CONTROL OF MOBILE WORK MACHINES USING A BASE FEATURE MODEL

Abstract

From a collection of subsurface scan data gathered by a sensor on a mobile machine, a multitude of detection points are identified. Based on a pattern emerging from these detection points, a predicted utility segment is generated. This predicted utility segment is incorporated into a subsurface feature model. A component of the mobile machine is then controlled using this subsurface feature model to perform an operation.

Description

AREA OF DESCRIPTION

[0001] This description concerns mobile working machines. More precisely, this description concerns a mobile working machine with a sensor that provides data from which a subsurface feature model is generated and used to control the working machine. BACKGROUND

[0002] Mobile machinery is widely used in various industries, including construction, agriculture, and utilities. These machines are sometimes equipped with various tools and sensors that assist with excavation, elevation control, and drilling operations. Some existing systems incorporate surface sensors that ultimately control the operation of mobile machinery. For example, GPS technology is often used to provide human operators with location data or to enable autonomous or semi-autonomous control of the mobile machinery. However, these systems are generally limited to aboveground applications and do not provide insight into subsurface conditions.

[0003] The foregoing explanation provides only general background information and is not intended to be used as an aid in determining the scope of protection of the claimed subject matter. SUMMARY

[0004] From a collection of subsurface scan data gathered by a sensor on a mobile machine, a multitude of detection points are identified. Based on a pattern reflected in these detection points, a predicted utility segment is generated. This predicted utility segment is incorporated into a subsurface feature model. A component of the mobile machine is then controlled using this subsurface feature model to perform an operation. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a schematic view of an example of a subsurface detection system. Fig. Figure 2 is a schematic representation of the mobile work machine in an exemplary operational environment. Fig. Figure 3 is another schematic representation of the mobile work machine in the exemplary operational environment. Fig. Figure 4 is another schematic representation of the mobile work machine in the exemplary operational environment. Fig. Figure 5 is a schematic block diagram of an example environment that includes the mobile work machine. Fig. 6A and Fig. 6B are block process diagrams that illustrate examples of background sampling processes. Fig. Figures 7 to 10 are schematic representations of exemplary display screens. Fig. 11 is a block diagram that provides an example of elements of the in Fig. The 5 example environments shown are used in a remote server architecture. Fig. Figures 12 to 14 show examples of mobile devices used in the environments shown in the previous figures. Fig. Figure 15 is a block diagram showing an example of a computational environment used in the environments shown in the preceding figures. DETAILED DESCRIPTION

[0005] In certain operations, it is desirable to identify the location of underground objects such as utility lines, pipes, cables, and other infrastructure to prevent damage and delays and to increase safety. Acquiring subsurface features typically requires the use of separate scanning devices or manual surveying, which can be time-consuming and expensive. Therefore, this description presents a system in which a sensor on a mobile work machine is used to acquire subsurface scanning data. Detection points are derived from this data. These points are processed to identify a predicted segment, such as a predicted utility segment. The predicted segment is then incorporated into a subsurface feature model, which is used to control the operation of the mobile work machine.

[0006] Fig. Figure 1 is a schematic view of an exemplary subsurface detection system 100, comprising a mobile work machine 136 with an associated utility scanning control system (USCS) 140. In the Fig. The mobile working machine 136 shown in Figure 1 is an excavator, sometimes also called a backhoe, bucket excavator, or crawler excavator. However, the concepts described here can be applied equally well to other types of machines, including fully or partially autonomous machines.

[0007] The mobile work machine 136 comprises a house 102 with an operator's cabin 104, which is rotatably mounted above a track section 106. The house 102 can be rotated 360 degrees around the track section 106 via a rotating coupling 108, which is generally located between the house 102 and the track section 106. A boom 110 extends from the house 102 and can be raised or lowered in the direction indicated by an arrow 112 by actuating one or more hydraulic cylinders 114. A stick or arm 116 (sometimes also referred to as a bucket) is pivotally connected to the boom 110 via a connecting bolt 118 and can be moved in the direction of the arrows 120 by actuating the hydraulic cylinder 122. A tool or shovel 124 is pivotably connected to the arm 116 on a connecting bolt 126 and can be rotated around the connecting bolt 126 by actuating a hydraulic cylinder 130.

[0008] The operator's cab 104 houses a human operator of the mobile working machine 136 and a variety of controls (such as switches, joysticks, steering wheel, pedals, etc.) that the operator uses to control various operations (such as digging, rotating, lifting, moving, etc.) of the mobile working machine 136. In a typical control mode, a first joystick controls the rotation of the cab 102 around the rotating coupling 108 (left and right) and the extension or retraction of the arm 116 (e.g., away and in, shown by arrow 120), and a second joystick controls the raising of the boom 110 (e.g., up and down, shown by arrow 112) and the folding of the bucket 124 (e.g., closing and tipping). The operator operates one or more controls sequentially and / or simultaneously to perform an action (e.g., excavation).In another example, the mobile work machine 136 is also or alternatively configured for one or more non-human control modes in which certain or all machine functions are controlled wholly or partially autonomously.

[0009] When the Mobile Work Machine 136 is used for excavation work, subsurface objects (such as gas lines, pipes, electrical cables, fiber optic cables, etc.) may be encountered. These objects can pose a challenge to smooth and effective digging. It is possible that an operator of the Mobile Work Machine 136 (human, autonomous, or otherwise) may not be aware of the presence of such objects. Sometimes, subsurface information or data provided to the operator is incomplete, outdated, or otherwise inaccurate. If the operator of the Mobile Work Machine 136 is unaware of subsurface objects at an excavation site, this can lead to unintentional damage or destruction of the objects, causing project delays, costly repairs, liability issues, and more.Other machines and people inside and outside an operational site can also benefit from detailed information about the presence and location of underground objects.

[0010] The mobile work machine 136 is equipped with a ground penetrating radar (GPR) sensor 132 and an associated utility scanning control system (USCS) 140, which enable the detection of subsurface objects at an excavation site. The GPR sensor 132 is integrated, for example, into the bucket 124, allowing the operator (human, autonomous, or otherwise) to move the bucket 124 (and thus the GPR sensor 132) over an area to be scanned. The GPR sensor 132 emits electromagnetic waves 134 through an intact ground surface 131 and then receives electromagnetic waves reflected by a subsurface object located in Fig. 1. For example, a supply line 142. Based on factors such as, but not limited to, the strength of the reflected waves and a time interval since a wave emission, a location and depth of the underground object (e.g., the supply line 142) can be determined.

[0011] Fig. Figures 2 to 4 are schematic representations of the mobile work machine 136 in an exemplary operational environment 200. Elements that have been given the same or a similar reference symbol compared to other figures are assumed to have the same or similar characteristics and functions.

[0012] According to Fig. 2 The mobile work machine 136 operates around and within an area of ​​interest 202, which may be defined explicitly or implicitly. The area of ​​interest 202 is, by way of example, but not necessarily, an area in which the mobile work machine 136 is to carry out excavation work. For instance, the mobile work machine 136 and the associated utility scanning control system 140 generate information about subsurface features in the area of ​​interest 202 before the excavation is carried out.

[0013] The mobile work machine 136 is in Fig. 2 is positioned at one end (“the near side”) of a scanning path 204. Furthermore, the mobile working machine 136 is shown such that its bucket 124 (and thus the associated GPR sensor 132) is in a retracted position, so that it is on the same side of the scanning path 204 as the rest of the mobile working machine 136. This is, for example, the position in which the bucket 124 is located immediately before and after a scanning operation carried out along the scanning path 204.

