Ground Material Density Measurement System

Abstract

Disclosed is a ground material density measurement system. The ground material density measurement system can receive moisture measurement results associated with the amount of moisture on the ground surface of a section of ground material. The ground material density measurement system can determine ground penetrating radar (GPR) measurement results associated with the section of ground material. The ground material density measurement system can process the GPR measurement results based on the moisture measurement results to account for the amount of moisture. The ground material density measurement system can provide density information associated with the section of ground material based on the processed GPR measurement results.

Description

Technical Field

[0001] The present invention generally relates to the detection of the density of ground materials, for example, ground penetrating radar for the detection of the density of ground materials. Background Art

[0002] During a compaction operation, a machine may use a ground penetrating radar (GPR) device to detect and / or measure voids (e.g., spaces including air or other types of gas) in ground materials (e.g., asphalt, soil, etc.). In such cases, the GPR device uses radar signals to image beneath the surface of the ground material. Additionally, the GPR device uses electromagnetic radiation in the microwave band of the radio spectrum (e.g., ultra-high frequency (UHF), very high frequency (VHF), and / or similar frequencies) and detects reflected signals from the subsurface ground material or structure. The absence of subsurface ground material and / or structure may correspond to one or more voids, and the measurement of one or more voids can be used to determine the density of the ground material. Various environmental characteristics can affect the accuracy of detecting and / or measuring one or more voids, and thus may prevent the machine from compacting the ground material as needed.

[0003] U.S. Patent No. 8,152,410, issued to Roth on April 10, 2012 (“Patent ’410”), discloses a method of measuring the density of asphalt. Specifically, Patent ’410 discloses that GPR can be used to determine the thickness and moisture content of an asphalt paving.

[0004] Although the GPR of Patent ’410 can determine the moisture in an asphalt paving, Patent ’410 does not describe using a sensor to detect the moisture on the surface of the asphalt to account for the influence of the moisture on the surface of the asphalt.

[0005] The disclosed ground material density measurement system solves one or more of the above problems and / or other problems in the prior art. Summary of the Invention

[0006] According to some embodiments, a method may include: receiving imaging data of the ground surface of a section of ground material captured by a spectral reflectance sensor; determining a moisture measurement result associated with the amount of moisture on the ground surface based on the imaging data; receiving ground penetrating radar (GPR) measurement results associated with the section of ground material; determining a density measurement result of the section of ground material based on the moisture measurement result and the GPR measurement results; and providing the density measurement result to indicate the density of the section of ground material.

[0007] According to some embodiments, a GPR device may include: a memory; and a processor communicatively coupled to the memory, the processor being configured to: receive a moisture measurement associated with an amount of moisture on a ground surface of a section of ground material; determine a measurement result associated with the section of ground material; process GPR measurement results based on the moisture measurement to account for the amount of moisture; and provide density information associated with the section of ground material based on the processed GPR measurement results.

[0008] According to some embodiments, a system may include a spectral reflectance sensor, a GPR device, and an electronic control module, the electronic control module being configured to: cause the spectral reflectance sensor to provide imaging data of a ground surface of a section of ground material; determine a moisture measurement associated with an amount of moisture on the ground surface represented in the imaging data; cause the GPR device to provide GPR measurement results associated with the section of ground material; process the GPR measurement results and the moisture measurement results based on receiving the GPR measurement results to determine a density of the section of ground material; and perform an action associated with the density of the section of ground material. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a diagram of an exemplary machine that can implement a ground material density measurement system.

[0010] Figure 2 and 3 is a diagram of one or more exemplary environments in which the systems and / or methods described herein can be implemented.

[0011] Figure 4 is a flow diagram of an exemplary process associated with the ground material density measurement system described herein. DETAILED DESCRIPTION

[0012] Figure 1 is a diagram of an exemplary compactor 100 described herein. The compactor 100 may refer to any type of machine for compacting paving materials (such as soil, sand, gravel, loose bedrock, asphalt, recycled concrete, asphalt mixtures, or any other compactable material). For example, the compactor 100 may include a rolling compactor, a plate compactor, a self-propelled compactor, a compactor towed behind a paver, or any other type of compaction equipment. Although some embodiments are described in connection with the compactor 100, other implementations may similarly apply to other machines, such as machines performing operations associated with industries such as mining, construction, farming, transportation, or any other industry.

