MOBILE WORK MACHINE CONTROL USING A SUBTERRANEAN FEATURE MODEL

Description

FIELD OF THE DESCRIPTION

The present description relates to mobile work machines. More specifically, the present description relates to a mobile work machine having a sensor that provides data from which a subterranean feature model is generated and utilized to control the work machine.

BACKGROUND

Mobile work machines are widely used in various industries, including construction, agriculture, and utilities management. These machines are sometimes equipped with various tools and sensors to assist in excavation, grading, and drilling tasks. Some existing systems have incorporated surface-level sensors that ultimately guide the operation of mobile work machines. For example, GPS technology is commonly used to provide location-based data to human operators or to enable autonomous or semi-autonomous control of the mobile work machine. However, these systems are generally limited to above-ground applications and do not provide insight into subterranean conditions.

The discussion above merely provides general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter.

SUMMARY

A plurality of detection points is identified from a collection of subterranean scan data collected using a sensor on a mobile work machine. A predicted utility segment is generated based on a pattern reflected in the plurality of detection points. The predicted utility segment is incorporated into a subterranean feature model. A component of the mobile work machine is controlled, using the subterranean feature model, to perform an operation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagrammatic view of an example subterranean detection system.

FIG. 2 is a schematic representation of the mobile work machine in an example worksite environment.

FIG. 3 is another schematic representation of the mobile work machine in the example worksite environment.

FIG. 4 is another schematic representation of the mobile work machine in the example worksite environment.

FIG. 5 is a schematic block diagram of an example environment that includes the mobile work machine.

FIGS. 6A and 6B are block process diagrams that present examples of subterranean scanning operations.

FIGS. 7-10 are schematic representations of example display screens.

FIG. 11 is a block diagram showing one example of elements of the example environment illustrated in FIG. 5, deployed in a remote server architecture.

FIGS. 12-14 show examples of mobile devices used in the environments shown in the previous figures.

FIG. 15 is a block diagram showing one example of a computing environment used in the environments shown in the previous figures.

DETAILED DESCRIPTION

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 delay and to enhance safety considerations. Accounting for underground features commonly involves the utilization of separate scanning equipment or requires manual surveys, which can be time-consuming and expensive. Therefore, the present description describes a system wherein a sensor on a mobile work machine is utilized to collect subterranean scan data. Detection points are derived from the subterranean scan data. The detection points are processed to identify a predicted segment, illustratively a predicted utility segment. The predicted segment is incorporated into a subterranean feature model that is used to control an operation of the mobile work machine.

FIG. 1 is a diagrammatic view of an example subterranean detection system 100 that includes a mobile work machine 136 with an associated utility scanning control system (USCS) 140. The specific mobile work machine 136 shown in FIG. 1 is an excavator, sometimes called a digger, scooper, mechanical shovel, or track hoe. However, concepts described herein could just as easily be applied to other types of machines, including fully or partially autonomous machines.

Mobile work machine 136 includes a house 102 with an operator cab 104 rotatably disposed above a tracked portion 106. House 102 is rotatable 360 degrees about tracked portion 106 via a rotatable coupling 108, generally located between house 102 and tracked portion 106. A boom 110 extends from house 102 and can be raised or lowered in the direction indicated by an arrow 112 based upon the actuation of hydraulic cylinder(s) 114. A stick or arm 116 (sometimes called a dipper) is pivotably connected to boom 110 via a linkage pin 118 and is movable in the direction of arrows 120 based upon actuation of hydraulic cylinder 122. A tool or bucket 124 is pivotably coupled to arm 116 at a linkage pin 126 and is rotatable about linkage pin 126 based on the actuation of a hydraulic cylinder 130.

Operator cab 104 accommodates a human operator of mobile work machine 136 and a plurality of control members (such as switches, joysticks, steering wheel, pedals, etc.) operated by the human operator to control various operations (such as digging, rotating, lifting, moving, etc.) of mobile work machine 136. In one common control mode, a first joystick controls rotation of house 102 about rotatable coupling 108 (left & right) and extension or retraction of arm 116 (e.g., away and close, represented by arrow 120), and a second joystick controls lift of boom 110 (e.g., up & down, represented by arrow 112) and curl of the bucket 124 (e.g., close & dump). The operator operates one or more of the control members sequentially and/or simultaneously to perform an action (such as excavation). In another example, mobile work machine 136 is also or alternatively configured for one or more non-human control modes, wherein certain or all machine functions are controlled in a fully or partially autonomous manner.

When mobile work machine 136 is utilized to perform an excavation activity, subterranean objects (such as gas lines, pipes, electrical cables, fiber optic cables, etc.) may be encountered. Subterranean objects can pose a challenge to smooth and effective excavation. However, it is possible that an operator (human, autonomous, or otherwise) of mobile work machine 136 may not be informed of the presence of subterranean objects. Sometimes, subterranean information or data provided to the operator is incomplete, out-of-date, or otherwise inaccurate. If the operator of mobile work machine 136 is unaware of subterranean objects in an excavation site, it can lead to inadvertent damage to or destruction of the subterranean objects, cause project delays, result in costly repairs and liabilities, etc. Other machines and people inside and outside of a worksite may also benefit from access to detailed information detailing the existence and location of subterranean objects.

Mobile work machine 136 is equipped with a ground penetrating radar (GPR) sensor 132 and an associated utility scanning control system (USCS) 140 that enable detection of subterranean objects at an excavation site. The GPR sensor 132 is illustratively integrated into bucket 124 to allow the operator (human, autonomous, or otherwise) to move bucket 124 (and therefore the GPR sensor 132) across an area where scanning is desired. The GPR sensor 132 illustratively emits electromagnetic waves 134 through undisturbed ground surface 131 and then receives back electromagnetic waves reflected off of a subterranean object, which is illustratively a utility line 142 in FIG. 1. Based on factors such as, but not limited to, the strength of the reflected waves and a time gap since wave emission, a location and depth can be determined for the subterranean object (e.g., utility line 142).

FIGS. 2-4 are schematic representations of mobile work machine 136 in an example worksite environment 200. Items that have been assigned the same or similar numbers when compared to other Figures are assumed to have the same or similar features and functions.

Referring to FIG. 2, the mobile work machine 136 operates around and within an area of interest 202, which may be explicitly or implicitly defined. Area of interest 202 is illustratively, though not necessarily, an area where mobile work machine 136 is to perform excavation operations. Mobile work machine 136 and associated utility scanning control system 140 illustratively produce information about subterranean features in the area of interest 202 before excavation is conducted.

Mobile work machine 136 is shown in FIG. 2 positioned on one end (“the near side”) of a scan path 204. Further, mobile work machine 136 is shown as having its bucket 124 (and therefore its associated GPR sensor 132) in a retracted position, such that it is located on the same side of scan path 204 as the rest of mobile work machine 136. This is illustratively the position that bucket 124 will be in immediately before and after a scan conducted along scan path 204.