[0014] To begin a scanning operation along the scanning path 204, the bucket 124 is extended on the boom 110 and the arm 116 to the other side of the scanning path 204. During the scanning operation, the bucket 124 (and thus the associated GPR sensor 132) is moved along the scanning path 204 from the far side to the near side. In this sense, the far side of the area of ​​interest 202 is Fig. Side 2 is identified with a distance measurement of zero feet, while the near side is identified with a distance measurement of 15 feet. Of course, the ones in Fig. The two measurements shown are for illustrative purposes only. It is understood by a person skilled in the art that actual scanning distances vary and can be more or less than 15 feet.

[0015] As in Fig. As shown schematically in Figure 2, scanning along the scanning path 204 has, for example, resulted in the detection of a first detection point 206 and a second detection point 208. As indicated in the example user interface 210, detection point 206 was measured at a distance of 2.8 feet from the far side of the area of ​​interest 202, and detection point 208 was measured at a distance of 8.8 feet from the far side. As also shown in the example user interface 210, the GPR sensor 132, together with the supply device scanning control system 140, is configured to detect and identify the depth at which detection points 206 and 208 are found. For example, detection point 206 is identified at a depth of 3.5 feet, while detection point 208 is identified at a depth of 5 feet.

[0016] After the scanning of the scanning path 204 is complete, an operator of the mobile work machine 136, in one example, begins excavating along the scanning path 204, proceeding carefully to avoid the subsurface objects associated with the detection points 206 and 208. However, sometimes it is desirable to move the mobile work machine 136 away from the scanning path 204 before excavating, which can lead to the loss of the reference points from which the measurements were taken. Furthermore, it would be desirable to share information about the detection points 206 and 208 with other machines, devices, or persons who may not necessarily be familiar with the reference points from which the measurements were taken.The utility scanning control system 140 is therefore configured in one example to identify and store location-based detection point data using an identification system, thus facilitating later retrieval. For example, and without limitation, coordinates for detection point location are stored according to the global positioning system (GPS), using on-site or other positioning technology. In one example, information about subsurface objects (i.e., detection points) is later used by the same or a different operator of the mobile work machine 136, or shared within or outside the work site encompassing the area of ​​interest 202, etc.

[0017] In another example, not all detection points for which the utility's sampling control system 140 stores a data record are necessarily discovered as part of a single sampling operation. Fig. In step 3, an additional set of detection points 302, 304, and 306 was identified as the result of a separate scanning operation along scanning path 308. Furthermore, detection points 310 and 312 were identified as the result of a separate scanning operation along scanning path 314. The example user interface 210 was updated to include the additional detection points 302-306, 310, and 312. The mobile work machine is in Fig. Figure 3 shows that it is now located on a fourth scanning path 316. In this case, the actual scanning process has not yet been carried out, which is illustrated by the fact that the bucket 124 on the boom 110 and the arm 116 is extended to the other side of the area of ​​interest 202.

[0018] The attributes of detection points for which the utility scanning control system 140 is configured to record are not limited to those shown in the example user interface 210. As previously described, identifying a detection point in terms of its position along a scanning path is just one example of a positioning system used to record a detection point location. As previously described, in other examples, detection point locations are identified and displayed using a positioning system with broader or even global coordinates, such as GPS. In yet another example, detection point locations are identified and displayed using a location-specific positioning or coordinate system, for example, in conjunction with a deployment measurement or tracking system.In another example, they are integrated into a different subsystem of the mobile working machine 136 with location-related functionality, e.g., a height control system.

[0019] Finally, it is obvious to a person skilled in the art that not all sampling operations necessarily have to be evenly spaced, nor do they have to follow a straight line. In another example, the sampling paths are arranged from end to end instead of from side to side. In other examples, the pattern of sampling paths is random or predictable.

[0020] The utility scanning control system 140 is configured, by way of example, to facilitate further processing of the detection points 206, 208, 302-306, 310, and 312 to identify one or more derived data elements as a result of a recognized pattern. A predicted utility segment is a non-restrictive example of such a derived data element. In one example, the utility scanning control system 140 creates a detailed data set of a predicted utility segment when it programmatically determines that at least three detection points are located at a common depth along a common line. It is understood by a person skilled in the art that, in other examples, acceptable ranges of variation are defined and applied by the utility scanning control system 140 during the identification process.In other examples, further or different criteria are applied programmatically to search for and store a data set with other derived data elements.

[0021] Fig. Figure 4 shows an example in which the utility scanning control system 140 enabled the creation of a data record for a predicted utility segment 402 (conceptually represented as a solid line) that begins at detection point 206, passes through detection point 302, and ends at detection point 312. Furthermore, a data record was also created for a predicted utility segment 404 (conceptually represented as a solid line) that begins at detection point 208, passes through detection point 304, and ends at detection point 310.

[0022] The utility scanning control system is further configured to facilitate the identification and recording of derived data points based on criteria that are not limited to a detection point pattern. An example of this is a projected utility segment. According to Fig. A dataset was also created for a projected facility segment 406 (conceptually represented as a dotted line), extending from detection point 206 as a naturally calculated extension of the predicted facility segment 402. Similarly, a dataset was also created for a projected facility segment 408, extending from detection point 312 as another naturally calculated extension of the predicted facility segment 402. Similarly, datasets were also created for projected facility segments 410 and 412, which are naturally calculated extensions of the predicted facility segment 404.Accordingly, the utility scanning control system 140 enables the mapping not only of the detection points 206, 208, 302-306, 310, and 312, but also of the predicted and projected utility segments 402-404 and 406-412 in the area of ​​interest 202, with the predicted and projected line segments being programmatically derived from the data sets of detection points 206, 208, 302-306, 310, and 312 (although they could theoretically also be inserted manually via user input, etc.). The size, shape, and configuration of the predicted and projected utility segments may change based on mathematical or other programmatic modeling when detection points are added to or removed from a collection of detection points.

[0023] The use of information about detection points, predicted utility segments, and / or projected utility segments generated directly or indirectly by the utility scanning control system 140 is described in more detail with reference to other figures. In one example, however, the information is used to guide an operator of the mobile work machine 136 during an excavation operation in the area of ​​interest 202. In another example, the information is used as the basis for direct control of the mobile work machine 136 or an associated user interface (e.g., a display, etc.). In yet another example, the information is passed on to mobile work machines, user interfaces, or other systems outside the mobile work machine 136.

[0024] Fig. Figure 5 is a schematic block diagram of an example environment 500. Elements that have the same or a similar reference sign compared to other figures are assumed to have the same or similar features and functions. The environment 500 includes the mobile work machine 136, one or more remote users 502, one or more other systems 504, a network 506, one or more other machines 508, an operator 510, and may also include other external systems or components as specified in block 512.

[0025] The remote user(s) 502 may or may not be located at the same work site as the mobile work machine 136. The remote user(s) 502 interact with the mobile work machine 136 through one or more other systems 504. The other systems 504 may include various systems such as servers, computers, mobile electronic devices, subsurface scanning systems / devices, or other systems or devices. In one example, the other systems 504 include a system for accessing data related to scanning operations, such as scan results, scan plans, excavation plans, subsurface maps, and the like, provided by the mobile work machine 136 via the network 506 or otherwise.

[0026] The one or more other machines 508 may or may not be located in the same operational area as the mobile work machine 136. In one example, the one or more other machines 508 include another excavator. The one or more other machines 508 interact with the mobile work machine 136. In another example, the one or more other machines 508 are equipped with a system for accessing data related to sampling operations, such as sampling results, sampling plans, excavation plans, subsurface maps, and the like, provided via the network 506 by the mobile work machine 136 or otherwise.