[0013] In Figure 1In [description], the compactor 100 can be configured to compact the ground material 102. As shown in the figure, the compactor 100 can be positioned above a section of the ground material 104, which includes subsurface voids 106 and surface moisture 108. The compactor 100 can include a ground material density measurement system 110 that analyzes the ground material 102, including the section of the ground material 104, to determine the density of the ground material 102.

[0014] The subsurface voids 106 can be voids below the surface of the section of the ground material 104, corresponding to volumes of air, fluid, moisture, and / or materials not considered part of the ground material 102. The subsurface voids 106 in the section of the ground material 104 can cause the section of the ground material 104 to be less dense than the remainder of the ground material 102 (excluding the subsurface voids 106).

[0015] As Figure 1 shown in [description], the ground material density measurement system 110 can include an electronic control module (ECM) 112, a ground penetrating radar (GPR) device 114, and a spectral reflectance sensor 116. As described herein, the GPR device 114 can be configured to detect and / or measure the subsurface voids 106 (e.g., determine the scale of the subsurface voids 106), and the spectral reflectance sensor 116 can be configured to measure or detect the surface moisture 108 (e.g., and / or the amount of the surface moisture 108). The ECM 112 can receive the respective measurement results from the GPR device 114 and / or the spectral reflectance sensor 116, and determine the density of the section of the ground material 104 based on the measurement results. The section of the ground material 104 can correspond to the position of the compactor 100, and / or can be defined by the positioning or orientation of the GPR device 114 and / or the spectral reflectance sensor 116. Thus, when the compactor 100, the GPR device 114, and / or the spectral reflectance sensor 116 traverse and / or scan the ground material 102, the section of the ground material 104 can correspond to the position of the compactor 100, the radar field of the GPR device 114, and / or the field of view of the spectral reflectance sensor 116.

[0016] As shown in the figure, the compactor 100 may include an operator cab 120 having an operator interface that includes a steering wheel 122 or similar control device for controlling the travel direction of the compactor 100 and a display device 124 for presenting information associated with the compactor 100. The compactor 100 may further include an engine 130. The engine 130 may be configured to provide mechanical and / or electrical power to the compactor 100. For example, the engine 130 may be configured to supply power to components of the compactor 100, such as the electric motors 140 (shown as "140-1" and "140-2") of the compactor 100 and other systems (e.g., the ground material density measurement system 110, the hydraulic system, the braking system, etc.). The electric motor 140 may be operatively coupled to the engine 130 via electrical wires, fluid conduits, or any other suitable connection.

[0017] The compactor 100 may include various components to facilitate the compaction operation and / or prevent the ground material 102 from loosening or crushing during the compaction operation. The compactor 100 may include one or more compaction elements, such as compaction drums 150 (shown as "150-1" and "150-2"). The compaction drums 150 may be rotatably mounted on the compactor 100. The compaction drums 150 may be operatively connected to the electric motor 140 such that the first electric motor 140-1 drives the first compaction drum 150-1 and the second electric motor 140-2 drives the second compaction drum 150-2. As shown in the figure, the compaction drums 150 may include a vibration mechanism 160 (shown as "160-1" and "160-2") and / or be controlled thereby. The vibration mechanism 160 may include one or more variable vibration mechanisms that may be controlled by the ECM 112 to compact the ground material 102, as described herein.

[0018] According to some embodiments, the compactor 100 may include a position sensor to determine or indicate (e.g., via the display device 124) the position of the compactor 100, specifically, its position relative to the work area. The position sensor may include one or more of a global positioning system (GPS), a global navigation satellite system (GNSS), a laser-based positioning system, a trilateration / triangulation-based system using one or more cellular or Wi-Fi networks, pseudolites, ranging radios, perception sensors, etc. Additionally or alternatively, the position sensor may be an external component configured to track the movement of the compactor 100 using radar or a similar tracking system. The position sensor may be configured to generate position data indicative of the movement of the compactor 100.