To begin a scan along scan path 204, bucket 124 is illustratively extended out on boom 110 and arm 116 to the far side of scan path 204. During the scan, bucket 124 (and therefore its associated GPR sensor 132) is moved along scan path 204 from the far side to the near side. With this in mind, the far side of the area of interest 202 is identified in FIG. 2 as having a distance measurement of zero feet, while the near side is identified with a distance measurement of 15 feet. Of course, the measurements shown in FIG. 2 are provided for illustration only. Those skilled in the art will appreciate actual scan distances will vary and certainly can be more or less than 15 feet.

As is reflected schematically in FIG. 2, scanning along scan path 204 has illustratively resulted in the detection of a first detection point 206 and a second detection point 208. As is indicated in the example user interface 210, detection point 206 was illustratively encountered at a measurement of 2.8 feet from the far side of the area of interest 202, and detection point 208 was illustratively encountered at a measurement of 8.8 feet from the far side. As is also reflected in the example user interface 210, the GPR sensor 132, together with utility scanning control system 140, are further configured to detect and label a depth at which detection points 206 and 208 are encountered. For example, detection point 206 is identified as having a depth of 3.5 feet, while detection point 208 is identified as having a depth of 5 feet.

Once the scan of scan path 204 is complete, an operator of mobile work machine 136, in one example, starts excavating along scan path 204 using caution to avoid the subterranean objects associated with detection points 206 and 208. However, it will sometimes be desirable to move mobile work machine 136 away from scan path 204 before any excavation, which can result in a loss of the reference points from which measurements were made. Further, it would be desirable to communicate information about detection points 206 and 208 to other machines, devices, or people not necessarily privy to the reference points from which measurements were made. Utility scanning control system 140 is, therefore, in one example, configured to identify and store locative detection point data using an identification system that makes subsequent re-location more convenient. For example, and certainly not by limitation, coordinates for detection point location are illustratively stored in accordance with the global positioning system (GPS), with locating technology deployed onsite or otherwise. In one example, information about subterranean objects (i.e., detection points) is later used by the same or even a different mobile work machine 136 operator, or is shared inside or outside the work site that includes the area of interest 202, etc.

In another example, not all detection points for which utility scanning control system 140 stores a record are necessarily uncovered as part of a single scanning process. In FIG. 3, a set of additional detection points 302, 304, and 306 have illustratively been identified as the result of a separate scan along scan path 308. Further, detection points 310 and 312 illustratively have been identified as the result of a separate scan along scan path 314. The example user interface 210 has illustratively been updated to include the additional detection points 302-306, 310, and 312. Mobile work machine is shown in FIG. 3 as now being positioned on a fourth scan path 316. In this case, the actual scan has illustratively not yet been carried, which is further exemplified by the fact that bucket 124 is shown as being extended out on boom 110 and arm 116 to the far side of the area of interest 202.

The attributes of detection points for which utility scanning control system 140 is configured to facilitate recordation are not limited to the attributes shown in example user interface 210. As was described previously, identifying a detection point relative to its position along a scan path is only one example of a positioning system utilized to record detection point location. As has been described, positions of detection points in other examples are identified and presented utilizing a broader, even global, coordinate positioning system, such as but not limited to GPS. In another example, positions of detection points are identified and presented utilizing a site-specific positioning or coordinate system, such as in conjunction with a worksite measuring or location system. In another example, they are integrated into another subsystem of mobile work machine 136 with locative functionality, such as a grade control system.

Finally, those skilled in the art will appreciate that not all scans need necessarily be evenly spaced apart, nor must they be along a straight line. Scan paths in another example are organized end-to-end instead of side-to-side. In still other examples, a pattern of scan paths is random or predictable.

Utility scanning control system 140 is illustratively configured to facilitate further processing of detection points 206, 208, 302-306, 310, and 312 to identify one or more derived data elements as a result of a detected pattern. A predicted utility segment is one example of such a derived data element, not by limitation. In one example, the utility scanning control system 140 creates a detailed record of a predicted utility segment when it programmatically concludes that at least three detection points are located at a common depth along a common line. Those skilled in the art will appreciate that, in other examples, acceptable levels of variation are defined and applied by utility scanning control system 140 during the identification process. Further, in other examples, other or different criteria are applied programmatically to search for and store a record of other derived data elements.

FIG. 4 shows an example in which the utility scanning control system 140 has facilitated the creation of a record of predicted utility segment 402 (conceptually shown as a solid line) that starts at detection point 206, goes through detection point 302, and ends at detection point 312. Further, a record has also been created for a predicted utility segment 404 (conceptually shown as a solid line) that starts at detection point 208, goes through detection point 304, and ends at detection point 310.

The utility scanning control system is illustratively further configured to facilitate identification and recordation of derived data points based on criteria not limited to a detection point pattern. A projected utility segment is one example of this. Referring to FIG. 4, a record has also been created for a projected utility segment 406 (conceptually shown as a dotted line) that extends from detection point 206 as a naturally calculated extension of predicted utility segment 402. Similarly, a record has also been created for a projected utility segment 408 that extends from detection point 312 as another naturally calculated extension of predicted utility segment 402. Similarly, a record has also been created for projected utility segments 410 and 412, which are illustratively natural calculated extensions of predicted utility segment 404. Accordingly, utility scanning control system 140 facilitates a mapping not just of detection points 206, 208, 302-306, 310, and 312 but also of predicted and projected utility segments 402-404 and 406-412 in the area of interest 202, the predicted and projected line segments being programmatically derived (though in theory they could also or alternatively be manually inserted via user input, etc.) based foundationally on the records of the detection points 206, 208, 302-306, 310 and 312. The size, shape, and configuration of predicted and projected utility segments will potentially change based on mathematical or other programmatic modeling as detection points are added or subtracted from a collection of detection points.

The utilization of information about detection points, predicted utility segments, and/or projected utility segments produced directly or indirectly by utility scanning control system 140 will be described in more detail in relation to other Figures. However, the information is utilized in one example to guide an operator of mobile work machine 136 during an excavation operation in the area of interest 202. In another example, the information is utilized as a basis for direct control of mobile work machine 136 or an associated user interface (e.g., a display, etc.). In another example, the information is passed to mobile work machines, user interfaces, or other systems external to mobile work machine 136.

FIG. 5 is a schematic block diagram of an example environment 500. Items assigned the same or similar numbers when compared to other Figures are assumed to have the same or similar features and functions. Environment 500 includes mobile work machine 136, remote user(s) 502, other system(s) 504, network 506, other machine(s) 508, operator 510, and can include other external systems or components as well, as indicated by block 512.

Remote user(s) 502 may or may not be located in a common worksite with mobile work machine 136. Remote user(s) 502 illustratively interacts with mobile work machine 136 through other system(s) 504. Other system(s) 504 can include various systems such as servers, computers, mobile electronic devices, subterranean scanning systems/devices, or some other system or device. In one example, other system(s) 504 include a system for accessing scan operations-related data such as scan results, scan plans, excavation plans, subterranean maps, and the like provided through network 506 by mobile work machine 136 or otherwise.

Other machine(s) 508 may or may not be located in a common worksite area with mobile work machine 136. In one example, other machine(s) 508 includes another piece of excavating equipment. Other machine(s) 508 interact with mobile work machine 136. In one example, other machine(s) 508 are equipped with a system for accessing scan operations-related data such as scan results, scan plans, excavation plans, subterranean maps and the like provided through network 506 by mobile work machine 136 or otherwise.

