Automated guided apparatus suitable for toping applications

• US 6,349,249 B1
• Filed: 02/29/2000
• Issued: 02/19/2002
• Est. Priority Date: 04/24/1998
• Status: Expired due to Term

• Current Assignee: Inco Limited (Caixa de Previdência Dos Funcionários Do Banco Do Brasil)
• Original Assignee: Inco Limited (Caixa de Previdência Dos Funcionários Do Banco Do Brasil)
• Inventors: Cunningham, Peter D.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US09/515,299
• Time in Patent Office: 721 Days
• Field of Search: 701/25, 701/217, 701/23, 701/200, 701/209, 701/224, 701/207, 701/211, 701/220, 701/214, 318/587, 318/580, 382/153, 382/154, 382/155, 382/156, 382/152, 382/151, 180/116, 180/119, 180/167, 180/168, 180/169, 340/990
• US Class Current: 701/28
• CPC Class Codes: E21D 9/004 using light beams for direction or position control
• CPC Class Codes: G01C 21/16 by integrating acceleration or speed, i.e. inertial navigation
• CPC Class Codes: G01C 7/06 of cavities, e.g. tunnels
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165

Abstract

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 and a gray scale vision system processor/camera and/or a laser pointer 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.

Claims

1. An automated guidance and measuring apparatus, the apparatus comprising a support disposed in an environment, a multi-dimensional location determinator affixed to the support, at least one distance measuring unit capable of the determining the distance between a site on the support and a spaced structural member of the environment, a vision system processor for locating a predetermined object in proximity of the apparatus within an acceptable margin of inexactitude and for initially determining the location of the apparatus in the environment, a central processing unit intelligence coordinator communicating with the multi-dimensional location determinator and the distance measuring unit and the vision system processor, means for continuously updating and determining the location of the apparatus in response to the multi-dimensional location determinator, and an image receiver connected to the vision system processor.

2. The apparatus according to claim 1 wherein the multi-dimensional location determiinator is an inertial measurement unit.

3. The apparatus according to claim 2 including a gyroscope.

4. The apparatus according to claim 3 including a ring laser gyroscope.

5. The apparatus according to claim 1 wherein the support is mobile.

6. The apparatus according to claim 1 wherein the distance measuring unit is selected from the group consisting of a laser scanner and a laser range finder.

7. The apparatus according to claim 1 wherein the vision system processor includes a gray scale field of view edge coordinate finder.

8. The apparatus according to claim 7 including a video camera connected to the gray scale field of view edge coordinate finder.

9.The apparatus according to claim 1 including means for obtaining physical measurements of the environment.

9. The apparatus according to claim 1 including a tope generator communicating with the apparatus.

10. The apparatus according to claim 1 communicating with an underground mining device.

11. The apparatus according to claim 1 including a zero velocity update status indicator.

12. The apparatus according to claim 1 including a remotely operated mobile platform.

13. The apparatus according to claim 12 including means for initiating an apparatus advisory indicator.

14. A method for measuring and navigating a mobile platform through a predetermined area having at least one surface, the method comprising:

a) providing the mobile platform with an inertial measurement unit;

b) causing the inertial measurement unit to communicate with a central processing unit, the central processing unit capable of storing and updating location parameters of the predetermined area;

c) determining a distance between the mobile platform and a surface of the predetermined area and introducing the distance to the central processing unit;

d) utilizing a gray scale field of view edge coordinate finder to detect a known marker in the predetermined area to determine an initial location of the mobile platform within an acceptable margin of inexactitude;

e) entering physical coordinates related to the initial location of the mobile platform into the central processing unit,

f) causing the mobile platform to move through the area at a rate to enable the inertial measurement unit to determine the then current location of the mobile platform in the area;

g) storing and updating the then current location parameters of the predetermined area to the central processing unit; and

h) determining, measuring and noting selected dimensional characteristics of the predetermined area.

15. The method according to claim 15 including generating a tope of the predetermined area by periodically reviewing the selected dimensional characteristics in the central processing unit.

16. The method according to claim 15 wherein the inertial navigation unit is a gyroscope.

18. The method according to claim 15 wherein a video camera communicating with the gray scale field of view edge coordinate finder is caused to view the known marker on the surface of the predetermined area.

20. The method according to claim 15 utilized in conjunction with the operation of mining equipment.

21. The method according to claim 15 utilized in conjunction with a movable vehicle.

22. The method according to claim 15 including initiating at least one zero velocity update.

23. The method according to claim 15 carried out in a structure.

25. The method according to claim 15 including providing an advisory indicator.

17. The method according to claim 17 wherein the gyroscope is a ring laser gyroscope.

19. The method according to claim 19 wherein the gray scale field of view edge coordinate finder and the inertial measurement unit operate in tandem to determine the initial location of the mobile platform by referencing a fixed point feature at the center of the field of view of the video camera by lever arms, storing the lever arms in the inertial measurement unit, reporting a first position from the center of the video camera'"'"'s field of view, reporting a second position relative to the known marker in the field of view of the video camera, the first position and second position recorded in at least pixel based coordinates, determining a pixel based offset coordinate between the first position and the second position, and converting the pixel based offset coordinate to real world dimensional coordinates.