[0019] As described above, take Figure 1 as an example. Other examples may be different from those described in conjunction with Figure 1 the above.

[0020] Figure 2 is an illustration of an exemplary environment 200 that can implement the systems and / or methods described herein. As Figure 2 shown, environment 200 can include a GPR device 210, a spectral reflectance sensor 220, an ECM 230 having a ground material density module 232 and a density analysis map module 234, a compaction device 240, a display device 250, and a geolocation system 260. The devices of environment 200 can be interconnected via a wired connection, a wireless connection, or a combination of a wired connection and a wireless connection. As described herein, the GPR device 210, the spectral reflectance sensor 220, and / or the ECM 230 can be associated with a ground material density measurement system (e.g., Figure 1 the ground material density measurement system 110) configured to determine the density of the ground material (e.g., the ground material 102 and / or a section of the ground material 104).

[0021] The GPR device 210 (which can correspond to Figure 1 the GPR device 114) can include one or more devices or components for transmitting, receiving, processing, and / or analyzing radio signals for determining the content of the ground material. For example, the GPR device 210 can include a transmitter to transmit radar signals into the ground material, and the radar signals are then reflected back to the receiver of the GPR device 210. The radar signals can have a frequency range between approximately 10 megahertz (MHz) and 2.6 gigahertz (GHz).

[0022] The GPR device 210 can be configured to adjust the frequency of the signals based on one or more characteristics of the ground material being analyzed. Such characteristics can include the type of the ground material (e.g., a specific soil type, solid rock, asphalt or paving, concrete, etc.), the temperature of the ground material, the height of the ground material, etc. For example, the GPR device 210 (e.g., via instructions from the ECM 230) can adjust the parameters for transmitting the radar signals, receiving the radar signals, processing the radar signals, and / or analyzing the radar signals based on the characteristics. Thus, the GPR device 210 can be configured (or calibrated) to determine the content of the ground material. Correspondingly, the GPR device 210 can be configured (or calibrated) to generate GPR measurements of the content of the ground material. For example, the GPR device 210 can be configured to generate density measurements of the ground material based on any voids (e.g., void 106) detected in the ground material. Additionally or alternatively, the GPR measurements can be provided as an image (e.g., generated by the GPR device 210 based on the analysis of the ground material).

[0023] The GPR measurement results of the GPR device 210 may include void measurement results associated with voids beneath the surface of the ground material segment. For example, the GPR measurement results may include the void dimensions (e.g., length, width, depth, volume, etc.) of the voids in the ground material. Additionally or alternatively, the GPR device 210 may include material measurement results corresponding to the amount of ground material within a segment of the ground material. For example, the material measurement results may include or be based on depth information associated with the ground material (e.g., corresponding to the distance from the surface of the ground material to another type of material beneath the ground material). For example, for asphalt, the depth information may include the depth from the surface to the soil beneath the asphalt (e.g., in meters, centimeters, etc.). Additionally or alternatively, for a soil type, the depth information may include the depth from the surface to the bedrock beneath the soil.

[0024] The spectral reflectance sensor 220 (which may correspond to Figure 1 the spectral reflectance sensor 116) may include one or more devices or components for transmitting, receiving, processing, and / or analyzing the reflection of light of various wavelengths from the surface of the ground material. For example, the spectral reflectance sensor 220 may include a collection (or array) of sensing elements (referred to herein as "pixels") configured to sense the measure of light (e.g., light of a specific spectrum) reflected from the surface of the ground material. The spectral reflectance sensor 220 may perform one or more scanning techniques (e.g., spatial scanning, spectral scanning, etc.) and / or scanning processing techniques to generate an image (e.g., a 2D image) or a model (e.g., a 3D model) based on the sensed light. Additionally or alternatively, the spectral reflectance sensor 220 may include a single sensing element (or pixel) configured to sense the light reflected from the ground material within a specific field of view. The field of view may be based on the position of the machine and / or any suitable device capable of adjusting or defining the field of view (e.g., a lens or other type of optical element). According to some embodiments, the spectral reflectance sensor 220 may include a light source and / or be associated with a light source (e.g., a transmitter, such as a lamp) configured to enable or cause light to be reflected from the surface of the ground material.

