MINE VEHICLE AND METHOD OF INITIATING MINE WORK TASK

摘要

A method and mine vehicle includes at least one scanning device for scanning surroundings of the mine vehicle and producing operational point cloud data. The mine vehicle has a control unit provided with reference point cloud data of the mine. The control unit is configured to match the operational point cloud data to the reference point cloud data in order to determine position of the mine vehicle. The control unit further includes a mine work plan, which is connected to the detected position of the mine vehicle.

主权项

1. A mine vehicle comprising:
a movable carrier; at least one mine work device for executing mine work tasks in a mine; at least one scanning device for scanning surroundings of the mine vehicle and producing 3D scanning data of the surroundings; a control unit configured to receive data and process the data in at least one processor, the control unit including at least one point cloud matching program arranged to be executed in the processor; an initial first point cloud data arranged to be input into the control unit, the first point cloud data including a stored reference 3D model of the mine including point cloud data in a mine coordinate system; at least one second point cloud data produced by the at least one scanning device of the mine vehicle arranged to be input into the control unit, the second point cloud data including operational scanning data of the current position of the mine vehicle, the control unit being configured to process the second point cloud data by extracting point cloud data of the surrounding surfaces and removing point cloud data of other objects, whereby a simplified second point cloud data of the surrounding surfaces is created, to execute the point cloud matching program in order to match the simplified second point cloud data to the reference first point cloud data, and to determine position and direction of the mine vehicle in the mine coordinate system on the basis of the determined matching between the simplified second point cloud data and the reference first point cloud data; the control unit including at least one mine work plan defining position of a mine work site in the mine coordinate system and mine work tasks to be executed at the mine work site; and the control unit is configured to connect the determined position of the mine vehicle and the position of the mine work plan for initiating the mine work task at the mine work site.