Automated guided apparatus suitable for toping applications

摘要

An automated guided apparatus capable of accurately determining its position within a walled environment such as a mine or building. A mobile unit incorporating an inertial measurement unit (18) and a gray scale vision system processor/camera (25) is able to initialize its location and then update its location within the environment. The apparatus is especially adapted for producing tunnel plan views ("TOPES") and also for guiding equipment through such environments.