[0025] The spectral reflectance sensor 220 can correspond to a hyperspectral sensor or other type of spectrometer capable of capturing images using various relatively narrow wavelength ranges (or spectral bands) of the electromagnetic spectrum. Similar to the GPR device 210, the spectral reflectance sensor 220 can be configured to detect moisture (e.g., liquid droplets or pools of liquid) on the surface of the ground material based on one or more properties of the ground material. The spectral reflectance sensor 220 may be capable of determining and / or providing a moisture measurement corresponding to the amount of moisture detected on the surface of the ground material. According to some embodiments, the spectral reflectance sensor 220 can include a camera or other type of imaging device that can be used to capture an image of the surface of the ground material to allow the implementation of image processing techniques to identify and / or determine the amount of moisture on the surface (e.g., using object recognition, computer vision techniques, etc.).

[0026] As described herein, the ECM 230 can provide control of one or more systems of the machine (e.g., the compactor 100). In some embodiments, the ECM 230 can determine the density of the ground material (e.g., similar to the ground material 104 of this section) based on the GPR measurements from the GPR device 210 and / or the imaging from the spectral reflectance sensor 220. Based on the density of the ground material, the ECM 230 can control the compaction device 240 to provide imaging associated with the density of the ground material to the display device 250, provide density measurements to the display device 250 and / or the geolocation system 260, and so on.

[0027] The ECM 230 is implemented as a processor, such as a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), a microprocessor, a microcontroller, a digital signal processor (DSP), a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), or another type of processing component or controller. The processor is implemented in hardware, firmware, and / or a combination of hardware and software. The processor of the ECM 230 can be capable of being programmed to perform functions. In some embodiments, one or more memories including random access memory (RAM), read-only memory (ROM), and / or another type of dynamic or static storage device (e.g., flash memory, magnetic memory, and / or optical memory) can store information and / or instructions for use by the ECM 230. The ECM 230 can include a memory (e.g., a non-transitory computer-readable medium) capable of storing instructions that, when executed, cause the processor to perform one or more of the processes and / or methods described herein.

[0028] The ECM 230 can execute instructions to perform various control functions and processes to control the GPR device 210, the spectral reflectance sensor 220, and / or the compaction device 240 to change the density of the ground material. For example, the ECM 230 can include any suitable type of engine control system, component control system, etc., which are configured to iteratively perform one or more functions to cause the machine (e.g., Figure 1 the compactor 100) to be automatically positioned and / or operated (e.g., using one or more compaction components) to compact the ground material to a desired density. The ECM 230 can receive information associated with the physical environment of the ground material from one or more other types of sensors. For example, the ECM 230 can receive temperature measurements from a temperature sensor, pressure measurements from a pressure sensor, humidity measurements from a humidity sensor, etc. In this way, the ECM 230 may be able to identify certain physical characteristics of the physical environment of the ground material.

[0029] The ECM 230 can use the ground material density module 232 to process measurements from the GPR device 210 and / or the spectral reflectance sensor 220 to determine the density of the ground material. For example, the ground material density module 232 can receive imaging from the spectral reflectance sensor 220 to determine if there is any surface moisture on the ground material, and can receive one or more GPR measurements to determine if there are any voids below the surface of the ground material (referred to herein as "subsurface ground material"). Based on the presence or amount of surface moisture and / or the scale of the voids, the ground material density module 232 is configured to determine the density of the ground. As described herein, the ground material density module 232 can use the density analysis mapping module 234 to analyze measurements from the GPR device 210 and / or the spectral reflectance sensor 220.