[0027] The other system(s) 504 and the one or more other machines 508 are directly or indirectly communicatively connected to the mobile work machine 136 via the network 506 (but are not limited to this). The network 506 is, for example, any type of communication network, such as, but not limited to, Bluetooth, Wi-Fi, cellular, LAN, WAN, etc. In some applications, the network 506 could be replaced by a more direct, non-network-based connection, such as a wired connection.

[0028] The operator 510 controls or otherwise interacts with the mobile working machine 136. In one example, the operator 510 is a human operator who controls the mobile working machine 136 by providing at least some input via a set of operator input mechanisms 532 that are part of the mobile working machine 136 (described in more detail below). The operator 510 receives feedback and information, for example, via a user interface subsystem 554 (described in more detail below) that is part of the mobile working machine 136. In another example, the operator also provides input for controlling the mobile working machine 136 (and / or receives feedback and information from it) via computing devices or systems that are separate from, but connected to, the mobile working machine 136 itself.These devices or systems include server-based computer applications, computers, mobile electronic devices, etc.

[0029] In another example, the operator 510, instead of a human operator, is a partially or fully programmatic operator configured to interact with and control the mobile work machine 136 and / or a subsystem thereof. This is the case, for example, when the mobile work machine 136 is fully or partially autonomous. In one example of this scenario, all or at least some parts of the operator 510 are implemented programmatically as a component of the mobile work machine 136 and / or a remote computing system that is directly and / or remotely connected to the mobile work machine 136 to establish a path, at least partially, for control and data / information feedback purposes.

[0030] The mobile working machine 136 itself comprises a processor 516, a controller 518, a data storage device 520, a communication system 522, an image acquisition system 524, sensors 526, controllable subsystems 528, specialized control subsystems 530, a supply unit scanning control system 140, operator input mechanisms 532, and other elements as specified in block 534. These components and systems are, for example, integrated parts of the mobile working machine 136. However, some (or parts of some) of these components may be located in and operated from a separate system that is remote or otherwise outside the natural boundaries of the mobile working machine 136 itself (e.g., configured to be operated from a server, a separate computing device, a cloud environment, another machine, etc.).

[0031] The Processor 516 comprises one or more computer processors with associated memory and timing circuitry, which are not shown separately. The Processor 516 is a functional part of the Mobile Working Machine 136 and is activated by other components and associated systems and subsystems of the Mobile Working Machine 136, supporting their functionality. The Processor 516 implements logic and overall functionality necessary to support the operation of the Mobile Working Machine 136.

[0032] The controller 518 includes, for example, one or more microprocessors, or all or some of one or more suitable general computing environments, as described in more detail below with reference to other figures. The controller 518 is coupled to operator input mechanisms 532 to receive machine control inputs from the operator 510 and to enable a response to them. Examples of inputs received via the operator input mechanisms 532 include joystick movements, pedal movements, switch movements, button movements, touchscreen inputs, steering wheel movements, etc. If the operator 510 is a partially or fully autonomous system, the controller 518 is further configured to alternatively receive and respond to programmatically generated inputs from the operator 510.The controller 518 is further configured to receive control signals from any component that is functionally connected to the mobile working machine 136. The controller 518 is configured to respond to these received control signals by enabling the execution of one or more programmatic steps relating to the operation of the mobile working machine 136 or an associated component. Other signal sources for the controller 518 include, but are not limited to, controllable subsystems, special control subsystems, and the supply unit scanning control system '140.

[0033] The data store 520 stores various pieces of information and data that support the operation and functionality of the mobile working machine 136 and / or associated systems or subsystems. The data store 520 includes machine kinematics / dimensional data 536, maps and map-related data 538, and elevation control files 540, and may also include other elements as specified in block 542. In some examples, the data store 520 is located, in whole or in part, at a location remote from the mobile working machine 136 and accessible remotely.

[0034] The machine kinematics / dimensional data 536 include, for example, data relating to the adjustment, movement, and orientation of various components of the mobile working machine 136, as well as data relating to the dimensions and pivot points of various controllable subsystems and / or other components of the mobile working machine 136. In one example, this data supports subsurface scanning operations using the GPR sensor 132. The maps and map-related data 538 include, for example, site maps, navigation maps, position coordinate data, etc., e.g., in connection with excavation work or subsurface scanning operations, etc. Height control files 540 are, for example, support files used by a height control system 556, which is described in more detail below.In one example, the map and map-related data 538 and / or the elevation control files 540 comprise one or more data sets, or at least some data, received from the utility scanning control system 140, which is described in more detail below.

[0035] The communication system 522 enables components of the mobile work machine 136 to communicate with each other and via the network 506, etc. Examples of a communication system 522 include a CAN (controller area network) or other bus communication system and / or any other systems used to enable communication between the components of the mobile work machine and / or via the network 506. The communication system 522 acts as a central communication network that connects various components of the mobile work machine 136 and enables efficient data exchange, coordinated system operation, and efficient fault detection. The communication system 522 ensures that the various components and systems work together seamlessly, which overall increases the performance and reliability of the machine.

[0036] The image acquisition system 524 comprises one or more image acquisition devices, e.g., cameras, to capture images of a location where the mobile work machine 136 is operating. The image acquisition devices enable the operator 510 to view the environment of the mobile work machine 136 and / or extract or derive data from it. In some examples, the image acquisition system 524 is configured so that it can be controlled by the operator 510 or by one or more remote users 502 to view a specific location, angle, and / or zoom level, etc. In one example, the image acquisition system 524 enables the operator 510 to capture information about the boundaries of an area of ​​interest, such as an area where a subsurface scan or excavation is to be carried out (e.g., the area of ​​interest 202 in Fig. 2 to 4).

[0037] Examples of sensors in block 526 include the machine position sensor 544, the GPR sensor 132, and the bucket position sensor 548. Block 550 may also include other sensors. The sensors mentioned are merely examples.

[0038] The machine position sensor 544 collects position data, including location and / or orientation data of the entire mobile work machine or its components. The machine position sensor 544 may include, for example, a GNSS receiver, a GPS device, a dead reckoning sensor, a position transmitter in a local or global coordinate system, etc. In one example, the machine position sensor 544 is configured to support cellular connectivity and thus a connection to a base station of a cellular network, enabling triangulation of the location of the mobile work machine 136 and / or its components. Depending on the requirements of a specific implementation, other types of machine position sensors may also be used.

[0039] The blade position sensor 548, for example, includes an angle encoder, a rotation sensor, an actuator position sensor, or any other type of sensor that encodes positions of the blade 124, for example, relative to the connecting bolt 126. In one example, sensors for determining the location of the blade 124 relative to one or more reference points are included, such as a start or end point for a scanning operation, for example, along one of the scanning paths 204, 308, 314 in Fig. 2 to 4. In other examples, the bucket position sensor 548 is configured to enable the acquisition of more detailed bucket position data. In one example, the bucket position sensor includes a GNSS receiver, a GPS device, a dead reckoning sensor, a position transmitter in a local or global coordinate system, etc. In another example, the bucket position sensor 548 is configured to support cellular connectivity capabilities, thus enabling a connection to a base station of a cellular network and allowing triangulation of the bucket 124's location. Depending on the requirements of a particular implementation, other types of bucket position sensors may also be used.

[0040] The GPR sensor 132 is, for example, connected to the bucket 124 (or can be fully integrated into an outer surface of the bucket 124) such that, when the bucket 124 is in a scanning orientation, the GPR sensor 132 is located in a substantially parallel plane with respect to the intact ground surface 131. The GPR sensor 132 emits electromagnetic waves 134 through the intact ground surface 131 and receives electromagnetic waves reflected by a subsurface object. Based on factors such as, but not limited to, the strength of the reflected waves and the time elapsed since wave emission, the location and depth of a subsurface object, e.g., a utility line, can be determined with relative accuracy. Depending on the requirements of a particular implementation, it is possible to use a different type of subsurface scanning sensor.

