DIGITAL TERRAIN MAPPING WITH GPS AND LASER SYSTEM
First Claim
1. A method for producing digital terrain maps of the vicinity around large rotating machinery, the method comprising the following steps:
- mounting a 2-Dimensions laser scanner and a high-accuracy RTK GPS system to an item of large rotating machinery, at a radial extremity of the machinery;
arranging the laser scanner to record radial lines of data representing the terrain below the extremity of the machinery;
rotating the machinery completely about its axis of rotation and generating data from both the laser scanner and GPS system that represents the terrain around the machinery;
wherein, a calibration is conducted by recording data from markers at known locations in the terrain below the extremity of the machinery to determine the relative positions of the laser scanner centre and the GPS antenna, the orientation of the laser scanner and the time lag between the data generated from both the laser scanner and the GPS system.
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Abstract
This invention concerns digital terrain mapping, and in particular a method for producing digital terrain maps of the vicinity around large rotating machinery, such as draglines, shovels, excavators, wheel loaders or cranes. The method involves the following steps: Mounting a 2-Dimensions laser scanner and a high-accuracy RTK GPS system to an item of large rotating machinery, at a radial extremity of the machinery. Arranging the laser scanner to record radial lines of data representing the terrain below the extremity of the machinery. Rotating the machinery completely about its axis of rotation and generating data from both the laser scanner and GPS system that represents the terrain around the machinery. Wherein, a calibration is conducted by recording data from markers at known locations in the terrain below the extremity of the machinery to determine the relative positions of the laser scanner centre and the GPS antenna, the orientation of the laser scanner and the time lag between the data generated from both the laser scanner and the GPS system. In a further aspect the invention concerns equipment for use in the method and software.
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Citations
19 Claims
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1. A method for producing digital terrain maps of the vicinity around large rotating machinery, the method comprising the following steps:
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mounting a 2-Dimensions laser scanner and a high-accuracy RTK GPS system to an item of large rotating machinery, at a radial extremity of the machinery; arranging the laser scanner to record radial lines of data representing the terrain below the extremity of the machinery; rotating the machinery completely about its axis of rotation and generating data from both the laser scanner and GPS system that represents the terrain around the machinery; wherein, a calibration is conducted by recording data from markers at known locations in the terrain below the extremity of the machinery to determine the relative positions of the laser scanner centre and the GPS antenna, the orientation of the laser scanner and the time lag between the data generated from both the laser scanner and the GPS system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 17, 18, 19)
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11. Equipment associated with large rotating machinery for use in the method, the equipment comprising:
a 2D laser scanner and a high-accuracy RTK GPS system mounted together in a fixed relationship to each other and together with mounting means to mount the equipment on an extremity of an item of large rotating machinery. - View Dependent Claims (12, 13, 14, 15, 16)
Specification