[0030] To determine the amount of moisture on the ground surface, the ground material density module 232 can process the imaging data to identify any pixels in the imaging data that each have a value representing the presence of water. For example, when a set of pixels has values within a specific range, that set of pixels in the image can indicate the presence of a liquid (e.g., water, oil, tar, fuel, or any other type of liquid) on the surface of the ground material. Thus, the amount of moisture can correspond to the amount of pixels in the set of pixels indicating the presence of water (e.g., the total number of pixels, the percentage of pixels in the image data, etc.). Additionally or alternatively, the amount of moisture can correspond to the value of the pixels. In this case, the analysis of the spectral reflectance values at multiple specific wavelengths of the pixels can correspond to or utilize a scale representing the amount of liquid (e.g., density, volume, etc.). According to some embodiments, the ground material density module 232 can determine the moisture measurement (e.g., corresponding to the amount of moisture) based on the type of ground material (e.g., the type of the ground surface and / or the type of the subsurface ground material).

[0031] The ground material density module 232 can adjust the void measurement results of the GPR device 210 based on the amount of moisture determined from the imaging data of the spectral reflection sensor 220, so as to determine the density of the ground material. For example, the ground material density module 232 can refer to the mapping of the density analysis mapping module 234 to determine the degree of adjustment of the scale of the void measurement results of the GPR device 210 according to the amount of moisture determined from the imaging data of the spectral reflection sensor 220. In such cases, the more moisture determined, the greater the adjustment of the void measurement results (for example, to increase or decrease the scale of the void measurement results). The ground material density module 232 can correspondingly adjust any subsurface imaging data generated by the GPR device 210 (for example, to more accurately depict the content of the ground material and / or the size of the voids in the ground material). Therefore, the ground material density module 232 can generate density information (for example, including the imaging data of the ground material, the density measurement results determined from the void measurement results, and / or the amount of moisture, etc.) and enable the ECM 230 to use the density information to perform actions. For example, the ECM 230 can provide the density information to the compaction device 240 to cause the compaction device 240 to perform operations according to the density information (for example, compact the ground material), provide the density information to the display device 250 to allow the operator to view the density information, and / or provide the density information to the geolocation system 260, which can store and / or use the density information to indicate the density information of the ground material in a certain area of the ground material (for example, the workplace).

[0032] The density analysis mapping module 234 can be any suitable data structure (such as a database, table, index, curve graph, etc.), which can store one or more mappings of the measured values associated with the GPR measurement results of the GPR device 210 and / or the moisture measurement results associated with the spectral reflection sensor 220. The density analysis mapping module 234 can include multiple tables, mappings, etc. corresponding to various measurement results associated with the GPR device 210 and / or the spectral reflection sensor 220. For example, the data structure of the density analysis mapping module 234 can include mapping the GPR measurement results (such as radar signal measurement results) associated with the GPR device 210 to one or more subsurface measurement results, such as ground density measurement results, void measurement results, depth measurement results, etc. Additionally or alternatively, the data structure of the density analysis mapping module 234 can include mapping the spectral measurement results sensed by the spectral reflection sensor 220 (such as the values of pixels) to the moisture measurement results (such as liquid volume, liquid density, etc.) associated with the presence and / or amount of moisture. In this way, the ECM 230 can be configured to process the GPR measurement results to determine the subsurface measurement results and / or the spectral measurement results to determine the surface moisture measurement results.

[0033] The ground material density module 232 can obtain and / or use the measurements in the density analysis mapping module 234 to determine the density of the ground material according to a model and / or take into account the moisture on the surface of the ground material (e.g., similar to the surface moisture 108). For example, the model can combine GPR measurements and / or spectral measurements according to any suitable technique to output the density. In some embodiments, the ground material density module 232 can process the GPR measurements and the determined moisture measurements.

[0034] Furthermore, depending on the environmental characteristics of the machine associated with the ECM 230 (e.g., as determined by one or more sensors of the machine, temperature sensors, pressure sensors, position sensors, etc.), the ground material density module 232 can use different mappings of the density analysis mapping module 234 to determine the density of the ground material. For example, one or more mappings can be configured according to certain characteristics of the ground material described herein. In this way, the ground material density module 232 can use a set of mappings to determine the density of asphalt and another set of mappings to determine the density of soil. Additionally or alternatively, the ground material density module 232 can use one set of mappings for colder ground materials (e.g., asphalt at ambient temperature, e.g., older asphalt) and another set of mappings for hotter ground materials (e.g., newly laid or relatively new asphalt). Thus, the ECM 230 can use adjustment values in the density analysis mapping module 234 to adjust and / or determine the density information of the ground material.