[0041] Other 550 sensors include, for example, a temperature sensor, a humidity sensor, a rain sensor, a radiation sensor, and / or any other sensor capable of detecting a parameter or condition. The GPR 132 sensor, for instance, is calibrated using sensor readings from one or more of the other 550 sensors. In one example, the readings of the GPR 132 sensor are automatically adjusted, at least partially, based on readings from one or more other 550 sensors.

[0042] The controllable subsystems 528 are at least partially controlled by the controller 518 and / or other components of the mobile work machine 136 to effect the execution of various operations of the mobile work machine 136, e.g., driving, steering, digging, scanning, displaying, etc. The controllable subsystems 528 include, for example, machine actuators 552, attachment systems 558, and a user interface (UI) subsystem 554. As specified in block 560, other controllable subsystems are possible. The mobile work machine 136 may, for example, have safety and other subsystems.

[0043] The machine actuators 552 are configured to control the movement, positioning, and other functions of mechanical components of the mobile work machine 136. For example, the machine actuators 552 drive the movement of the boom 110, arm 116, and bucket 124 simultaneously or sequentially. Such movements are used by the mobile work machine 136 when performing excavation work or when conducting subsurface scanning operations with the GPR sensor 132.

[0044] The user interface (UI) subsystem 554 receives signals from one or more sources, which may include, for example, the controller 518, the special control subsystems 530, the supply unit sampling control system 140, other components, and / or associated systems of the mobile work machine 136. The user interface (UI) subsystem 554 processes received signals and is then configured to respond by generating appropriate playbacks and outputs, which are made available as outputs, for example, via a display, a status indicator, etc. The user interface (UI) subsystem 554 also includes, or alternatively, one or more interfaces to other systems 504, other machines 508, or simply a separate computing device, or is otherwise aligned with them, thereby ensuring a coherent and integrated operator experience across different platforms.

[0045] The attachment systems 558 include, but are not limited to, couplings and associated components that enable the coupling of attachment tools, such as a bucket 124, an auger, a clamshell bucket, etc., to the arm 116.

[0046] The special control subsystems 530 operate, for example, independently or in conjunction with the control 518 to effect actions and reactions of the mobile working machine 136. The special control subsystems are specialized, for example, in that they control a particular function or set of functions, rather than so much because they have been specially designed or adapted in any way. For example, special control systems support the generation of control signals which, when passed on for execution, result in a corresponding response from the mobile working machine 136 in general or from an associated system, component, or subsystem. Examples of special control subsystems 530 include a height control system 556, a navigation control system 564, a display control system 566, a power control system 568, and may also include other control subsystems as specified in Block 570.

[0047] The leveling system 556 is configured, for example, to use sensors 526 to guide the operator 510 in achieving precise leveling and excavation levels. In one example, sensors 526 monitor the position and angle of the bucket 124 (or other attachments connected to the attachment systems 558) relative to a desired slope or inclination. In another example, the leveling system 556 supports a technology such as a laser or other guidance system that enables the operator 510 to ensure a uniform slope. In other examples, the leveling system 556 uses GNSS and / or real-time kinetic (RTK) positioning to determine the position and operating characteristics of the mobile work machine 136.In another example, height control feedback is provided to the operator 510 via the user interface subsystem 554 or by other means. In other examples, data relating to sampling operations, such as sampling results, sampling plans, excavation plans, subsurface maps, and the like, are provided by the utility sampling control system 140 to enable their integration (in whole or in part) into one or more user interfaces associated with the height control system 556.

[0048] The navigation control system 564 receives and processes sensor readings from the machine position sensor 544 and / or other components in the environment 500. The navigation control system 564 is configured to receive and process navigation commands from the operator 510 and / or other components in the environment 500, and to execute them. Ultimately, the navigation control system 564 enables the determination and repositioning of the mobile work machine 136 within its operating environment.

[0049] The display control system 566 generates control signals for managing and updating display and feedback mechanisms associated with the mobile work machine 136. The display control system 566 works in coordination with the UI subsystem 554 and / or the controller 518. Together, these systems enable the creation of intuitive interfaces and feedback mechanisms tailored to the needs of the operator 510 or to support efficient operation in general. In some examples, the displays are interactive and feature user-friendly input mechanisms that allow the operator 510 to interact directly with an interface and adjust or select options as needed.

[0050] The power control system 568 is configured to manage power distribution and ensure that components and subsystems of the mobile work machine 136 receive an appropriate amount of energy for optimal performance. It generates control signals for power allocation and dynamically adjusts usage to increase efficiency. By increasing or decreasing the power supply to various components and subsystems based on operational requirements, the power control system 568 ensures that the mobile work machine 136 operates smoothly, maintains energy efficiency, and maximizes productivity.

[0051] The utility scanning control system 140 comprises a scanning control component 571, a user experience (UEX) generation component 572, a detection point identification component 574, a detection point extension component 576, a segment prediction / projector component 578, and an output generator component 580, and may also include other components as specified in block 582. As a special subsystem of the mobile work machine 136, the utility scanning control system 140, as a person skilled in the art understands, is configured to interact with and utilize other components of the mobile work machine 136 (e.g., processor 516, controller 518, data storage 520, user interface subsystem 554, etc.) to support its operational objectives.

[0052] The scanning control component 571 is configured, by way of example, to coordinate components of the utility scanning control system 140 and other components of the mobile work machine 136, as required to support subsurface scanning operations, such as, but not limited to, the examples of scanning operations related to Fig. Sections 2 to 4 are generally described. In a non-restrictive example, the control system 518 and the special control subsystems 530 are used by component 571 to enable movements of the mobile work machine 136, and in particular its bucket 124, during subsurface scanning operations. Furthermore, the display control system 566 and the functionally related user interface subsystem 554 are used in many cases to support subsurface scanning operations. The operator input mechanisms 532 are used to support inputs that affect the functionality of many subsurface scanning operations. Finally, the communication system 522 provides support during subsurface scanning operations to reach necessary components outside the confines of the mobile work machine 136 itself, such as, but not limited to, other systems 504 and other machines 508.These are examples of the coordination between the utility sampling control system 140 and other components managed by the sampling control component 571.

[0053] The User Experience (UEX) generating component 572 is a display control system similar in function to the display control system 566 and, in one example, configured to share operations with and / or delegate operations to it. In one example, the UEX generating component 572 initiates and manages interactions with the operator 510 before, during, and / or after subsurface scanning operations. In some examples, which are neither prescribed nor limited, the User Experience (UEX) generating component 572 is configured to display indicators that assist in identifying an area of ​​interest 202, assist in moving the mobile work machine 136 to a position ready to start a scanning operation along a scanning path 204, assist in moving the bucket 124 along the scanning path 204, and so on.

[0054] The User Experience (UEX) Generating Component 572 is also, or alternatively, used to enable the production and output of data or other information in a user-friendly format that displays the result of a subsurface scanning operation. In one example, which is neither prescribed nor limited, the User Experience (UEX) Generating Component 572 works in conjunction with the Display Control System 566 and / or the User Interface Subsystem 554 to produce a visual representation of detection points, predicted utility segments, and / or projected utility segments, examples of which relate to Fig. 2 to 4 were described. In another example, the user experience (UEX) generating component 572 is also or alternatively configured to support the display of information in conjunction with other systems 504 and / or other machines 508. In another example, the user experience (UEX) generating component 572 is configured to support the integration of scanning-related data into user-friendly displays associated with other systems and subsystems of the mobile work machine 136, e.g., a display associated with the height control system 556.