Other system(s) 504 and other machine(s) 508 are communicatively connected, directly or indirectly, to mobile work machine 136 by way of (though not limited to) the network 506. Network 506 is illustratively any of a variety of types of communications networks, such as but not limited to Bluetooth, Wi-Fi, cellular data, LAN, WAN, etc. Network 506 could be substituted in some applications with a more direct, non-network-based connection, such as a cord-based connection.

Operator 510 illustratively controls or otherwise interacts with mobile work machine 136. In one example, operator 510 is a human operator that effectuates control of mobile work machine 136 by providing at least some inputs through a set of operator input mechanisms 532 that are part of the mobile work machine 136 (described in more detail below). Operator 510 illustratively receives feedback and information through, in one example, a user interface subsystem 554 (described in more detail below) that is part of the mobile work machine 136. In another example, the operator also provides inputs for control of mobile work machine 136 (and/or receives feedback and information therefrom) through computing devices or systems separate from but connected to the mobile work machine 136 itself. Such devices or systems include server-based computer applications, computers, mobile electronic devices, etc.

In another example, operator 510, rather than a human operator, is a partially or fully programmatic operator configured to interact with and assert control over mobile work machine 136 and/or a subsystem thereof. This will be the case for example, when mobile work machine 136 is wholly or partially autonomous. In one example of this scenario, all or at least some portions of operator 510 are implemented programmatically as a component of mobile work machine 136 and/or a remote computing system communicatively linked directly and/or remotely to mobile work machine 136 to effectuate a path at least in part for control and data/information feedback purposes.

Mobile work machine 136 itself includes a processor 516, a controller 518, a data store 520, a communication system 522, an image capture system 524, sensors 526, controllable subsystems 528, specialized control subsystems 530, a utility scanning control system 140, operator input mechanisms 532, and other items as well, as indicated by block 534. Illustratively, these components and systems are integrated components of mobile work machine 136. However, some (or even portions of some) of these components may be located and operate from a separate system that is remote or otherwise outside the natural boundary of mobile work machine 136 itself (e.g., configured to operate remotely from a server, from a separate computing device, from a cloud environment, from a different machine, etc.).

Processor 516 includes one or more computer processors with associated memory and timing circuitry, not separately shown. Processor 516 is a functional part of mobile work machine 136 and is activated by and facilitates the functionality of other components and related systems and subsystems of mobile work machine 136. Processor 516 implements logic and overall functionality as necessary to support mobile work machine 136 operations.

Controller 518 illustratively includes one or more microprocessors, or even all or some of one or more suitable general computing environments, as described below in greater detail in relation to other Figures. Controller 518 is coupled to operator input mechanisms 532 to receive and facilitate a response to machine control inputs from operator 510. Examples of inputs received through operator input mechanisms 532 include joystick movements, pedal movements, switch movements, knob movements, touchscreen inputs, steering wheel movements, etc. When operator 510 is a partially or completely autonomous system, controller 518 is further configured to or alternatively receive programmatically generated inputs from operator 510 to be acted upon. Controller 518 is further configured to receive control signals from any component part of or functionally aligned with mobile work machine 136. Controller 518 is configured to respond to these received control signals by facilitating the performance of a programmatic step or steps related to an operation of mobile work machine 136 or a related component. Other sources of signals to controller 518 include, but are not limited to, controllable subsystems, specialized control subsystems, and utility scanning control system `140.

Data store 520 stores various information and data that support operations and functionality of the mobile work machine 136 and/or related systems or subsystems. Data store 520 includes machine kinematics data/dimension data 536, maps & map-related data 538, and grade control files 540, and is likely to include other items, as indicated by block 542. In some examples, data store 520 is, fully or partially, disposed at a location remote from mobile work machine 136 and accessed remotely.

Machine kinematic/dimension data 536 illustratively includes data related to displacement, motion, and orientation of various components of mobile work machine 136 and data related to dimensions and pivot points of various controllable subsystems and/or other components of mobile work machine 136. In one example, this data supports subterranean scanning operations utilizing the GPR sensor 132. Maps & map-related data 538 illustratively includes worksite maps, navigation maps, position coordinates data, etc., for example, related to excavation or subterranean scanning operations, etc. Grade control files 540 are illustratively support files utilized by a grade control system 556, which will be discussed in greater detail below. In one example, map and map-related data 538 and/or grade control files 540 include one or more records or at least some data received from the utility scanning control system 140, which will be described in greater detail below.

The communication system 522 enables components of mobile work machine 136 to communicate with one another and over network 506, etc. Examples of communication system 522 are a controller area network (CAN) or other bus communication system and/or any other systems used to facilitate communications between the mobile work machine components and/or over network 506. The communication system 522 acts as the central communication network that links various components of mobile work machine 136, enabling efficient data exchange, coordinated system operation, and efficient fault detection. Communication system 522 ensures that different components and systems work together seamlessly, enhancing overall machine performance and reliability.

Image capture system 524 includes one or more image capturing devices, e.g., cameras, to capture images of a site where mobile work machine 136 operates. The image-capturing devices allow operator 510 to view and/or extract or derive data from the surroundings of the mobile work machine 136. In some examples, image capture system 524 is configured for control by operator 510 or remote user(s) 502 to view a specific location, at a specific angle and/or at a specific zoom level, etc. In one example, image capture system 524 enables operator 510 to capture information about the boundaries of an area of interest, such as an area where a subterranean scanning or excavation operation is to be carried out (e.g., area of interest 202 in FIGS. 2-4).

Sensors 526 illustratively include machine position sensor 544, the GPR sensor 132, and bucket position sensor 548. Block 550 can also include other sensors. The specifically noted sensors should be considered examples only.

Machine position sensor 544 collects position data, including location data and/or orientation data of the entirety or components of the mobile work machine. Machine position sensor 544 illustratively includes a GNSS receiver, a GPS device, a dead reckoning sensor, a position transmitter in a local or global coordinate system, etc. Machine position sensor 544, in one example, is configured to support cellular connectivity capabilities and, therefore, a connection to a cellular network base station, thus enabling triangulation of the location of mobile work machine 136 and or components thereof. Incorporating other types of machine position sensors is possible depending on the requirements of a given implementation.

Bucket position sensor 548 illustratively includes an angle encoder, a rotatory sensor, an actuator position sensor, or any other type of sensor that encodes positions of bucket 124, for example, with respect to linkage pin 126, etc. In one example, sensors are included for determining the location of bucket 124 relative to one or more reference points, such as a starting or ending point for a scanning operation, for example, along one of scan paths 204, 308, 314 in FIGS. 2-4. In other examples, bucket position sensor 548 is configured to facilitate the collection of more detailed bucket location 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 one example, bucket position sensor 548 is configured to support cellular connectivity capabilities and, therefore, a connection to a cellular network base station, thus enabling triangulation of the location of bucket 124. Incorporating other types of bucket position sensors is possible depending on the requirements of a given implementation.

