Mobile Sensor Platform for Automated Rock Mass Orientation Mapping
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Solution Overview
Problem
Current methods for measuring the orientations of rock discontinuity planes in geological and engineering applications are laborious, time-consuming, and often dangerous, with manual methods prone to errors and remote sensing approaches being costly and non-portable.
Innovation Solution
A mobile sensor platform equipped with sensors for range, gravity, and magnetic field direction, which estimates and optimizes the orientation of planes, generating an axis map or stereonet representation of the environment, allowing for efficient and accurate measurement of joint sets without manual labor or high costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual measurement methods (compass and inclinometer) are used, then measurement accuracy can be maintained, but the process becomes laborious, time-consuming, and dangerous
Solution Approach 1:
The patent replaces manual mechanical measurement tools (compass and inclinometer) with an automated sensor system comprising a range sensor, inertial measurement unit (IMU), and processor. The sensor platform autonomously captures point cloud data and calculates joint set orientations through computational processing, eliminating the need for manual mechanical operations while maintaining measurement accuracy.
Solution Approach 2:
The system performs self-measurement by autonomously capturing environmental data, processing point clouds, and calculating joint set orientations without human intervention. The sensor platform automatically navigates, scans, and processes measurements, making the measurement process self-service and dramatically improving productivity.
2Productivity
If stationary 3D LiDAR scanning is used to automate measurement, then measurement speed improves, but device complexity and cost increase
Solution Approach 1:
The patent transforms the static LiDAR system into a dynamic mobile sensor platform that can move through the environment. By integrating the sensor suite onto a mobile platform with motion capture capabilities, the system achieves both automation and portability, reducing complexity compared to stationary systems while maintaining measurement speed.
Solution Approach 2:
The sensor platform performs multiple functions: it captures range data, tracks its own orientation using IMU, processes point clouds, and calculates joint set orientations. This multi-functional integration reduces overall system complexity by combining what would otherwise require separate stationary systems into a single mobile unit.
3Adaptability or versatility
If manual measurement by experienced geologists is used, then qualitative assessment capability is maintained, but objective quantitative measurement is compromised
Solution Approach 1:
The system provides objective quantitative measurements through automated sensor data collection and processing. The processor calculates joint set orientations from point cloud data with mathematical precision, eliminating subjective human error while maintaining the ability to assess rock mass properties through structured analysis of measured parameters.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables rapid, accurate, and cost-effective measurement of rock mass orientations, reducing bias and safety concerns while providing a portable and flexible method for characterizing rock masses, comparable in accuracy to traditional methods.
Implementation Method 1
scanning a rock face with a stationary 3D light detection and ranging (LiDAR) device
Implementation Method 2
sensors that sense and/or measure range, gravity, direction of the Earth's magnetic field, and angular velocity
Implementation Method 3
sensors that sense and/or measure range, gravity, direction of the Earth's magnetic field, and angular velocity
Implementation Method 4
sensors that sense and/or measure range, gravity, direction of the Earth's magnetic field, and angular velocity
Data Source
AI summary
Provided are apparatus and methods for generating a representation of a physical environment, comprising: a mobile sensor platform (MSP) including sensors that output sensor signals relating to parameters such as range, gravity, direction of the Earth's magnetic field, and angular velocity. The MSP is adapted to be moved through the environment. The sensor signals are processed and observations of axes in the environment are generated for a sequence of time steps, the orientation of the MSP is estimated for each of the time steps, observed axes are identified at each orientation, and similar axes are associated. The orientations, the axes in the environment, and the directions of gravity and the Earth's magnetic field are linked such that each observation is predicted based on the estimates of the orientations. An estimate of the orientations is optimized and an output of the representation of the physical environment is generated based on the optimized orientation estimates. The output may be an axis map, a visual representation, and/or a data set. In one embodiment the output device may produce an output comprising a stereonet.