[0055] The detection point identification component 574 is configured, for example, to enable the collection of data from the GPR sensor 132, indicating one or more (or perhaps none, if there are none) detected subsurface objects (i.e., detection points). For example, it receives and processes according to Fig. 2 to 4 the detection point identification component 574 signals from the GPR sensor 132, indicating the presence of detection points 206, 208, 302-306, 310 and 312, which indicate the presence of subsurface objects below the ground surface 131.

[0056] The detection point extension component 576, for example, is configured to allow the extension of detection points with descriptive metadata that indicates important characteristics, such as, but not necessarily limited to, depth and location data. In one example, the extension provided by the detection point extension component involves adding additional or alternative depth and / or location data to the data supplied directly by the GPR sensor 132. In other examples, the extension provided by the detection point extension component 576 involves adding data about the date / time the data was generated, the soil conditions at that time, the operator 510's identity at that time, and so on.

[0057] In one example, detection point data (whether extended or not) is stored, at least temporarily, in a data store, such as data store 520. In this case, the data collected during separate, distinct scans can be combined to facilitate later joint processing. It is not necessary for individual scans to be performed immediately sequentially. For example, one scan could be performed on a given day, and the next several days or more later. In this example, the results of separate scans can be conveniently combined as long as reference points for reconstructing accurate location information are preserved.

[0058] The Segment Prediction / Projector component 578 is configured, by way of example, to process the (optionally extended) detection points to generate one or more derived additional data points. In one example, the Segment Prediction / Projector component 578 enables the identification (and storage of records) of predicted utility segments and projected utility segments, such as those in Fig. Four predicted and projected facility segments 402-412 are shown. As part of the identification process, the segment prediction / projector component 564 is configured to group detection points based at least on a programmatically determined pattern reflected in relative depth and position. In an example, the segment prediction / projector component 564 is configured to determine and store a record of one or more predicted facility segments when at least three detection points are programmatically identified as being at least substantially at the same depth and descending at least substantially along a straight line.In another example, the segment prediction / projector component 578 enables the determination and storage of a data set of one or more projected facility segments that have been programmatically determined as a naturally projected continuation or extension of the predicted facility segment.

[0059] It is understood by a person skilled in the art that in some examples, an acceptable degree of variation is defined and programmatically applied to the programmatic determinations of what constitutes a detection point at the same depth or location along a common line. In one example, detection points are assumed to be at the same depth within a total depth variation of x inches, where x is a predefined value. In another example, the depth tolerance is configured as a variable that changes depending on the distance between detection points. Thus, for example, an acceptable degree of depth variation of x may increase or decrease with increasing or decreasing distance between detection points. Similarly, programmatic assumptions are imposed about what constitutes an acceptable degree of variation with respect to the "along the same line" aspect.In one example, depth tolerances are preconfigured. In another example, depth tolerances are adjustable in a system settings menu, and so on.

[0060] In another example, the segment prediction / projector component enables the identification of predicted and / or projected utility segments based on the utility line type, such as, but not limited to, fiber optic cables, power lines, water supply lines, etc. The data supporting utility type determination is detected, for example, by a detection system that is part of the GPR sensor 132 or the mobile work machine 136. In another example, manual insertion of the utility type is supported. In yet another example, the detection point extension component 576 is configured to track this information category and insert it as an extension into one or more detection point datasets.If information about the utility type is available, it is optionally included in displays, records, maps and other records obtained from the Utility Scan Control System 140.

[0061] The output generator component 580 is configured, by way of example, to output data, displays, or other information derived from the detection point identification component 574, the detection point extension component 576, or the segment prediction / projector component 578. In some examples, the output generator component 580 is configured to output data as part of a map display, as part of a landxml-formatted file, in a point / vector description, as a complete user interface that can be rendered, or in any other format.

[0062] The output generator component 580 outputs, by way of example, but not necessarily, data from the utility scanning control system 140 to the height control system 556 for integration into its functionality and displays. For example, detection points, predicted utility segments, and / or projected utility segments are integrated into the graphical user interfaces of the height control system 556 to enhance its functionality and assist the operator of the mobile work machine 136 during excavation work, e.g., in the Fig. to continue the section 2 to 4 shown in area 202.

[0063] The output generator component 580 is configured, by way of example, though not necessarily, to allow data output from the utility sampling control system 140 to the controller 518 in order to directly trigger automatic or semi-automatic control of the mobile work machine 136 and / or a component or subsystem thereof. In other examples, the output generator component 580 is configured to allow the output of data from the utility sampling control system 140 to other systems 504, other machines 508, the user interface display control system 566, the UI subsystem 554, and / or other systems required to support displays, outputs, automated functions, etc.

[0064] Fig. 6A and Fig. Figures 6B together form a block process diagram illustrating examples of subsurface scanning operations. One process begins with block 602, which provides a mobile work machine equipped with a ground-penetrating (GPR) sensor (e.g., the GPR sensor 132). It is understood by a person skilled in the art that, at least theoretically, other types of subsurface scanning technology could also be used. As indicated in block 604, the machine in one example is an excavator (e.g., the mobile work machine 136 with the GPR sensor 132). As indicated in block 606, another example is a front loader; as indicated in block 608, it could be a different type of mobile work machine.

[0065] According to block 610, an area of ​​interest is defined (e.g., area of ​​interest 202 in Fig. 2 to 4). In one example, which is by no means restrictive, the area of ​​interest is an area within a work site where excavation is to be carried out, or at least an area where there is an interest in obtaining information about subsurface features. The boundaries of the area of ​​interest are determined either formally or informally. In one example, as stated in Block 612, an operator is prompted to provide inputs defining the boundaries of the area of ​​interest. In another example, as stated in Block 614, the boundaries of the area of ​​interest are extracted from a map downloaded to the mobile work machine. In yet another example, as stated in Block 616, physical markers such as painted lines or cones are used to indicate the boundaries of the area of ​​interest.Physical boundary markers are placed, for example, solely for human observation, but in other examples they are placed for later identification using one or more sensors (e.g., image acquisition system 524) to locate the boundary markers and then programmatically define the boundaries of the area of ​​interest. According to Block 618, the area of ​​interest is determined in a different way.

[0066] According to block 620, a sampling path (e.g., sampling path 204 in) is defined. Fig. 2 to 4) within the area of ​​interest. According to Block 622, for example, the sampling path is automatically defined by one or more components of the mobile working machine (e.g., by the sampling control component 571). In another example, as defined in Block 624, the sampling path is semi-automatically defined using components of the mobile working machine (e.g., a proposed sampling path is presented to the operator 510 for confirmation on a user interface represented by the UI subsystem 554). In yet another example, as specified in Block 626, an operator manually selects a sampling path within the area of ​​interest. Block 628 indicates that other approaches to defining the sampling path are also possible.Regardless of how it is defined, the sampling path does not necessarily have to follow a straight line; in other examples, it follows a curved line, a circular path, a wavy path, etc.

[0067] According to Block 630, the mobile work machine (e.g., the mobile work machine 136) is moved to a scanning start position on the scanning path. According to Block 632, the mobile work machine is moved automatically (e.g., using the navigation control system 564, the machine position sensor 544, and / or the controller 518). In another example, as defined in Block 634, the mobile work machine is positioned semi-automatically using components of the mobile work machine (e.g., a proposed machine relocation is presented to the operator 510 for confirmation via a user interface, represented using the UI subsystem 554, and then executed automatically). According to Block 636, the mobile work machine is moved manually to the scanning start position. Block 638 indicates that other approaches are also possible for moving the mobile work machine to the scanning start position.