24. The method according to claim 24 carried out in an underground excavation.

26. An automated apparatus, the apparatus comprising a support disposed in an environment, a multi-dimensional location determinator affixed to the support, at least one distance measuring unit capable of the determining the distance between a site on the support and a spaced structural member of the environment, at least one positioner for locating a predetermined marker in proximity of the apparatus within an acceptable margin of inexactitude and for initially determining the location of the apparatus in the environment, a central processing unit intelligence coordinator communicating with the multi-dimensional location determinator and the distance measuring unit, means for continuously updating and determining the location of the apparatus in response to the multi-dimensional location determinator, and an image receiver connected to the vision system processor.

27. The apparatus according to claim 27 wherein the multi-dimensional location determinator is an inertial measurement unit.

28. The apparatus according to claim 27 including a gyroscope.

30. The apparatus according to claim 27 wherein the support is mobile.

31. The apparatus according to claim 27 wherein the distance measuring unit is selected from the group consisting of a laser scanner and a laser range finder.

32. The apparatus according to claim 27 wherein the positioner includes a vision system processor, the vision system processor communicating with the central processing unit intelligence coordinator.

35. The apparatus according to claim 27 wherein the positioner includes a laser pointer.

37. The apparatus according to claim 27 including means for obtaining physical measurements of the environment.

38. The apparatus according to claim 27 including a tope generator communicating with the apparatus.

39. The apparatus according to claim 27 communicating with an underground mining device.

40. The apparatus according to claim 27 including a zero velocity update status indicator.

41. The apparatus according to claim 27 including a remotely operated mobile platform.

42. The apparatus according to claim 39 including means for initiating an apparatus advisory indicator.

43. The apparatus according to claim 27 wherein the positioner includes a vision system processor, a camera connected to the vision system processor, the vision system processor including a gray scale field of view edge coordinate finder, and a laser pointer.

29. The apparatus according to claim 29 including a ring laser gyroscope.

33. The apparatus according to claim 33 wherein the vision system processor includes a gray scale field of view edge coordinate finder.

34. The apparatus according to claim 34 including a video camera connected to the gray scale field of view edge coordinate finder.

36. The apparatus according to claim 36 including means for entering initial reference point coordinates into the central processing unit intelligence coordinator.

44. A method for measuring and navigating a mobile platform through a predetermined area having at least one surface, the method comprising:

a) providing the mobile platform with an inertial measurement unit;

b) causing the inertial measurement unit to communicate with a central processing unit, the central processing unit capable of storing and updating location parameters of the predetermined area;

c) determining a distance between the mobile platform and a surface of the predetermined area and introducing the distance to the central processing unit;

d) utilizing a positioner to detect at least one known marker in the predetermined area to determine an initial location of the mobile platform within an acceptable margin of inexactitude;

e) entering physical coordinates related to the initial location of the mobile platform into the central processing unit,

f) causing the mobile platform to move through the area at a rate to enable the inertial measurement unit to determine the then current location of the mobile platform in the area;

g) storing and updating the location parameters of the predetermined area to the central processing unit; and

h) determining, measuring and noting selected dimensional characteristics of the predetermined area.

45. The method according to claim 45 including generating a tope of the predetermined area by periodically reviewing the selected dimensional characteristics in the central processing unit.

46. The method according to claim 45 wherein the inertial navigation unit is a gyroscope.

48. The method according to claim 45 wherein a camera connected to the mobile platform and communicating with a gray scale field of view edge coordinate finder is caused to view the known marker.

50. The method according to claim 45 wherein a laser pointer connected to the mobile platform assists in positioning the mobile platform vis-a-vis the known marker.

51. The method according to claim 45 utilized in conjunction with the operation of mining equipment.

52. The method according to claim 45 utilized in conjunction with a movable vehicle.

53. The method according to claim 45 including initiating at least one zero velocity update.

54. The method according to claim 45 carried out in a structure.

56. The method according to claim 45 including providing a method advisory indicator.

57. The method according to claim 45 wherein a laser pointer connected to the mobile platform assists in positioning the mobile platform vis-à

-vis a known first marker, a vision system processor, a carnera connected to the mobile platform and communicating with the vision system processor, assists in positioning the mobile platform vis-à

-vis a known second marker.

47. The method according to claim 47 wherein the gyroscope is a ring laser gyroscope.

49. The method according to claim 49 wherein the gray scale field of view edge coordinate finder and the inertial measurement unit operate in tandem to determine the initial location of the mobile platform by referencing a fixed point feature at the center of the field of view of the video camera by lever arms, storing the lever arms in the inertial measurement unit, reporting a first position from the center of the video camera'"'"'s field of view, reporting a second position relative to the known marker in the field of view of the video camera, the first position and second position recorded in at least pixel based coordinates, determining a pixel based offset coordinate between the first position and the second position, and converting the pixel based offset coordinate to real world dimensional coordinates.

55. The method according to claim 55 carried out in an underground excavation.