comprising: map generation logic, implemented by the one or more processor(s), that: generates a first worksite state map based on the worksite data received from the plurality of mobile machines at the worksite area; generates a second worksite state map based on the additional worksite data received from the UAV; compares the first worksite state map and the second worksite state map; and generates a worksite error map based on the comparison. ### Claim 19 (depends on 18) The worksite control system of claim 18, wherein the back calculation logic is further configured to: assign error values to each one of the plurality of mobile machines and generate corrected worksite data for each one of the plurality of mobile machines, based on the worksite error map. ### Claim 20 A computer-implemented method, comprising: receiving worksite data from a plurality of ground-engaging mobile machines operating at a worksite to modify a surface of the worksite with ground-engaging tools, the worksite data being indicative of characteristics of a modified surface area of a surface of the worksite detected by the plurality of mobile machines; calculating a worksite error indicative of an estimated inaccuracy of the characteristics indicated by the worksite data: comparing the calculated worksite error to a worksite error threshold value; generating, based on the comparison, a route for an unmanned aerial vehicle (UAV) to travel to conduct a worksite mission over the modified surface of the surface of the worksite to generate additional worksite data indicative of characteristics of the modified surface area; and generating control signals to the UAV to conduct the worksite mission over the modified surface area, based on the route.