[0068] According to Block 640, a scanning operation is performed by moving the ground-penetrating radar sensor along the defined scanning path (e.g., a sensor is moved with the bucket 124 over the intact ground surface 131). The ground-penetrating radar sensor emits electromagnetic waves through the intact ground surface and ultimately receives electromagnetic waves reflected by a subsurface object (e.g., a utility line). As a result of the scanning operation, subsurface detection points are identified. According to Block 642, the detection points are augmented with descriptive metadata (e.g., optionally enhanced). According to Block 644, the metadata includes corresponding depth and location information. According to Block 646, other descriptive metadata is acquired.

[0069] Block 648 determines whether there is a need or desire to perform an additional sampling operation for detection points along an additional sampling path in the area of ​​interest. If so, the process is repeated starting from block 620. The process is repeated until it is determined that no further sampling is required or desired. Once all sampling operations are complete, the process continues with blocks 650 and 652.

[0070] The detection points generated in steps 630, 640, and 642 (including all extensions) can follow two paths. First, according to block 650, the detection points can be sent to the output generator component 580 (e.g., the one in Fig. 5 output generator component 580) can be provided. Next, according to block 652, the detection points of a segment prediction / projector component (e.g., the one shown in Fig. 5 segment prediction / projector component 578) will be provided.

[0071] According to Block 660, the segment prediction / projector component processes the received detection points to programmatically identify one or more patterns that will result in the generation of a derived (rather than the sampled) background feature. In the example shown in Block 660, it is programmatically determined whether three or more detection points have a similar depth and lie on a similar line. As specified in Block 654, a tolerance is provided (e.g., a factory setting, a user-selectable setting, an automatically selected setting, a semi-automatically selected setting, etc.) that specifies how large a difference in depth may be to still be considered similar enough for a positive pattern qualification. As specified in Block 656, a tolerance is provided (e.g.,(a factory setting, a user-selectable setting, an automatically selected setting, a semi-automatically selected setting, etc.) that specifies how much difference in the orientation of detection points is allowed for them to still be considered similar enough for positive pattern qualification. According to Block 658, other system tolerances may also be set, or alternatively set, to support pattern-based derivation of a derived (and not detected by the scanning process) background feature.

[0072] According to Block 662, if three or more detection points have a similar depth and lie along a similar line, a predicted segment is generated, with the predicted segment aligned to the set of three or more detection points. In an example, the segment prediction / projector component 578 in Fig. 5. A programmatic identification process, generating and storing a data record of the predicted segment. In one example, system parameters are adjustable or at least programmable to perform various detection point tests for qualifying predicted segments. In another example, it is only required that two detection points are programmatically located at a common depth, which, however, can lead to incorrect assumptions if, for example, two utility lines run parallel to each other.

[0073] Block 664 determines whether a projected utility segment is desired (or required, etc.). In one example, this determination is based on a user-, system-, or factory-set variable. Block 666 states that if a projected utility segment is desired, one or more predicted segments are created, at least partially, based on the predicted segment. In one example, the segment prediction / projector component (e.g., 578 in Fig. 5) configured to identify, record, and store programmatically projected facility segments. Various algorithms are possible to support the programmatic determination of where projected facility segments are located, and these can be selected automatically or manually in one example. In one example, projected facility segments are calculated programmatically as the natural extension of the predicted segment. In another example, predicted segments are generated for one or both ends of each predicted segment.

[0074] In one example, blocks 660, 662, 664, and 666 are repeated until all predicted segments and projected utility segments reflected in the set of detection points have been considered. At this point, as specified in block 668, the predicted and projected utility segments are passed to the output generator component, e.g., the one in Fig. The output generator component 580 shown in Figure 5 is provided. If the first pass through block 660 results in a determination that there is no prediction point basis for creating the predicted segment in block 662, the process, for example, jumps directly to block 670 without providing any predicted or projected utility segments.

[0075] According to Block 670, the output generator component integrates received detection points, projected utility segments, and predicted segments into a subsurface feature model 671, as specified by Block Model 671. In one example, the subsurface feature model 671 is simply a list of the received points and segments in a machine- and / or human-readable format. In another example, the subsurface feature model 671 is a map file, a landxml-formatted file, or some other more comprehensive description of data that includes detection points, predicted segments, and / or projected utility segments as features. In yet another example, the subsurface feature model is a simple point / vector representation plotted against a repeatable coordinate system.In another example, the background feature model is a set of one or more user interfaces that can be displayed or otherwise presented. It is understood by a person skilled in the art that the exact format of the background feature model 671 depends at least on the context and the application into which the background feature model is to be integrated.

[0076] According to Block 672, the output generator component exports the subsurface feature model 671 to another component, which uses it to control the mobile work machine (e.g., the mobile work machine 136). According to Block 674, access to the subsurface feature model 671 (directly or indirectly) is provided to a display control system (e.g., the display control system 566), which enables the display of information on a display associated with the mobile work machine (e.g., a display that is part of the user interface subsystem 554), such that the display includes some or all components of the subsurface feature model. According to Block 676, access to the subsurface feature model 671 (directly or indirectly) is provided to a remote system (e.g., the other system(s) 504, the other machine(s) 508, etc.) to support the display of information or even its control.According to block 678, access to the subsurface feature model 671 (directly or indirectly) of a controller (e.g., the controller 518 in . Fig. 5) provided, which executes commands for the physical movement of the mobile working machine itself or a subsystem thereof (e.g., machine actuators 552, attachment systems 558, etc.), which are selected at least partially based on information in the subsurface feature model 671. According to Block 680, the subsurface feature model is made available to other components to support other displays, functions, and responses by a machine, a remote system, or otherwise.

[0077] Fig. Figures 7 to 10 are schematic representations of exemplary display screens. Elements that have the same or a similar reference symbol compared to other figures are assumed to have similar features and functions.

[0078] Fig. Figure 7 is an example of the integration of subsurface feature data (e.g., all or part of the subsurface feature model 671) into a display 700. The features and functions shown on the display 700 are only examples. The display 700 is shown on a display panel that is part of the mobile work machine 136. Alternatively, the display 700 can also be shown on a computing device separate from the mobile work machine 136. The display 700 includes an aerial view area 702 that shows an aerial view (e.g., a satellite view) of part of a work site.The aerial view area 702 also includes a representation of the mobile work machine 136, the area of ​​interest 202, the scanning path 204, the scanning path 308, the scanning path 314, the predicted supply facility segment 402, the projected supply facility segment 406, the projected supply facility segment 408, and the detection points 206, 302, and 312, all of which are related to . Fig. 2 to 4 were described.

[0079] Fig. Figure 8 is an example of subsurface feature data (e.g., all or part of the subsurface feature model 671) on a display 800, in this case a mobile application display. The features and functions displayed on the display 800 are only examples. The display 800 is shown on a mobile device that is connected, for example, but not necessarily, to the mobile work machine 136. Similar to the display 700, the display 800 includes an aerial view area 802 that shows an aerial view (e.g., a satellite view) of part of a work site. Even if in Fig. Not specifically marked for the sake of clarity, aerial view area 802 again contains a representation of a mobile work machine, an area of ​​interest, predicted segments, a projected supply facility segment and detection points.

[0080] Fig. Figure 9 is an example of integrating subsurface feature data (e.g., all or part of the subsurface feature model 671) into a display 900, which is, but not exclusively, a display for a mobile application. The display 900 includes a 3D scanning information area 902. The 3D scanning information area 902 is an example of how subsurface feature data is incorporated into a 3D interface, including, but not limited to, an interface that is part of a height control system (e.g., the height control system 556 in Figure 9). Fig. 5).