[0035] Figure 3 FIG. is a diagram of another exemplary environment 300 in which the systems and / or methods described herein can be implemented. Similar to environment 200, Figure 3 the exemplary environment 300 includes a GPR device 210, a spectral reflection sensor 220, an ECM 230, and a compaction device 240. In the exemplary embodiment 300, the GPR device 210 is configured to adjust GPR measurements according to information from the spectral reflection sensor 220 to determine the density of the ground material. For example, the GPR device 210 can include one or more modules, similar to the ground material density module 232 and the density analysis mapping module 234 of the ECM 230, to determine and provide density information to the ECM 230 to enable control of the compaction device 240.

[0036] In Figure 3In [the above], the GPR device 210 can be configured to receive imaging data from the spectral reflection sensor 220 and / or determine the amount of moisture on the surface of the ground material (e.g., in a manner similar to that described above). The GPR device 210 can include any suitable data structure that stores measurement adjustment values associated with the GPR measurements of the GPR device 210 and / or moisture measurement results associated with the spectral reflection sensor 220. Thus, the GPR device 210 can adjust the GPR measurement results based on the imaging data and / or moisture measurement results received from the spectral reflection sensor 220 to determine the density of the ground material.

[0037] The GPR device 210 is configured such that the ECM 230 can continue to operate as in previous designs by performing one or more of the operations described herein to determine the density of the ground material based on the GPR measurement results and the amount of moisture on the surface of the ground material determined by the GPR device 210 and / or the spectral reflection sensor 220.

[0038] Provided Figure 2 and 3 The number and arrangement of the devices shown in [the figure] are by way of example. In practice, there can be more devices, fewer devices, different devices, or different arrangements than those shown in Figure 2 and 3 In addition, Figure 2 and 3 Two or more of the devices shown in [the figure] can be implemented within a single device, or Figure 2 or a single device shown in 3 can be implemented as multiple distributed devices. Additionally or alternatively, Figure 2 and 3 a group of devices in [the figure] (e.g., one or more devices) can perform one or more functions described as being performed by Figure 2 and 3 another group of devices in [the figure].

[0039] Figure 4 is a flowchart of an exemplary process 400 associated with the ground material density measurement system. In some embodiments, Figure 4 one or more of the process blocks of [the figure] can be performed by the ground material density measurement system 110. In some embodiments, Figure 4 one or more of the process blocks of [the figure] can be performed by another device or group of devices separate from or including the ground material density measurement system 110, e.g., the GPR device 210, the spectral reflection sensor 220, the ECM 230, etc.

[0040] As Figure 4As shown, process 400 may include receiving a moisture measurement associated with the amount of moisture on the ground surface of a section of ground material (block 410). For example, as described above, the ground material density measurement system 110 (e.g., using a processor, memory, ground material density module 232, density analysis mapping module 234, etc.) may receive a moisture measurement associated with the amount of moisture on the ground surface of a section of ground material.

[0041] The ground material density measurement system 110 may receive imaging data of the ground surface of the section of ground material (e.g., imaging data captured by a spectral reflection sensor), and determine a moisture measurement associated with the amount of moisture on the ground surface based on the imaging data. For example, the ground material density measurement system 110 may process the imaging data to identify the respective values of a set of pixels of the imaging data corresponding to the amount of liquid on the ground surface, and determine the moisture measurement based on the respective values of the set of pixels. The imaging data and / or moisture measurement may be received from a hyperspectral sensor configured to detect, measure, and / or provide a moisture measurement to indicate the amount of moisture on the ground surface.

[0042] The ground material density measurement system 110 may determine the moisture measurement by processing the imaging data to identify a set of pixels in the imaging data each having a value indicating the presence of liquid on the ground surface, and determining the moisture measurement based on the amount and / or percentage of the set of pixels. The moisture measurement may be determined based on the respective values of the set of pixels, where the respective values represent the amount of liquid on the ground surface. The moisture measurement may be determined based on the type of material on the ground surface or the type of material in the section of ground material.

