公开(公告)号：US10341639B2

公开(公告)日：2019-07-02

申请号：US14941838

申请日：2015-11-16

Applicant: ABB Technology AG

Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos W. Morato ,  Remus Boca ,  Thomas Fuhlbrigge

IPC: H04N13/204 ,  E21D9/00 ,  E21B7/02 ,  G05D1/02

Abstract: Automatic scanning and representing an environment with collision avoidance includes, for example, obtaining a first representation of the environment using a first scanning path, determining a second scanning path based on the first representation of the environment operable to avoid contact with the environment when obtaining a second representation of the environment, obtaining the second representation of the environment based on the second scanning path, and wherein the second representation of the environment is different from the first representation of the environment. The method may be employed in imaging and/or representing a rock wall having a plurality of spaced-apart holes for receiving charges for mining.