The GPR sensor 132 is illustratively interfaced with bucket 124 (or maybe completely integrated within an external surface of bucket 124) such that when bucket 124 is in a scanning orientation, the GPR sensor 132 is in at least a substantially parallel plane with respect to undisturbed ground surface 131. The GPR sensor 132 illustratively emits electromagnetic waves 134 through undisturbed ground surface 131 and receives back electromagnetic waves reflected off of a subterranean object. Based on factors such as, but not limited to, the strength of the reflected waves and a time gap since wave emission, a relatively precise location and depth can be determined for a subterranean object such as a utility line. Incorporating a different type of subterranean scanning sensor is possible depending on the requirements of a given implementation.

Other sensors 550 illustratively include a temperature sensor, a humidity sensor, a rain sensor, a radiation sensor, and/or any other sensor capable of sensing a parameter or condition. The GPR sensor 132 is illustratively calibrated based on sensor readings from one or more of the other sensors 550. In one example, GPR sensor 132 readings are automatically adjusted based at least in part on readings from one or more of other sensors 550.

Controllable subsystems 528 are illustratively controlled at least in part by controller 518 and/or other components of mobile work machine 136 to effectuate the performance of various operations of mobile work machine 136, e.g., driving, steering, digging, scanning, displaying, etc. Controllable subsystems 528 illustratively include machine actuators 552, attachment systems 558, and a user interface (UI) subsystem 554. As indicated by block 560, other controllable subsystems are possible. For example, mobile work machine 136 is likely to have safety and other subsystems.

Machine actuators 552 are configured to drive the movement controllably, positioning, and other functionality of mechanical components of the mobile work machine 136. For instance, machine actuators 552, in one example, drive the movement of boom 110, arm 116, and bucket 124 simultaneously or sequentially. Such movements are illustratively utilized by the mobile work machine 136 when performing excavation operations or while performing subterranean scans utilizing the GPR sensor 132.

The user interface (UI) subsystem 554 illustratively receives signals from one or more sources, which illustratively includes controller 518, specialized control subsystems 530, utility scanning control system 140, other components, and/or related systems of the mobile work machine 136. The user interface (UI) subsystem 554 processes received signals and is then configured to respond by generating corresponding renderings and outputs, which are provided as output, such as through a display, a state indicator, etc. Also, or alternatively, user interface (UI) subsystem 554 includes or is otherwise aligned with one or more interfaces of other system(s) 504, other machine(s) 508, or simply on a separate computing device, thereby ensuring a cohesive and integrated operational experience across different platforms.

Attachment systems 558 illustratively include but are not limited to couplers and related components that enable coupling of attachment tools such as bucket 124, an auger, a clamshell bucket, etc., to arm 116.

Specialized control subsystems 530 illustratively work independently or in conjunction with controller 518 to effectuate mobile work machine 136 actions and responses. Specialized control subsystems are illustratively specialized in that they control a specific function or set of functions, more so than being somehow specially designed or customized in some way. For example, specialized control systems illustratively support the generation of control signals that, when forwarded for execution, lead to a corresponding response from mobile work machine 136 in general or from a related system, component, or subsystem. Specialized control subsystems 530 illustratively include a grade control system 556, a navigation control system 564, a display control system 566, a power control system 568, and can include other control subsystems as well, as indicated by block 570.

Grade control system 556 is illustratively configured to utilize sensors 526 to guide operator 510 in achieving precise grading and excavation levels. Sensors 526, in one example, monitor the position and angle of bucket 124 (or other attachments linked to attachment systems 558) relative to a desired grade or slope. In another example, grade control system 556 supports technology such as laser or some other guidance system that enables operator 510 to ensure slope consistency. In other examples, grade control system 556 utilizes GNSS and/or real-time kinetic (RTK) positioning to effectuate positioning and operation characteristics of mobile work machine 136. In another example, grade control feedback is provided to operator 510 through user interface (UI) subsystem 554 or otherwise provided. In other example, scan operations-related data such as scan results, scan plans, excavation plans, subterranean maps, and the like are supplied by utility scanning control system 140 to enable incorporation thereof (in whole or in part) into one or more user interfaces associated with grade control system 556.

Navigation control system 564 illustratively receives and processes sensor readings from machine position sensor 544 and/or from other components in environment 500. Navigation control system 564 is illustratively configured to receive, process, and facilitate the execution of navigation commands from operator 510 and/or from other components in environment 500. Ultimately, navigation control system 564 facilitates positioning and re-positioning of mobile work machine 136 in its operating environment.

The display control system 566 illustratively generates control signals to manage and update display and feedback mechanisms associated with mobile work machine 136. Display Control System 566 illustratively operates in coordination with UI subsystem 554 and/or controller 518. Together, these systems enable the creation of intuitive interfaces and feedback mechanisms responsive to the needs of operator 510 or for supporting effective operations in general. Displays in some examples are interactive, featuring user cooperative input mechanisms that allow operator 510 to engage directly with an interface, adjusting or selecting options as needed.

Power control system 568 is illustratively configured to manage power distribution, ensuring that components and subsystems of mobile work machine 136 receive an appropriate amount of energy for optimal performance. It generates control signals to allocate power, adjusting usage to enhance efficiency dynamically. By increasing or decreasing power to different components and subsystems based on operational demands, power control system 568 ensures that mobile work machine 136 operates smoothly, maintains energy efficiency, and maximizes productivity.

Utility scanning control system 140 includes a scan control component 571, a user experience (UEX) generation component 572, a detection point identification component 574, a detection point enhancement component 576, a segment predictor/projector component 578, and an output generator component 580, and can also include other components, as indicated by block 582. As a specialized subsystem of mobile work machine 136, those skilled in the art will appreciate that utility scanning control system 140 is configured to interact with and utilize other components of mobile work machine 136 (e.g., processor 516, controller 518, data store 520, user interface (UI) subsystem 554, etc.) to support its operational objectives.

Scan control component 571 is illustratively configured to coordinate components of the utility scanning control system 140 and other components of mobile work machine 136 as necessary to support subterranean scanning operations, such as but not limited to the examples of scanning operations described on a high-level in relation to FIGS. 2-4. In one example, not by limitation, controller 518 and specialized control subsystems 530 are utilized by component 571 to facilitate movements of mobile work machine 136 and especially its bucket 124 during subterranean scan operations. Further, display control system 566, and the functionally associated user interface (UI) subsystem 554 are illustratively also called upon in many instances to support subterranean scan operations. Operator input mechanisms 532 will be called upon to support inputs that affect functionality related to many subterranean scan operations. Finally, communication system 522 illustratively provides support during subterranean scan operations to reach necessary components beyond the boundaries of mobile work machine 136 itself, such as but not limited to other system(s) 504 and other machine(s) 508 These are examples of coordination between the utility scanning control system 140 and other components that are managed by the scan control component 571.

User experience (UEX) generation component 572 is a display control system similar in function to display control system 566 and, in one example, is configured to share and/or delegate operations thereto. In one example, the user experience (UEX) generation component 572 initiates and manages interactions with operator 510 before, during, and/or after subterranean scanning operations. In some examples, not by requirement or limitation, user experience (UEX) generation component 572 is configured to facilitate a presentation of display elements that support identification of an area of interest 202, that support relocating the mobile work machine 136 to a position where it will be ready to start a scan along a scan path 204, that support causing bucket 124 to be moved along scan path 204, etc.

