Scanner emulation for mining vehicle
AssigneeSandvik Mining and Construction Oy
InventorHenri LIIKANEN
Life of this patent
Estimating the term…
Abstract
A method is provided including receiving 3D scanner data and information of the orientation of the scanner in relation to a horizontal plane of a mining vehicle, defining a 2D plane aligned with the horizontal plane of the mining vehicle on the basis of the information of the orientation, defining a set of measurement areas having a distance in a vertical direction from the 2D plane, selecting, for each of the measurement areas, a measurement on the basis of the 3D scanner data and within a measurement area of the set, and providing 2D scanner data including the selected measurements to position the mining vehicle or another mining vehicle on the basis of the 2D reference data.
Claims15
A scanner emulation apparatus, comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processor, cause the apparatus at least to:
- receive three-dimensional, 3D, scanner data generated by a scanner of a mining vehicle operating at a worksite;
- receive information of an orientation of the scanner in relation to a horizontal plane of the mining vehicle, the orientation information including a position of a reference point of the scanner in the machine coordinate system;
- define a two-dimensional, 2D, plane positioned in a vertical direction in relation to the reference point of the scanner, the 2D plane being aligned parallel with the horizontal plane of the mining vehicle on a basis of the information of the orientation of the scanner in relation to the horizontal plane of the mining vehicle;
- define a set of measurement areas having a distance in a vertical direction from the 2D plane;
- select a measurement point within each measurement area of the set of measurement areas on the basis of the 3D scanner data;
- generate emulated 2D scanner output indicative of a horizontal 2D position of the selected measurement points;
- and
- provide the emulated 2D scanner output to position the mining vehicle or another mining vehicle.
A method for adapting scanner data by a mining vehicle, the method comprising:
- receiving three-dimensional, 3D, scanner data generated by a scanner of a mining vehicle operating at a worksite;
- receiving information of orientation of the scanner in relation to a horizontal plane of the mining vehicle, the orientation information including a position of a reference point of the scanner in the machine coordinate system;
- defining a two-dimensional, 2D, plane positioned in a vertical direction in relation to the reference point of the scanner, the 2D plane being aligned parallel with the horizontal plane of the mining vehicle on a basis of the information of the orientation of the scanner in relation to the horizontal plane of the mining vehicle;
- defining a set of measurement areas having a distance in a vertical direction from the 2D plane;
- selecting a measurement point within each measurement area of the set of measurement areas on a basis of the 3D scanner data;
- generating emulated 2D scanner output indicative of a horizontal 2D position of the selected measurement points;
- and
- providing the emulated 2D scanner output to position the mining vehicle or another mining vehicle including a 2D based positioning system.
Dependencies are inferred from the claim text.