[0043] As Figure 4 As further shown, process 400 may include determining a GPR measurement associated with the section of ground material (block 420). For example, as described above, the ground material density measurement system 110 (e.g., using a processor, memory, ground material density module 232, density analysis mapping module 234, etc.) may determine a GPR measurement associated with the section of ground material.

[0044] The GPR measurement includes at least one of the following: a void measurement associated with voids beneath the surface of the section of ground material or a material measurement associated with the amount of ground material within the section of ground material. The ground material density measurement system 110 may configure the spectral reflection sensor to capture imaging data based on the type of ground material and / or configure the GPR device to generate GPR measurements based on the type of ground material. The spectral reflection sensor and the GPR device may be mounted on the same machine and configured to capture image data and / or GPR measurements when the machine is positioned above the section of ground material.

[0045] AsFigure 4 As further shown, process 400 may include processing the GPR measurement results based on the moisture measurement results to account for the amount of moisture (block 430). For example, as described above, the ground material density measurement system 110 (e.g., using a processor, memory, ground material density module 232, density analysis mapping module 234, etc.) may process the GPR measurement results based on the moisture measurement results to account for the amount of moisture.

[0046] The ground material density measurement system may adjust the void measurement results associated with the GPR measurement results based on the moisture measurement results. The void measurement results may be associated with voids beneath the surface of the section of ground material. The ground material density measurement system may determine the density of the section of ground material based on the adjusted void measurement results.

[0047] The ground material density measurement system may adjust the subsurface imaging data of the section of ground material generated by radar signals reflected from the section of ground material. The subsurface imaging data may be adjusted based on the moisture measurement results.

[0048] As Figure 4 further shown, process 400 may include providing density information associated with the section of ground material based on the processed GPR measurement results (block 440). For example, as described above, the ground material density measurement system 110 (e.g., using a processor, memory, ground material density module 232, density analysis mapping module 234, etc.) may provide density information associated with the section of ground material based on the processed GPR measurement results.

[0049] The ground material density measurement system 110 may cause the density information or an image of the subsurface of the section of ground material to be presented on a display, store the density information in association with a geographical map of the area including the section of ground material, and / or control a machine to change the density of the section of ground material. The density information may include the imaging data of the section of ground material and / or the density measurement results of the section of ground material. The density information may be provided to a display of a user interface, an ECM, a geolocation system, etc., the geolocation system being configured to map the density of multiple sections of ground material at a work site. The section of ground material may correspond to a section of asphalt, and the density measurement results are provided to an electronic control module of a compactor configured to compact the section of asphalt.

[0050] Although Figure 4 example blocks of process 400 are shown, in some embodiments, process 400 may include additional blocks, fewer blocks, different blocks, or differently arranged blocks compared to Figure 4 those depicted. Additionally or alternatively, two or more blocks of process 400 may be executed in parallel.

[0051] Industrial applicability

[0052] Ground Penetrating Radar (GPR) measurements of a GPR device can be used to determine the density of ground materials. However, in the prior art, when a GPR device is used to determine the density of ground materials with surface moisture, the GPR measurement results from the GPR device may not accurately reflect the actual density of the ground materials because the surface moisture may cause inaccuracies in the GPR measurement results (e.g., due to radio signals being distorted by the surface moisture). Thus, the prior art for using a GPR device to determine the density of ground materials may cause the device (e.g., an electronic control module (ECM) 230 or a machine (e.g., a compactor 100)) to inaccurately determine the density of the ground materials, and / or correspondingly, perform actions based on inaccurate measurement results of the ground material density. For example, in the prior art, if the GPR device indicates an inaccurate density for asphalt on a paving surface, the compactor may compact the asphalt inaccurately, and the service life of the paving surface may be reduced (e.g., because the asphalt is more likely to crack under pressure).