User experience (UEX) generation component 572 is illustratively also or alternatively utilized to facilitate production and output in an operator friendly format of data or other information indicative of an outcome of a subterranean scanning operation. In one example, not by requirement or limitation, the user experience (UEX) generation component 572 cooperates with display control system 566 and/or UI subsystem 554 as necessary to create a visual representation of detection points, predicted utility segments, and/or projected utility segments, examples of which were described in relation to FIGS. 2-4. In another example, user experience (UEX) generation component 572 is also or alternatively configured to support display of information in conjunction with other system(s) 504 and/or other machine(s) 508. In another example, the user experience (UEX) generation component 572 is configured to support integrating scan-related data into operator-friendly displays associated with other systems and subsystems of mobile work machine 136, as a display associated with grade control system 556.

Detection point identification component 574 is illustratively configured to facilitate collections of data from the GPR sensor 132 indicative of one or more (or perhaps no if there are none) detected subterranean objects (i.e., detection points). For example, with reference to FIGS. 2-4, detection point identification component 574 receives and processes signals from the GPR sensor 132 indicative of the existence of detection points 206, 208, 302-306, 310, and 312, denoting the presence of subterranean objects beneath the underground ground surface 131.

The detection point enhancement component 576 is illustratively configured to facilitate the enhancement of detection points with descriptive metadata indicative of key characteristics such as, but not necessarily limited to, depth and locative data. In one example, enhancement by the detection point enhancement component involves adding additional or alternative depth and/or locative data over what is provided directly by the GPR sensor 132. In other examples, enhancement by detection point enhancement component 576 involves adding data about the date/time at which the data was generated, the condition of the soil at that time, the identity of operator 510 at that time, etc.

In one example, detection point data (whether enhanced or not) is illustratively stored, at least temporarily, in a data store, such as in data store 520. This being the case, data collected as a result of separate, distinct scans can be grouped together to support subsequent, collective processing. It is not necessary for separate scans to be taken contemporaneously one after the other. For example, one scan could be conducted on one day and the next scan multiple days or longer thereafter. In one example, results of separate scans are conveniently joinable so long as reference points for recreating accurate location details are preserved.

Segment predictor/projector component 578 is illustratively configured to facilitate processing of the detection points (enhanced as necessary) to create one or more derived additional data points. In one example, segment predictor/projector component 578 facilitates identification of (and storage of records of) predicted utility segments and projected utility segments, such as predicted and projected utility segments 402-412 shown in FIG. 4. As part of the identification process, segment predictor/projector component 564 is illustratively configured to group detection points based at least upon a programmatically determined pattern reflected in relative depth and position. In one example, segment predictor/projector component 564 is configured to designate and store a record of one or more predicted utility segments when at least three detection points are programmatically identified as being located at least substantially a same depth and falling at least substantially along a straight line. In another example, segment predictor/projector component 578 facilitates the designation and storage of a record of one or more projected utility segments programmatically determined to be a naturally projected continuation or extension of the predicted utility segment.

Those skilled in the art will appreciate that, in some examples, an acceptable level of variation is defined and programmatically applied to the programmatic determinations of what is or is not concluded to be a detection point having the same depth or location along a common line. In one example, detection points within a total depth variation of x inches will be considered located at the same depth, with x being a predefined value. In another example, the depth tolerance is configured as a variable that changes with reference to the distance between detection points. For instance, an acceptable level of depth variation of x may increase or decrease as the distance between detection points increases or decreases. Similarly, programmatic assumptions about what is or is not an acceptable level of variation relative to the “along the same line” aspect are illustratively imposed. In one example, depth tolerances are preconfigured. In another example, depth tolerances are adjustable in a system settings menu, etc.

In another example, the segment prediction/projection component facilitates the identification of predicted and/or projected utility segments based on utility line type such as, but not limited to, optical fiber lines, electricity lines, water supply pipelines, etc. Data supporting the utility type determination is illustratively detected by a sensing system that is part of the GPR sensor 132 or mobile work machine 136. In another example, manually inserting utility type is supported. In another example, detection point enhancement component 576 is configured to track this category of information and incorporate it as an enhancement to one or more detection point records. When utility type information is available, it is optionally included in displays, data sets, maps, and other records sourced from the utility scanning control system 140.

Output generator component 580 is illustratively configured to facilitate outputs of data, displays, or other information derived from detection point identification component 574, detection point enhancement component 576, or segment predictor/projector component 578. In some examples, not by limitation, output generator component 580 is configured to output data as part of a map representation, as part of a landxml formatted file, in a point/vector description, as a complete user interface ready to be rendered, or in any other format.

Output generator component 580 illustratively, though not necessarily, outputs data from the utility scanning control system 140 to grade control system 556 for incorporation into the functionality and displays thereof. For example, detection points, predicted utility segments, and/or projected utility segments are illustratively incorporated into graphical user interfaces of the grade control system 556 to supplement its functionality and to help further guide an operator of the mobile work machine 136 during excavation operations, for example, operations in the area of interest 202 shown in FIGS. 2-4.

Output generator component 580 is illustratively, though not necessarily, configured to facilitate data outputs from the utility scanning control system 140 to controller 518 to directly trigger automated or semi-automated control of mobile work machine 136 and/or a component or subsystem thereof. In other examples, output generator component 580 is configured to facilitate outputs of data from the utility scanning control system 140 to other system(s) 504, other machine(s) 508, user interface display control system 566, UI subsystem 554, and/or other systems as necessary to support display, outputs, automated functionality, etc.

FIGS. 6A and 6B together are a block process diagram that presents examples of subterranean scanning operations. A process begins with block 602, where a mobile work machine with a ground penetrating radar (GPR) sensor (e.g., the GPR sensor 132) is provided. Those skilled in the art will appreciate that, at least in theory, other types of subterranean scanner technology could just as easily be substituted. As indicated by block 604, the machine in one example is an excavator (e.g., mobile work machine 136 with the GPR sensor 132). As indicated by block 606, another example is a front-end loader; as indicated by block 608, it can be another type of mobile work machine.

In accordance with block 610, an area of interest is defined (e.g., area of interest 202 in FIGS. 2-4). In one example, certainly not by limitation, 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 gaining information about subterranean features. Boundaries of the area of interest are either formally or informally defined. In one example, as is indicated by block 612, an operator is prompted for input defining boundaries of the area of interest. In another example, as indicated by block 614, boundaries of the area of interest are extracted from a map that is downloaded to the mobile work machine. In another example, as is indicated by block 616, physical markers such as painted lines or cones are utilized to designate boundaries of the area of interest. Physical boundary markers are illustratively placed for the observation of a human only, but in other examples, they are placed for subsequent identification using a sensor(s) (e.g., image capture system 524) to find the boundary markers and then programmatically define boundaries of the area of interest. In accordance with block 618, the area of interest is determined in some other way.