[0081] The features and functions shown on display 900 are only examples. Display 900 is shown on a mobile device that is connected, for example, but not necessarily, to the work machine 136. In other examples, similar views are integrated into a non-mobile interface, such as a PC interface or an interface that is an integral part of the mobile work machine. The 3D scanning information area 902 represents the mobile work machine 136, the bucket 124, the scanning path 204, the scanning path 308, the scanning path 314, and the detection points 206, 302, and 312, all of which are related to Fig. Sections 2 to 4 are described. In other examples (not shown), the interface also includes representations of predicted and projected care facility segments.

[0082] Fig. Figure 10 is an example of integrating subsurface feature data (e.g., all or part of the subsurface feature model 671) into a display 1000, which is, but not exclusively, a display for a mobile application. The display 1000 contains a multi-view information area 1002. The multi-view information area 1002 is an example of how subsurface feature data is provided in multiple views on a single interface, such as, but not limited to, an interface that is part of a height control system (e.g., the height control system 556 in Figure 10). Fig. 5).

[0083] The features and functions shown on display 1000 are only examples. Display 1000 is shown on a mobile device that is connected, for example, but not necessarily, to the mobile working machine 136. In other examples, similar views are integrated into a non-mobile interface, such as a PC interface or an interface that is an integral part of the mobile working machine. The multi-view information area 1002 includes a representation of the mobile working machine 136, the bucket 124, the area of ​​interest 202, the scanning path 204, the scanning path 308, the scanning path 314, and the detection points 206, 302, and 312, all related to Fig. 2 to 4 were described. In other examples (not shown), the interface also includes representations of predicted and projected care facility segments.

[0084] In the present discussion, processors were mentioned, which in one example comprise processors and servers. The processors and servers include, for example, computer processors with associated memory and a related timing circuit arrangement, which are not shown separately. They are functional parts of the systems or devices to which they belong and are activated or enabled by the other components or elements in those systems.

[0085] It should also be noted that the preceding discussion has described systems, components, and / or logic. It is understood that such systems, components, and / or logic may include hardware elements (e.g., processors and associated memory or other processing components, some of which are described below) that perform functions associated with these systems, components, and / or logic. Furthermore, in some examples, the systems, components, and / or logic consist of software that is loaded into memory and subsequently executed by a processor server or other computing component, as described below. In some examples, the systems, components, and / or logic consist of various combinations of hardware, software, firmware, etc., some examples of which are described below.These are just a few examples of different structures that can be used to create the systems, components, and / or logic described above. Other structures can also be used.

[0086] Furthermore, a number of user interface (UI) displays were discussed. UI displays can take various forms and be equipped with different user-operated input mechanisms. In some examples, these user-operated input mechanisms include text fields, checkboxes, icons, links, drop-down menus, search fields, and so on. In other examples, the mechanisms are operated in a variety of ways. In some examples, the mechanisms are operated with a point-and-click device (e.g., a trackball or mouse). In other examples, the mechanisms are operated with hardware buttons, switches, a joystick or keyboard, thumb switches, or thumb pads, etc. In some examples, the mechanisms are operated via a virtual keyboard or other virtual actuators.If the screen on which they are displayed is a touchscreen, the mechanisms are also activated by touch gestures. If the device displaying them has speech recognition components, the mechanisms are also activated by voice commands.

[0087] Several data stores were also discussed. In some examples, the data stores are each subdivided into multiple data stores. All can be local to the systems accessing them, all can be remote, or some can be local while others are remote. All these configurations are considered here.

[0088] Furthermore, the figures depict a number of blocks, each assigned a specific function. It's important to note that fewer blocks can be used, meaning fewer components fulfill the function. Conversely, more blocks can be used, distributing the functionality across more components.

[0089] Fig. 11 is a block diagram of the working machine 136, which is located in Fig. Figure 5 shows that this architecture communicates with elements in a remote server architecture 1100. For example, the remote server architecture 1100 can provide compute, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system providing the services. In various examples, remote servers can provide services over a wide area network, such as the internet, using appropriate protocols. For example, remote servers can provide applications over a wide area network that can be accessed through a web browser or any other computing component. In some examples, software or components are located in Fig. Figure 5 illustrates this, and the corresponding data is stored on servers at a remote location. In some examples, the computing resources in a remote server environment are consolidated in a remote data center, but they can also be distributed. In other examples, remote server infrastructures provide their services through shared data centers, even though they appear to the user as a single access point. Thus, the components and functions described here can be provided by a remote server at a remote location using a remote server architecture. Alternatively, they can be provided by a traditional server, or they can be installed directly or otherwise on client devices.

[0090] In the Fig. Some elements of the example shown resemble those in 11. Fig. 5, and they are similarly numbered. Fig. Figure 11 shows in particular that the utility sampling control system 140 and one or more functionally connected data storage devices 1104 are located at a remote server location, represented in the figure as Cloud 1102. Therefore, the mobile work machine 136 accesses these systems via Cloud 1102 (i.e., the remote server location).

[0091] Fig. Figure 11 also shows another example of a remote server architecture. Fig. 11 shows that some elements from Fig. 5. Some data stores may be located in Cloud 1102, while others may not. For example, one or more data stores 1104 may be located in a location separate from Cloud 1102 and accessible via the remote server at a remote location. Regardless of their location, the mobile work machine 136 may access them directly via a network (either a wide area network or a local area network), they may be hosted at a remote location by a service, they may be provided as a service, or a connectivity service located at a remote location may access them.

[0092] In one example, the data (which, as described, is essentially stored at an arbitrary location) is intermittently retrieved by or forwarded to interested parties. This includes other machines 508 and other systems 504, as they relate to Fig. 5 described. These data transfers, which in one example include a transfer of part or all of the subsurface feature model 671, which is related to Fig. As described in 6B, communication can take place via physical carriers instead of, or in addition to, carriers in the form of electromagnetic waves. In one example, a second mobile work machine (e.g., an additional excavator) is located on the same construction site as mobile work machine 136, and an automatic information collection system is established between the two. As the second mobile work machine approaches mobile work machine 136, the second mobile work machine automatically collects information from mobile work machine 136 (or transmits information to mobile work machine 136) via any communication link, e.g., a wireless ad-hoc link. In some examples, such information transfers occur with other systems 504, e.g., with a mobile handheld device, a scanning tool, an excavating tool, etc.

[0093] It is also pointed out that the elements of Fig. 5 or parts thereof may be arranged on different devices. Some of these devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices such as palmtop computers, mobile phones, smartphones, multimedia players, personal digital assistants, etc.

[0094] Fig. Figure 12 is a general block diagram of an illustrative example of a handheld or mobile computing device that can be used as a handheld device 1200 by a user or client and in which the present system (or parts thereof) can be deployed. For example, a mobile device can be deployed in the operator's cab of a mobile work machine to generate, process, or display part or all of the subsurface feature model 671. Fig. 13 and Fig. 14 are examples of portable or mobile devices.

[0095] Fig. Figure 12 shows examples of components of a portable device 1200, some of which are described in Fig. The 5 components shown can be executed, interact with them, or both. In the portable device 1200, the communication link 1214 enables the portable device to communicate with other computing devices and, in some embodiments, provides a channel for the automatic reception of information, e.g., by sampling. Examples of the communication link 1214 include enabling communication via one or more communication protocols, such as wireless services used to provide cellular access to a network, and protocols providing local wireless connections to networks.

