Work machine implement control for autonomous subterranean surveying and marking applications
A work machine comprises or otherwise has associated therewith a subterranean monitoring sensor, such as a ground penetrating radar, electromagnetic locator, etc. During a subterranean monitoring operation, movements of the work machine may be controlled according to a defined traverse plan, e.g., associated with electronic worksite maps. A controller for the work machine, a remote server, or the like may detect subterranean objects via output signals from the subterranean monitoring sensor, and automatically map parameters associated with detected objects to respective locations in the electronic worksite map. In addition, or alternatively, the controller may automatically generate visual marks on the surface of the terrain corresponding to identified locations of the subterranean objects, based on currently and/or previously identified locations. In some embodiments, data from multiple monitoring operations may be aggregated in data storage and utilized for subsequent earth working operations by generating worksite maps having the object data mapped thereto.
1 . A method of operating a work machine comprising a machine frame, a one or more ground engaging units supporting the machine frame and configured to traverse a terrain, an attachment external to the machine frame, and a subterranean monitoring sensor associated with the attachment and arranged to travel with the work machine during traverse of the terrain, the method comprising:
detecting at least a first type of subterranean object, via output signals from the subterranean monitoring sensor;
automatically mapping one or more parameters associated with the at least first type of detected object to respective locations in an electronic worksite map;
determining one or more position characteristics of the subterranean monitoring sensor by fusing input signals from at least a first position sensor associated with the attachment with position signals from a second position sensor associated with the machine frame in a coordinate system independent of a global navigation frame for the electronic worksite map; and
determining a location of the subterranean monitoring sensor at least in part by converting the determined one or more position characteristics of the subterranean monitoring sensor into coordinates associated with the global navigation frame.
2 . The method of claim 1 , further comprising:
accessing the electronic worksite map residing in data storage, and generating a traverse plan according to the worksite map and associated with a subterranean monitoring operation;
during the subterranean monitoring operation, controlling at least a trajectory at which the work machine traverses the terrain, according to the generated traverse plan.
3 . The method of claim 2 , further comprising:
via a ground marking unit associated with the work machine, automatically generating a visual mark on the surface of the terrain corresponding to identified locations of the at least first type of subterranean object, wherein the identified locations are previously stored and retrieved from the electronic worksite map and/or correspondingly detected via the subterranean monitoring sensor.
4 . The method of claim 2 , wherein the traverse plan is generated to account for coverage of at least a portion of the worksite during one or more previous subterranean monitoring operations.
5 . The method of claim 2 , wherein the traverse plan is generated to avoid violation of one or more interior and/or exterior boundaries associated with the worksite and defined in the electronic worksite map.
6 . The method of claim 2 , wherein the work machine comprises a work implement moveable relative to the machine frame and having a ground engaging portion for working the terrain, the traverse plan associated with the subterranean monitoring operation is independent of an earth working operation of the work implement, and the subterranean monitoring sensor is positioned in association with the ground engaging portion of the implement, the method further comprising:
determining one or more position characteristics of the subterranean monitoring sensor by fusing input signals from at least a first position sensor associated with the work implement with position signals from a second position sensor associated with the main frame in a coordinate system independent of a global navigation frame for the electronic worksite map; and
determining a location of the subterranean monitoring sensor at least in part by converting the determined one or more position characteristics of the subterranean monitoring sensor into coordinates associated with the global navigation frame.
7 . The method of claim 6 , further comprising:
via a ground marking unit associated with the ground engaging portion of the work implement, automatically generating a visual mark on the surface of the terrain corresponding to identified locations of the at least first type of subterranean object, wherein the identified locations are previously stored and retrieved from the electronic worksite map and/or correspondingly detected via the subterranean monitoring sensor.
8 . The method of claim 6 , wherein the traverse plan is generated to account for coverage of at least a portion of the worksite during one or more previous subterranean monitoring operations.
9 . The method of claim 6 , wherein the traverse plan is generated to avoid violation of one or more interior and/or exterior boundaries associated with the worksite and defined in the electronic worksite map.
10 . The method of claim 6 , wherein the movement of the ground engaging portion of the work implement relative to a surface of the terrain is controlled based at least in part on output signals from one or more perception sensors associated with the work machine.
11 . The method of claim 10 , wherein movement of the ground engaging portion of the work implement is controlled to avoid collisions with one or more perceived objects above the surface of the terrain.
12 . The method of claim 10 , wherein movement of the ground engaging portion of the work implement is controlled to substantially maintain a defined distance from the surface of the terrain.
13 . The method of claim 2 , wherein upon updating the electronic map by automatically mapping one or more parameters associated with the at least first type of detected object to respective locations in the electronic worksite map, the updated electronic worksite map is uploaded to a remote data storage by a first work machine performing the subterranean monitoring operation, and retrievable by at least a second work machine performing an earth working operation in association with the worksite.
14 . The method of claim 13 , wherein the one or more parameters comprise a depth of a corresponding subterranean object as mapped to the updated electronic worksite map, the method further comprising automatically controlling one or more actuators in association with the earth working operation based on a location of the second work machine relative to mapped subterranean objects and associated depths.
15 . The method of claim 1 , further comprising:
storing, for each of one or more subterranean monitoring operations, data corresponding to detected objects including at least the first type of detected object, one or more parameters associated with the detected objects, and locations associated with the detected objects in a data storage network;
generating or retrieving an electronic worksite map for an earth working operation associated with a defined worksite;
for each of one or more objects detected within the defined worksite, automatically mapping the one or more parameters associated with the at least first type of detected object to respective locations in the electronic worksite map.
16 . A system for operating a work machine comprising a machine frame and one or more ground engaging units supporting the machine frame and configured to traverse a terrain, the work machine further comprising a work implement moveable relative to the machine frame via one or more actuators and traversable across the terrain independently of movement of the work machine, the system comprising:
one or more processors residing upon or otherwise functionally linked to the work machine, and configured to:
detect at least a first type of subterranean object, via output signals from a subterranean monitoring sensor associated with the work machine; and
automatically map one or more parameters associated with the at least first type of detected object to respective locations in an electronic worksite map.
17 . The system of claim 16 , wherein the one or more processors are further configured to:
access the electronic worksite map, and generate a traverse plan according to the worksite map and associated with a subterranean monitoring operation;
during the subterranean monitoring operation, control at least a trajectory at which the at least first work machine traverses the terrain according to the generated traverse plan.
18 . The system of claim 17 , wherein the one or more processors are further configured to:
via a ground marking unit associated with the work machine, automatically generate a visual mark on the surface of the terrain corresponding to identified locations of the at least first type of subterranean object, wherein the identified locations are previously stored and retrieved from the electronic worksite map and/or correspondingly detected via the subterranean monitoring sensor.
19 . The system of claim 16 , wherein the work implement comprises a ground engaging portion for working the terrain, the traverse plan associated with the subterranean monitoring operation is independent of an earth working operation of the work implement, and the subterranean monitoring sensor is positioned in association with the ground engaging portion of the implement, the one or more processors further configured to:
determine one or more position characteristics of the subterranean monitoring sensor by fusing input signals from at least a first position sensor associated with the work implement with position signals from a second position sensor associated with the machine frame in a coordinate system independent of a global navigation frame for the electronic worksite map; and
determine a location of the subterranean monitoring sensor at least in part by converting the determined one or more position characteristics of the subterranean monitoring sensor into coordinates associated with the global navigation frame.