In accordance with block 620, a scan path (e.g., scan path 204 in FIGS. 2-4) is defined within the area of interest. In accordance with block 622, the scan path is defined automatically, for example, by one or more components of the mobile work machine (e.g., facilitated by scan control component 571). In another example, as is defined by block 624, the scan path is defined semi-automatically utilizing components of the mobile work machine (e.g., a proposed scan path is presented to operator 510 for confirmation on a user interface presented utilizing UI subsystem 554). In another example, as indicated by block 626, an operator manually selects a scan path within the area of interest. Block 628 is indicative of the fact that other approaches to defining the scan path are also possible. The scan path, regardless of how it is defined, need not necessarily be along a straight line, and, in other examples, it is along a curved line, along a circular path, following a wave-oriented path, etc.

In accordance with block 630, the mobile work machine (e.g., mobile work machine 136) is moved into a scan start position on the scan path. In accordance with block 632, the mobile work machine is automatically moved (e.g., utilizing navigation control system 564, machine position sensor 544, and/or controller 518). In another example, as is defined by block 634, the mobile work machine is positioned semi-automatically utilizing components of the mobile work machine (e.g., a proposed machine relocation is presented to operator 510 for confirmation through a user interface presented utilizing UI subsystem 554 and then automatically executed). In accordance with block 636, the mobile work machine is manually driven to the scan start position. Block 638 indicates that other approaches to relocating the mobile work machine to the scan start position are also possible.

In accordance with block 640, a scan is conducted by moving the ground penetrating radar sensor across the defined scan path (e.g., a sensor is moved across undisturbed ground surface 131 with bucket 124). The ground penetrating radar sensor illustratively emits electromagnetic waves through the undisturbed ground surface and ultimately receives back electromagnetic waves reflected off any subterranean object (e.g., a utility line). As a result of the scan, subterranean detection points are identified. In accordance with block 642, detection points are enhanced (e.g., optionally enhanced) with descriptive metadata. In accordance with block 644, the metadata includes corresponding depth and locative information. In accordance with block 646, other descriptive metadata is captured.

At block 648, a determination is made as to whether there is a need or desire to perform an additional scan for detection points along an additional scan path in the area of interest. If yes, the process is repeated again, beginning with block 620. The process is repeated until it is determined that no more scanning is needed or desired. Once all scans are completed, the process proceeds to blocks 650 and 652.

Detection points (including any enhancements) generated from steps 630, 640, and 642 can follow two paths. First, in accordance with block 650, the detection points can be provided to output generator component 580 (e.g., output generator component 580 shown in FIG. 5). Next, in accordance with block 652, the detection points can be provided to a segment predictor/projector component (e.g., to the segment predictor/projector component 578 shown in FIG. 5).

According to block 660, the segment predictor/projector component processes the received detection points to programmatically identify one or more patterns that lead to creating a derived (rather than the scan detected) subterranean feature. In the example shown in block 660, a programmatic determination is made as to whether three or more detection points have a similar depth and fall along a similar line. As is indicated by block 654, a tolerance is illustratively provided (e.g., a factory setting, a user selectable setting, an automatically selected setting, a semi-automatically selected setting, etc.) that dictates how significant a difference in depth can be and still be considered similar enough for affirmative pattern qualification. As is indicated by block 656, a tolerance is illustratively provided (e.g., a factory setting, a user selectable setting, an automatically selected setting, a semi-automatically selected setting, etc.) that dictates how significant a difference in alignment of detection points can be and still be considered similar enough for affirmative pattern qualification. In accordance with block 658, other system tolerances can also be set or alternatively to support pattern-based derivation of a derived (rather than the scan detected) subterranean feature.

According to block 662, when three or more detection points have a similar depth and fall along a similar line, a predicted segment is generated, the predicted segment being aligned to the set of three or more detection points. In one example, segment predictor/projector component 578 in FIG. 5 facilitates programmatic identification, generating a record of and storing the predicted segment's record. In one example, system parameters are illustratively adjustable or at least programmable to apply different detection point tests for predicted segment qualification. In another example, it is only required for two detection points to be programmatically in line at a common depth, though this can cause false assumptions, for example, when two utility lines are running parallel with one another.

In accordance with block 664, a determination is made as to whether a projected utility segment is desired (or needed, etc.). In one example, this determination is based on a user, system, or factory set variable. In accordance with block 666, when a projected utility segment is desired, one or more predicted segments are created based, at least in part, on the predicted segment. In one example, the segment predictor/projector component (e.g., 578 in FIG. 5) is configured to programmatically identify, generate a record of, and facilitate storage of projected utility segments. Different algorithms for supporting a programmatic determination as to where projected utility segments lie are possible and can even, in one example, be automatically or manually chosen. In one example, projected utility segments are programmatically calculated as a natural line extension of the predicted segment. In one example, predicted segments are generated for one or both ends of each predicted segment.

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 accounted for. At that point, as is indicated by block 668, the predicted and projected utility segments are provided to the output generation component, illustratively output generator component 580 shown in FIG. 5. If the first pass through block 660 results in a determination that there is no prediction point basis for creation of the predicted segment at block 662, the process illustratively skips right to block 670 without any predicted or projected utility segments being provided.

In accordance with block 670, the output generation component incorporates received detection points, projected utility segments, and predicted segments into a subterranean feature model 671, as indicated by block model 671. In one example, the subterranean 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 subterranean feature model 671 is a map file, a landxml formatted file, or another broader description of data that incorporates detection points, predicted segments, and/or projected utility segments as a feature. In another example, the subterranean feature model is a simple point/vector description representation presented in relation to a repeatable coordinate system. In another example, the subterranean feature model is a set of one or more user interfaces ready to be displayed or otherwise presented. Those skilled in the art will appreciate that the precise format of subterranean feature model 671 will vary depending at least upon the context and application in which the subterranean feature model is to be incorporated.

In accordance with block 672, the output generation component exports the subterranean feature model 671 to another component that uses it to control the mobile work machine (e.g., mobile work machine 136). In accordance with block 674, access to subterranean feature model 671 is provided (directly or indirectly) to a display control system (e.g., display control system 566) that facilitates the presentation of information on a display associated with the mobile work machine (e.g., a display that is part of user interface (UI) subsystem 554) such that the presentation includes some or all components of the subterranean feature model. In accordance with block 676, access to subterranean feature model 671 is provided (directly or indirectly) to a remote system (e.g., other system(s) 504, other machine(s) 508, etc.) to support displays of information or even control thereof. In accordance with block 678, access to subterranean feature model 671 is provided (directly or indirectly) to a controller (e.g., controller 518 in FIG. 5) that effectuates commands to physically move the mobile work machine itself or a subsystem thereof (e.g., machine actuators 552, attachment systems 558, etc.) that are selected at least in part based on information in the subterranean feature model 671. In accordance with block 680, the subterranean feature model is provided to other components to support other displays, functions, and responses by any machine, remote system, or otherwise.

FIGS. 7-10 are schematic representations of example display screens. Items assigned the same or similar numbers compared to other Figures are assumed to have similar features and functions.

