US 12,140,443 B2
Three-dimensional terrain mapping
Tommy Ertbolle Madsen, Fremont, CA (US); Tri M. Dang, Durack (AU); Joshua M. Gattis, Robinson, KS (US); Andreas F. Ramm, Woolloongabba (AU); Eran D. B. Medagoda, Morningside (AU); Steven J. Dumble, Brisbane (AU); and Bilal Arain, Scottsdale, AZ (US)
Assigned to AGJUNCTION LLC, Scottsdale, AZ (US)
Filed by AGJUNCTION LLC, Scottsdale, AZ (US)
Filed on May 31, 2023, as Appl. No. 18/326,948.
Application 18/326,948 is a continuation of application No. 17/539,331, filed on Dec. 1, 2021, granted, now 11,698,264.
Application 17/539,331 is a continuation of application No. 16/177,376, filed on Oct. 31, 2018, granted, now 11,193,781, issued on Dec. 7, 2021.
Claims priority of provisional application 62/579,515, filed on Oct. 31, 2017.
Prior Publication US 2023/0304818 A1, Sep. 28, 2023
Int. Cl. G01C 21/36 (2006.01); A01B 63/02 (2006.01); A01B 69/04 (2006.01); A01B 79/00 (2006.01); B60C 23/00 (2006.01); B60K 35/00 (2024.01); B60W 10/20 (2006.01); B60W 10/30 (2006.01); B60W 30/00 (2006.01); B62D 6/00 (2006.01); B62D 15/02 (2006.01); E02F 9/20 (2006.01); G01C 11/02 (2006.01); G01C 21/20 (2006.01); G01C 21/30 (2006.01); G05D 1/00 (2024.01); G06F 16/29 (2019.01); G06T 17/05 (2011.01)
CPC G01C 21/3602 (2013.01) [A01B 63/023 (2013.01); A01B 69/008 (2013.01); A01B 79/005 (2013.01); B60C 23/002 (2013.01); B60K 35/00 (2013.01); B60W 10/20 (2013.01); B60W 10/30 (2013.01); B60W 30/00 (2013.01); B62D 6/001 (2013.01); B62D 15/0265 (2013.01); E02F 9/2045 (2013.01); G01C 11/02 (2013.01); G01C 21/20 (2013.01); G01C 21/30 (2013.01); G05D 1/0212 (2013.01); G05D 1/0214 (2013.01); G05D 1/0217 (2013.01); G05D 1/0246 (2013.01); G05D 1/027 (2013.01); G05D 1/0274 (2013.01); G06F 16/29 (2019.01); G06T 17/05 (2013.01); B60W 2300/152 (2013.01); B60W 2520/26 (2013.01); B60W 2530/10 (2013.01); B60W 2552/00 (2020.02); B60W 2710/20 (2013.01); B60W 2710/30 (2013.01); G05D 1/0278 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A terrain mapping system for one or more off-highway vehicles having one or more sensor systems, respectively, for analyzing terrain surrounding a corresponding off-highway vehicle of the one or more off-highway vehicles, the terrain mapping system comprising:
memory coupled to a processor and storing instructions that, when executed by the processor, cause the terrain mapping system to perform operations including:
identifying 1) a ground surface topography for a section of terrain and 2) one or more terrain features, wherein the ground surface topography and the one or more terrain features are based on a previously generated three-dimensional terrain map about a work area and collected data, at least a portion of said collected data derived from:
sensor data produced by at least one sensor system of the one or more sensor systems as at least one vehicle of the one or more off-highway vehicles moves about the work area, and
position data produced by a positioning system of the at least one vehicle as the at least one vehicle moves about the work area;
updating the previously generated three-dimensional terrain map based on the ground surface topography for the section of terrain and the one or more terrain features;
characterized in that the updated three-dimensional terrain map includes one or more objects within the section of terrain based on the one or more terrain features, wherein a visual indicator is presentable, by the at least one vehicle or a different vehicle of the one or more off-highway vehicles, on the updated three-dimensional terrain map or a map display derived therefrom for each respective object representing whether the object is traversable; and
using the updated three-dimensional terrain map or the map display derived therefrom, by the at least one vehicle or the different vehicle, to 1) operate a vehicle control system thereof to avoid non-traversable one(s) of the objects, 2) notify, using the one or more visual indicators, a human operator thereof to avoid the non-traversable one(s) of the objects, or 3) autonomously or semi-autonomously operate an implement control system thereof to modify the work area using at least one implement under control of the implement control system.