MINE VEHICLE AND METHOD OF DETERMINING POSITION AND DIRECTION OF MONITORED OBJECT

摘要

A method of determining position and direction of an object of a mine vehicle, the mine vehicle including at least one scanning device for scanning surroundings of the mine vehicle and producing a point cloud data. The mine vehicle has a control unit, which is provided with reference data on the monitored object. The control unit is configured to search the monitored object from the scanned point cloud data and to determine position and direction of the object.

主权项

1. A mine vehicle comprising:
a movable carrier; at least one boom and at least one mine work device at a distal end portion of the boom; at least one monitored object; a machine coordinate system; at least one scanning device for scanning surroundings of the mine vehicle and the at least one monitored object inside a reach area of the scanning device for producing operational 3D scanning data in the machine coordinate system; the mine vehicle being in operational communication with at least one control unit configured to receive and process the operational scanning data including point cloud data, wherein the control unit is provided with input reference data on the at least one monitored object in the machine coordinate system; the control unit is provided with at least one processor and at least one point cloud processing program allowed to be executed in the processor, wherein the control unit is configured to execute the point cloud processing program for comparing the reference data with the operational scanning data in order to search and detect the monitored object in the produced point cloud data and to determine position and direction of the monitored object in the machine coordinate system on the basis of coordinates provided in the point cloud data, and wherein at least part of the mine work device is the monitored object and the control unit is configured to determine position and direction of the at least part of the mine work device in the machine coordinate system.