FIG. 7 is an example of integrating subterranean feature data (e.g., all or part of the subterranean feature model 671) into a display 700. The features and functions shown as part of display 700 are examples only. Display 700 is illustratively presented on a display panel that is part of mobile work machine 136. Alternatively, display 700 is presented on a computing device separate from mobile work machine 136. Display 700 includes an overhead view area 702 that includes an overhead view (e.g., a satellite view) of a portion of a work site. Overhead view area 702 also includes a representation of mobile work machine 136, area of interest 202, scan path 204, scan path 308, scan path 314, predicted utility segment 402, projected utility segment 406, projected utility segment 408, and detection points 206, 302 and 312, all of which were described in relation to FIGS. 2-4.

FIG. 8 is an example of subterranean feature data (e.g., all or part of the subterranean feature model 671) into a display 800, in this case, a mobile application display. The features and functions shown as part of display 800 are examples only. Display 800 is illustratively presented on a mobile device that is illustratively, but not necessarily, linked to mobile work machine 136. Similar to display 700, display 800 includes an overhead view area 802 that includes an overhead view (e.g., a satellite view) of a portion of a work site. Though not specifically labeled in FIG. 8 for clarity, overhead view area 802 again includes a representation of a mobile work machine, an area of interest, predicted segments, a projected utility segment, and detection points.

FIG. 9 is an example of integrating subterranean feature data (e.g., all or part of the subterranean feature model 671) into a display 900, which is, again, but not by limitation, a mobile application display. Display 900 includes a 3D scanning information area 902. The 3D scanning information area 902 provides one example of how subterranean feature data is provided into a 3D style interface, including but not limited to an interface that is part of a grade control system (e.g., grade control system 556 in FIG. 5).

The features and functions shown as part of display 900 are examples only. Display 900 is illustratively presented on a mobile device that is illustratively, but not necessarily, linked to work machine 136. Similar views in other examples are incorporated into a non-mobile style interface, such as a PC interface or an interface that is an integrated part of the mobile work machine. The 3D scanning information area 902 represents mobile work machine 136, bucket 124, scan path 204, scan path 308, scan path 314, and detection points 206, 302, and 312, all described in relation to FIGS. 2-4. In other examples (not shown), the interface also includes representations of predicted and projected utility segments.

FIG. 10 is an example of integrating subterranean feature data (e.g., all or part of the subterranean feature model 671) into a display 1000, which is, but not by limitation, a mobile application display. Display 1000 includes a multi-view information area 1002. The multi-view information area 1002 provides one example of how subterranean feature data is provided in multiple views on a single interface, such as but not limited to an interface that is part of a grade control system (e.g., grade control system 556 in FIG. 5).

The features and functions shown as part of display 1000 are examples only. Display 1000 is illustratively presented on a mobile device that is illustratively, but not necessarily, linked to mobile work machine 136. Similar views in other examples are incorporated into a non-mobile style interface, such as a PC interface or an interface that is an integrated part of the mobile work machine. The multi-view information area 1002 includes a representation of mobile work machine 136, bucket 124, area of interest 202, scan path 204, scan path 308, scan path 314, and detection points 206, 302, and 312, all of which were described in relation to FIGS. 2-4. In other examples (not shown), the interface also includes representations of predicted and projected utility segments.

The present discussion has mentioned processors, which, in one example, include processors and servers. The processors and servers illustratively include computer processors with associated memory and timing circuitry, not separately shown. They are functional parts of the systems or devices to which they belong and are activated by and facilitate the functionality of the other components or items in those systems.

It will also be noted that the above discussion has described systems, components, and/or logic. It will be appreciated that such systems, components, and/or logic can comprise hardware items (such as processors and associated memory or other processing components, some of which are described below) that perform the functions associated with those systems, components, and/or logic. In addition, the systems, components, and/or logic are, in some examples, comprised of software loaded into memory and subsequently executed by a processor server or other computing component, as described below. The systems, components, and/or logic are, in some examples, comprised of different combinations of hardware, software, firmware, etc., some examples of which are described below. These are only examples of different structures that can be used to form the systems, components, and/or logic described above. Other structures may be used as well.

Also, a number of user interface (UI) displays have been discussed. The UI displays can take various forms and illustratively have various user actuatable input mechanisms disposed thereon. For instance, the user actuatable input mechanisms in some examples are text boxes, checkboxes, icons, links, drop-down menus, search boxes, etc. In some examples, the mechanisms are actuated in a wide variety of ways. For instance, in some examples, the mechanisms are actuated using a point-and-click device (such as a trackball or mouse). In some examples, the mechanisms are actuated using hardware buttons, switches, a joystick or keyboard, thumb switches or thumb pads, etc. In some examples, the mechanisms are actuated using a virtual keyboard or other virtual actuators. In addition, where the screen on which they are displayed is a touch-sensitive screen, the mechanisms are actuated using touch gestures. Also, where the device that displays them has speech recognition components, the mechanisms are actuated using speech commands.

A number of data stores have been discussed. It will be noted in some examples the data stores are each broken 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 of these configurations are contemplated herein.

Also, the Figures show a number of blocks with functionality ascribed to each block. It will be noted that fewer blocks can be used, so fewer components perform the functionality. Also, more blocks can be used with functionality distributed among more components.

FIG. 11 is a block diagram of mobile work machine 136, shown in FIG. 5, except it communicates with elements in a remote server architecture 1100. For example, remote server architecture 1100 can provide computation, software, data access, and storage services that do not entail end-user knowledge of the physical location or configuration of the system that delivers the services. In various examples, remote servers can deliver services over a wide area network, such as the Internet, using appropriate protocols. For instance, remote servers can deliver applications over a wide area network and be accessed through a web browser or any other computing component. In some examples, software or components are shown in FIG. 5, and the corresponding data are stored on servers at a remote location. The computing resources in a remote server environment, in some examples, are consolidated at a remote data center location, or they can be dispersed. In some examples, remote server infrastructures deliver services through shared data centers, even though they appear as a single point of access for the user. Thus, the components and functions described herein can be provided from a remote server at a remote location using a remote server architecture. Alternatively, they can be provided from a conventional server or installed on client devices directly or in other ways.

In the example shown in FIG. 11, some items are similar to those shown in FIG. 5 and they are similarly numbered. FIG. 11 specifically shows that utility scanning control system 140 and one or more functionally connected data store(s) 1104 are located at a remote server location, shown in the Figure as cloud 1102. Therefore, mobile work machine 136 accesses those systems through cloud 1102 (i.e., the remote server location).

FIG. 11 also depicts another example of a remote server architecture. FIG. 11 shows that some elements of FIG. 5 are also contemplated as being disposed of in cloud 1102 while others are not. By way of example, one or more data store(s) 1104 can be disposed of at a location separate from cloud 1102 and accessed through the remote server at a remote location. Regardless of where they are located, they can be accessed by mobile work machine 136, through a network (either a wide area network or a local area network), they can be hosted at a remote site by a service, or they can be provided as a service, or accessed by a connection service that resides in a remote location.

