Underground Mobile Object Positioning Using Floor Models and 3D Maps
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Solution Overview
Problem
Current positioning systems for mobile objects in underground worksites, such as mines, face challenges in accurately tracking objects in 3D environments, as traditional 2D dead reckoning methods become complicated and require additional sensors for vertical dimension calculation.
Innovation Solution
A system that determines the horizontal progression of a mobile object in an underground tunnel using a floor model and 3D point cloud data, generating a 3D position indicator by accumulating traveled distance and heading, and updating positions using particle filtering and proximity to location reference units, without the need for additional sensors like altitude meters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional 2D dead reckoning methods are used for positioning in underground worksites, then horizontal position can be tracked, but accurate 3D position tracking becomes complicated and requires additional sensors
Solution Approach 1:
The patent applies dimensionality change by projecting 3D positioning problems onto 2D horizontal planes. The floor model creates 2D representations of tunnel floors, and particle positions are constrained to these 2D planes. This allows 3D positioning accuracy to be achieved through multiple 2D horizontal projections rather than direct 3D measurements, eliminating the need for additional vertical dimension sensors.
Solution Approach 2:
The patent creates 2D copies of the 3D tunnel environment through floor models and point cloud projections. Instead of directly measuring 3D positions, the system creates 2D representations of the floor geometry and projects particle positions onto these 2D copies. This copying approach enables accurate 3D positioning through 2D measurements alone.
2Measurement precision
If additional sensors like altitude meters are added to achieve accurate 3D positioning, then vertical dimension accuracy improves, but system complexity and cost increase
Solution Approach 1:
The patent extracts the vertical dimension information from direct sensor measurements and derives it indirectly from the relationship between horizontal particle positions and the 3D point cloud model. By separating horizontal and vertical measurements, the system achieves 3D positioning using only horizontal sensors, extracting vertical information through geometric relationships rather than dedicated vertical sensors.
Solution Approach 2:
The floor model and point cloud projections serve as intermediaries between horizontal sensor data and 3D position calculation. Instead of directly measuring vertical positions, the system uses the floor model as an intermediary structure that connects horizontal particle positions to their corresponding 3D locations, mediating the conversion from 2D measurements to 3D coordinates.
3Measurement precision
If 3D point cloud data is processed to create floor models for positioning, then positioning accuracy in complex tunnel geometries improves, but computational resources increase
Solution Approach 1:
The patent segments the 3D point cloud data into multiple 2D horizontal projections at different elevations. Instead of processing the entire 3D point cloud simultaneously, the system divides it into separate 2D floor models at different heights. This segmentation reduces computational complexity by breaking down the large 3D dataset into smaller, more manageable 2D components that can be processed independently.
Solution Approach 2:
The patent uses partial action by creating floor models only at specific elevation levels where positioning is needed, rather than processing the complete 3D point cloud. The system selectively projects point cloud data onto 2D planes at relevant heights, performing computations only where necessary for positioning accuracy, thus reducing overall computational energy consumption.
Data Source
AI summary
A method for positioning a mobile object in an underground tunnel includes the steps of determining horizontal progression of a mobile object in an underground tunnel from a preceding position estimate or an initial position of the mobile object; determining horizontal position of the mobile object on the basis of a floor model of the tunnel and the estimated horizontal progression of the mobile object; and generating a three-dimensional position indicator on the basis of the horizontal position of the mobile object and a three-dimensional model of the tunnel.