公开(公告)号：US06349249B1

公开(公告)日：2002-02-19

申请号：US09515299

申请日：2000-02-29

Applicant: Peter D. Cunningham

Inventor： Peter D. Cunningham

IPC: G01C1100

CPC classification number: G01C7/06 ,  E21D9/004 ,  G01C21/16 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/027 ,  G05D2201/021

Abstract: An automated guided apparatus capable of accurately determining its position within a walled environment such as a mine or building. A mobile unit incorporating an inertial measurement unit and a gray scale vision system processor/camera and/or a laser pointer is able to initialize its location and then update its location within the environment. The apparatus is especially adapted for producing tunnel plan views (“TOPES”) and also for guiding equipment through such environments.

Abstract translation: 一种自动引导装置，能够准确地确定其在诸如矿井或建筑物的围墙环境中的位置。 包括惯性测量单元和灰度级视觉系统处理器/照相机和/或激光指示器的移动单元能够初始化其位置，然后更新其在环境内的位置。 该设备特别适用于生产隧道平面图（“TOPES”），并且还用于通过这种环境引导设备。