[0096] In other examples, applications can be received on a removable Secure Digital (SD) card connected to an interface 1202. The interface 1202 and communication links 1214 communicate with a processor 1206 (which can also represent processors or servers from previous figures) along a bus 1212, which is also connected to memory 1216 and input / output (I / O) components 1210, as well as a clock 1208 and a location system 1204.

[0097] The I / O components 1210 are provided in an example to enable input and output operations. The I / O components 1210 for various embodiments of the device 1200 can include input components such as buttons, touch sensors, optical sensors, microphones, touchscreens, proximity sensors, accelerometers, and orientation sensors, and output components such as a display, a speaker, and / or a printer port. Other I / O components 1210 can also be used.

[0098] The clock 1208 includes, for example, a real-time clock component that outputs a time and date. This can also, for example, provide timing functions for the processor 1206.

[0099] The tracking system 1204, for example, includes a component that outputs a current geographic location of the portable device 1200. This could be, for example, a GPS (Global Positioning System) receiver, a LORAN system, a dead reckoning navigation system, a cellular triangulation system, or another positioning system. It could also include, for example, mapping software or navigation software that generates desired maps, navigation routes, or other geographic functions.

[0100] Memory 1216 stores an operating system 1218, network settings 1220, applications 1222, application configuration settings 1224, a client system 1226, a data store 1228, communication drivers 1230, and communication configuration settings 1232. Memory 1216 can include all physical volatile and non-volatile computer-readable storage devices. It can also include computer storage media (described below). Memory 1216 stores computer-readable instructions which, when executed by the processor 1206, cause the processor to perform computer-implemented steps or functions according to the instructions. Other components can also activate the processor 1206 to enable their function.

[0101] Fig. Figure 13 shows an example where the portable device 1200 is a tablet computer 1300. Fig. Figure 13 shows the Tablet Computer 1300 with a User Interface Display Screen 1302. The User Interface Display 1302 can be a touchscreen or a pen-operated surface that receives input from a pen or stylus. It can also use a virtual on-screen keyboard. Of course, it could also be connected to a keyboard or other user input device via a suitable connection mechanism, such as a wireless connection or a USB port. The Tablet Computer 1300 can also receive voice input, for example.

[0102] Fig. Figure 14 shows that the device can be a smartphone 1400. The smartphone 1400 has a touch-sensitive display 1404 that shows icons, tiles, or other user input mechanisms 1406. Users can use the mechanisms 1406 to run applications, make phone calls, transfer data, etc. In general, the smartphone 1400 is based on a mobile operating system and offers more advanced data processing capabilities and connectivity than a mobile phone.

[0103] Note that other forms of portable devices are also possible.

[0104] Fig. 15 is an example of a computing environment in which elements of Fig. 5 or parts thereof (for example) can be used. With reference to Fig. Figure 15 includes an exemplary system for implementing some embodiments of a data processing device in the form of a computer 1500. Components of the computer 1500 are shown with respect to a conceptual boundary 1502 and may, without limitation, include a processing unit 1520 (which may include processors or servers from preceding figures), a system memory 1504, and a system bus 1532 that couples various system components, including the system memory, to the processing unit 1520. The system bus 1532 may be any of several bus structures, including a memory bus or memory controller, a peripheral bus, and a local bus with various bus architectures. The memory and programs, which are accessed with reference to Fig. 5 described, can be found in corresponding parts of Fig. 15 will be used.

[0105] The Computer 1500 typically incorporates a variety of computer-readable media. Computer-readable media can be any available media accessed by the Computer 1500, including volatile and non-volatile media, as well as removable and non-removable media. By way of example, and without limitation, computer-readable media can include computer storage media and communication media. Computer storage media are distinct from and do not include a modulated data signal or carrier wave. They include hardware storage media, volatile and non-volatile, removable and non-removable media, used in any method or technology to store information, such as computer-readable instructions, data structures, program modules, or other data.Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other storage technology, CD-ROM, DVD (Digital Versatile Discs) or other optical disc storage, magnetic cartridges, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and that the Computer 1500 can access. Communication media can embody computer-readable instructions, data structures, program modules, or other data in a transport mechanism and include any information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics set or modified in such a way that information is encoded in the signal.

[0106] System memory 1504 comprises computer storage media in the form of volatile and / or non-volatile memory, such as ROM (read-only memory) 1506 and RAM (random access memory) 1510. A BIOS (Basic Input / Output System) 1508, containing the basic routines that assist in transferring information between components within the computer 1500, such as during startup, is typically stored in ROM 1506. RAM 1510 usually contains data and / or program modules that are directly accessible and / or are currently being processed by the processing unit 1520. This is an example and not an exhaustive description. Fig. 15 an operating system 1512, application programs 1514, other program modules 1516 and program data 1518.

[0107] The Computer 1500 may also include additional removable / non-removable volatile / non-volatile computer storage media. This is for illustrative purposes only. Fig. 15 a hard disk drive 1548, which reads from or writes to non-removable non-volatile magnetic media, an optical disk drive 1544 and a non-volatile optical disk 1546. The hard disk drive 1548 is usually connected to the system bus 1532 via a non-removable memory interface, such as interface 1534, and the optical disk drive 1544 is typically connected to the system bus 1532 via a removable memory interface, such as removable non-volatile memory interface 1536.

[0108] Alternatively or additionally, the functionality described here can be implemented, at least partially, by one or more hardware logic components. Examples of suitable hardware logic components include, but are not limited to, field-programmable gate arrays (FPGAs), application-specific integrated circuits (e.g., ASICs), application-specific standard products (e.g., ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), etc.

[0109] The drives and their aforementioned and in Fig. The 15 illustrated associated computer storage media provide storage for computer-readable instructions, data structures, program modules, and other data for the Computer 1500. Fig. For example, 15 illustrates the hard disk drive 1548 as the operating system 1550, the application programs 1552, other program modules 1554, and the program data 1556. It should be noted that these components may be the same as, or different from, the operating system 1512, the application programs 1514, the other program modules 1516, and the program data 1518.

[0110] A user can input commands and information into the computer 1500 via input devices such as a keyboard 1560, a microphone 1564, and a pointing device 1562, such as a mouse, trackball, or touchpad. Other input devices (not shown) may include a joystick, gamepad, satellite dish, scanner, etc. These and other input devices are often connected to the processing unit 1520 via a user input interface 1538 coupled to the system bus. However, they may also be connected via other interface and bus structures. A visual display 1526 or other type of display device is also connected to the system bus 1532 via an interface such as a video interface 1522. In addition to the monitor, computers may also include other peripheral output devices, such as speakers 1530 and a printer 1528, which may be connected via an output interface 1524.

[0111] The computer 1500 is operated in a networked environment that uses logical connections (e.g., a local area network, LAN, or a wide area network, WAN, or a controller area network, CAN) to one or more remote computers, such as a remote computer 1568.

[0112] When used in a LAN networking environment, the computer 1500 is connected to the LAN 1542 via a network interface or adapter 1540. When used in a WAN networking environment, the computer 1500 typically includes a modem 1558 or other means of establishing communications over the WAN 1566, such as the Internet. Program modules can be stored on a remote storage device in a networked environment. Fig. Equation 15 illustrates, for example, that the remote application programs 1570 can be located on the remotely located computer 1568.

[0113] It should also be noted that the examples described here can be combined in various ways. Parts of one example or several examples can be combined with parts of another example or several other examples. All of this is taken into consideration here.

[0114] Even though the subject matter has been described in a language specific to structural features and / or methodological actions, it is understood that the subject matter defined in the accompanying claims is not necessarily limited to the specific features or actions described above. Instead, the specific features and processes described above are disclosed as examples of how the claims can be implemented.

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