[0053] Some embodiments described herein provide a ground material density measurement system (e.g., ground material density measurement system 110) that determines the ground material density based on GPR measurement results and surface moisture measurement results associated with the amount of moisture determined on the surface of the ground materials. The ground material density measurement system can use a hyperspectral sensor to accurately determine the amount of moisture on the surface of a section of ground materials and adjust the GPR measurement results (e.g., adjust one or more scales of voids indicated in the GPR measurement results) to account for the presence of surface moisture.

[0054] In this way, the ground material density measurement system can provide more accurate density measurement results and / or corresponding density information than the prior art. Thus, based on the improved accuracy, the ground material density measurement system saves ground material resources for paving surfaces (e.g., by improving the service life of compacted asphalt, gravel, etc.), hardware resources (e.g., by reducing component stress or damage caused by inaccurate or undesired ground material compaction), consumable resources (e.g., by reducing operations to repair inaccurate or undesired ground material compaction), etc.

Claims

1. A method, comprising: Receiving, by an electronic control module, imaging data of a ground surface of a section of ground material captured by a spectral reflectance sensor; Determining, by the electronic control module and based on the imaging data, a moisture measurement result associated with an amount of moisture on the ground surface; Receiving, by the electronic control module, ground penetrating radar (GPR) measurement results associated with the section of ground material; Determining, by the electronic control module, a density measurement result of the section of ground material based on the moisture measurement result and the ground penetrating radar (GPR) measurement results, wherein the density measurement result is determined by: Determining a degree of adjustment of a scale of a void measurement result associated with the ground penetrating radar (GPR) measurement results based on the moisture measurement result, wherein the void measurement result is associated with voids beneath the surface of the section of ground material; and Determining the density measurement result of the section of ground material based on the adjusted void measurement result; and Providing, by the electronic control module, the density measurement result to indicate the density of the section of ground material.

2. The method according to claim 1, wherein, The spectral reflectance sensor is a hyperspectral sensor configured to detect water on a surface, the surface including characteristics of the section of ground material.

3. The method according to any one of claims 1-2, wherein, Determining the moisture measurement result includes: Processing the imaging data to identify a set of pixels in the imaging data each having a value indicative of the presence of liquid on the ground surface, and Determining the moisture measurement result based on at least one of: The amount of the set of pixels, or The percentage of the set of pixels.

4. The method according to claim 3, wherein, Determining the moisture measurement result based on respective values of the set of pixels, wherein the respective values represent a depth of the liquid on the ground surface.

5. The method according to any one of claims 1-4, wherein Determining the moisture measurement result based on a material type on the ground surface or a material type in the section of ground material.

6. The method according to any one of claims 1-5, wherein The GPR measurement results include a void measurement result associated with voids beneath the surface of the section of ground material.

7. The method according to any one of claims 1-6, wherein, The section of ground material corresponds to a section of asphalt, and the density measurement result is provided to an electronic control module of a compactor configured to compact the section of asphalt.

8. A system, the system may include: A spectral reflectance sensor; A ground penetrating radar (GPR) device; And An electronic control module configured to: Cause the spectral reflectance sensor to provide imaging data of a ground surface of a section of ground material; Determine a moisture measurement result associated with an amount of moisture on the ground surface represented in the imaging data; Cause the ground penetrating radar (GPR) device to provide GPR measurement results associated with the section of ground material; Based on receiving the GPR measurement results, process the GPR measurement results and the moisture measurement results to determine the density of the section of ground material, wherein the density is determined by: Determining a degree of adjustment of a scale of a void measurement result associated with the GPR measurement results based on the moisture measurement result, wherein the void measurement result is associated with voids beneath the surface of the section of ground material; and Determine the density of the section of flooring material based on the adjusted void measurement results; and Perform an action associated with the density of the section of flooring material.

9. The system according to claim 8, wherein The spectral reflectance sensor and the ground penetrating radar (GPR) device are mounted on the same machine as the electronic control module, wherein the electronic control module is configured to cause the spectral reflectance sensor to capture the imaging data and to cause the GPR device to generate the GPR measurement results when the machine is positioned over the section of flooring material.

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