In one example, the data (which, as has been described, is stored in substantially any location) is intermittently accessed by or forwarded to interested parties. This includes other machines(s) 508 and other system(s) 504, as were described in relation to FIG. 5. These transfers of data, which in one example includes a transfer of some or all of the subterranean feature model 671 described in relation to FIG. 6B can occur across physical carriers instead of, or in addition to, electromagnetic wave carriers. In one example, a second mobile work machine (e.g., an additional excavator) is on the same work site as mobile work machine 136, and an automated information collection system is established between the two. As the second mobile work machine comes close to mobile work machine 136, the second mobile work machine automatically collects information from mobile work machine 136 (or transfers information to mobile work machine 136) using any type of communications connection, such as an ad-hoc wireless connection. In some examples, such information transfers are with other system(s) 504, such as a handheld mobile device, scanning tool, digging tool, etc.

It will also be noted that the elements of FIG. 5, or portions, can be disposed of on various devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palm top computers, cell phones, smartphones, multimedia players, personal digital assistants, etc.

FIG. 12 is a general block diagram of one illustrative example of a hand-held or mobile computing device that can be used as a user's or client's hand-held device 1200, where the present system (or parts of it) can be deployed. For instance, a mobile device can be deployed in the operator compartment of a mobile work machine for use in generating, processing, or displaying some or all of the subterranean feature model 671. FIGS. 13 and 14 are examples of handheld or mobile devices.

FIG. 12 illustrates examples of components of a hand-held device 1200 that can run some components shown in FIG. 5, that interact with them, or both. In the hand-held device 1200, communication link 1214 allows the handheld device to communicate with other computing devices and, under some embodiments, provides a channel for automatically receiving information, such as by scanning. Examples of communication link 1214 include allowing communication through one or more communication protocols, such as wireless services used to provide cellular access to a network and protocols that provide local wireless connections to networks.

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

I/O components 1210, in one example, are provided to facilitate input and output operations. I/O components 1210 for various embodiments of the hand-held device 1200 can include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors, and output components such as a display device, a speaker, and or a printer port. Other I/O components 1210 can be used as well.

Clock 1208 illustratively comprises a real-time clock component that outputs a time and date. It can also, illustratively, provide timing functions for processor 1206.

Location system 1204 illustratively includes a component that outputs a current geographical location of hand-held device 1200. This can include, for instance, a global positioning system (GPS) receiver, a LORAN system, a dead reckoning system, a cellular triangulation system, or other positioning system. It can also include, for example, mapping software or navigation software that generates desired maps, navigation routes, and other geographic functions.

Memory 1216 stores operating system OS 1218, network settings 1220, applications 1222, application configuration settings 1224, client system 1226, data store 1228, communication drivers 1230, and communication configuration settings 1232. Memory 1216 can include all tangible volatile and non-volatile computer-readable memory devices. It can also include computer storage media (described below). Memory 1216 stores computer-readable instructions that, when executed by processor 1206, cause the processor to perform computer-implemented steps or functions according to the instructions. Other components can activate processor 1206 to facilitate their functionality as well.

FIG. 13 shows one example in which hand-held device 1200 is a tablet computer 1300. In FIG. 13, tablet computer 1300 is shown with user interface display screen 1302. User interface display 1302 can be a touch screen or a pen-enabled interface that receives inputs from a pen or stylus. It can also use an on-screen virtual keyboard. Of course, it might also be attached to a keyboard or other user input device through a suitable attachment mechanism, such as a wireless link or USB port. Tablet computer 1300 can also illustratively receive voice inputs as well.

FIG. 14 shows that the device can be a smartphone 1400. Smartphone 1400 has a touch-sensitive display 1404 that displays icons, tiles, or other user input mechanisms 1406. Users can use mechanisms 1406 to run applications, make calls, perform data transfer operations, etc. In general, smartphone 1400 is built on a mobile operating system and offers more advanced computing capability and connectivity than a feature phone.

Note that other forms of hand-held device 1200 are possible.

FIG. 15 is one example of a computing environment in which elements of FIG. 5, or parts of it (for example), can be deployed. With reference to FIG. 15, an example system for implementing some embodiments includes a computing device in the form of a computer 1500. Components of computer 1500 are shown in relation to a conceptual boundary 1502 and may include but are not limited to, a processing unit 1520 (which can comprise processors or servers from previous FIGS.), 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 controller, a peripheral bus, and a local bus using various bus architectures. Memory and programs described with respect to FIG. 5 can be deployed in corresponding portions of FIG. 15.

Computer 1500 typically includes a variety of computer-readable media. Computer-readable media can be any available media accessed by computer 1500, including volatile and nonvolatile media and removable and non-removable media. By way of example, and not limitation, computer-readable media may comprise computer storage media and communication media. Computer storage media differs from and does not include a modulated data signal or carrier wave. It includes hardware storage media, volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information, and which can be accessed by computer 1500. Communication media may 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 changed in such a manner as to encode information in the signal.

System memory 1504 includes computer storage media in the form of volatile and/or nonvolatile memory, such as read-only memory (ROM) 1506 and random-access memory (RAM) 1510. A basic input/output system (BIOS) 1508, containing the basic routines that help to transfer information between elements within computer 1500, such as during start-up, is typically stored in ROM 1506. RAM 1510 typically contains data and/or program modules that are immediately accessible to and/or presently being operated on by processing unit 1520. By way of example, and not limitation, FIG. 15 illustrates operating system 1512, application programs 1514, other program modules 1516, and program data 1518.

Computer 1500 may include other removable/non-removable volatile/nonvolatile computer storage media. By way of example only, FIG. 15 illustrates a hard disk drive 1548 reads from or writes to non-removable, nonvolatile magnetic media, an optical disk drive 1544, and a non-volatile optical disk 1546. The hard disk drive 1548 is typically connected to the system bus 1532 through a non-removable memory interface, such as interface 1534, and optical disk drive 1544 is typically connected to the system bus 1532 by a removable memory interface, such as a removable non-volatile memory interface 1536.

Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (e.g., ASICs), Application-specific Standard Products (e.g., ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

The drives and their associated computer storage media are discussed above and illustrated in FIG. 15 provides storage of computer-readable instructions, data structures, program modules, and other data for the computer 1500. In FIG. 15, for example, hard disk drive 1548 is illustrated as operating system 1550, application programs 1552, other program modules 1554, and program data 1556. Note that these components can be the same as or different from operating system 1512, application programs 1514, other program modules 1516, and program data 1518.

A user may enter commands and information into the computer 1500 through 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, game pad, satellite dish, scanner, etc. These and other input devices are often connected to the processing unit 1520 through a user input interface 1538 coupled to the system bus. Still, they may be connected by 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 include other peripheral output devices such as speakers 1530 and printer 1528, which may be connected through an output interface 1524.

The computer 1500 is operated in a networked environment using logical connections (such as a local area network—LAN, or wide area network—WAN or a controller area network—CAN) to one or more remote computers, such as a remote computer 1568.

When used in a LAN networking environment, the computer 1500 is connected to the LAN 1542 through a network interface or adapter 1540. When used in a WAN networking environment, the computer 1500 typically includes a modem 1558 or other means for establishing communications over the WAN 1566, such as the Internet. Program modules may be stored in a remote memory storage device in a networked environment. FIG. 15 illustrates, for example, that remote application programs 1570 can reside on remote computer 1568.

It should also be noted that the examples described herein can be combined differently. Parts of one or more examples can be combined with parts of one or more other examples. All of this is contemplated herein.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.