公开(公告)号：US20210017859A1

公开(公告)日：2021-01-21

申请号：US16857357

申请日：2020-04-24

Applicant: COMMONWEALTH SCIENTIFIC AND INDUSTRIAL RESEARCH ORGANISATION

Inventor： Mark DUNN ,  Peter REID ,  Jeremy THOMPSON ,  Camrin PEACOCK ,  Kevin SARIC

IPC: E21C41/16 ,  E21F13/04 ,  E21F13/00

Abstract: Disclosed herein is a system for controlling a mining machine within an underground mine. A rotatable laser source sends laser light and return light sensor receives reflected laser light and provides an indication of distance and return light intensity at multiple different rotation angles. A co-ordinate reference point comprises a pattern of varying reflectivity and provides at least a 2D co-ordinate position. A processor determines an absolute co-ordinate position in space of the mining machine as the mining machine moves through the underground mine. The processor collects intensity values of reflected laser light for multiple respective rotation angles and detects the pattern of the reference point in the multiple intensity values of reflected laser light, and determines the absolute co-ordinate position in space of the mining machine based on spatial information of the detected pattern.