Underground Mobile Positioning Using 3D Tunnel Ray Casting
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Solution Overview
Problem
Existing positioning systems for mobile devices in underground worksites, such as mines, often rely on 2D horizontal position data, which is not sufficient for accurately determining the vertical position of mobile vehicles in complex tunnel systems with overlapping tunnels, leading to ambiguity and incorrect positioning.
Innovation Solution
The system performs a vertical plane ray cast operation using a 3D tunnel model and 2D position data to determine the z-coordinate of a mobile device's position, considering earlier resolved z-coordinates and deviations, allowing for precise vertical positioning and visualization of the device within the tunnel system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If 2D horizontal position data is used for positioning mobile devices in underground worksites, then the positioning system is simple to implement, but the vertical position determination becomes ambiguous and incorrect in complex tunnel systems with overlapping tunnels
Solution Approach 1:
The patent transitions from 2D horizontal positioning to 3D positioning by introducing vertical plane ray casting operations. The system performs ray casting in the vertical dimension using a 3D tunnel model to determine z-coordinates, thereby resolving the ambiguity of vertical position determination while maintaining system simplicity through algorithmic enhancement rather than hardware complexity.
2Measurement precision
If 3D tunnel model with vertical plane ray cast operation is used to determine z-coordinate, then the vertical positioning accuracy is improved, but the computational complexity and processing requirements increase
Solution Approach 1:
The system performs preliminary actions by pre-establishing the 3D tunnel model and pre-processing spatial relationships before actual positioning operations. The ray casting algorithms and spatial index structures are prepared in advance, allowing rapid query and determination of z-coordinates during runtime without performing complex calculations for each positioning event.
Solution Approach 2:
The patent uses a digital 3D copy of the tunnel model (virtual model) that replicates the physical tunnel geometry. This virtual model allows for efficient computational operations including vertical plane ray casting without affecting the physical system, enabling accurate positioning calculations through virtual space operations.
3Measurement precision
If vertical plane ray cast operation is performed at each mobile device position, then precise 3D coordinates are obtained, but the processing time and computational resources increase
Solution Approach 1:
The patent combines multiple positioning operations into a unified 3D positioning framework. By integrating horizontal position data with vertical plane ray casting in a single coordinated system, the method determines complete 3D coordinates (x, y, z) through one unified process rather than separate operations, reducing overall processing time and computational overhead.
Data Source
AI summary
A method is provide, which includes the steps of receiving a three-dimensional tunnel model of an underground tunnel system of a worksite, receiving two-dimensional position data having sets of x coordinate values and y coordinate values of a mobile device in the underground tunnel system, performing a vertical plane ray cast operation in the tunnel model at a mobile device position defined by an x coordinate value and an y coordinate value in the received position data, and determining a z coordinate value for the mobile device position on the basis of the ray cast operation and at least one earlier resolved z coordinate value for a preceding mobile device position.