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1. 发明申请

US20170138192A1 AUTOMATICALLY SCANNING AND REPRESENTING AN ENVIRONMENT WITH COLLISION AVOIDANCE 审中-公开
公开(公告)号：US20170138192A1
公开(公告)日：2017-05-18
申请号：US14941838
申请日：2015-11-16
申请人： ABB Technology AG
发明人： Jianjun WANG , Biao ZHANG , Carlos MARTINEZ , Carlos W. MORATO , Remus BOCA , Thomas Fuhlbrigge
IPC分类号： E21C37/00 , H04N5/265 , H04N13/02 , B60R1/00 , G05D1/00
CPC分类号： H04N13/204 , E21B7/022 , E21D9/003 , E21D9/006 , G01C7/06 , G05D1/0248 , G05D2201/021
摘要： 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.

2. 发明申请

US20160265914A1 MONITORING AN ENVIRONMENT 审中-公开
标题翻译：监测环境
公开(公告)号：US20160265914A1
公开(公告)日：2016-09-15
申请号：US15055176
申请日：2016-02-26
申请人： 3D Laser Mapping Limited
发明人： Graham Hunter
IPC分类号： G01C7/02 , G01C7/06 , H04W4/04
CPC分类号： G01C7/02 , G01C7/06 , G01C15/002 , H04W4/024 , H04W4/029
摘要： The technology relates to a system and method for monitoring an environment. The method comprises receiving first and second sets of data from a plurality of mobile units, wherein the first set of data is associated with a first temporal indicator, the second set of data is associated with a second temporal indicator and each mobile unit comprises: a position determining device configured to generate position data associated with a position of the mobile unit within the environment, and a laser scanning device configured to generate scan data based on a scan of at least part of the environment; determining a first parameter associated with the first set of data; determining a second parameter corresponding to the first parameter and associated with the second set of data; and determining a difference between the first and second parameters.
摘要翻译：该技术涉及用于监测环境的系统和方法。该方法包括从多个移动单元接收第一和第二组数据，其中第一组数据与第一时间指示符相关联，第二组数据与第二时间指示符相关联，并且每个移动单元包括：位置确定装置，被配置为生成与所述环境中的所述移动单元的位置相关联的位置数据;以及激光扫描装置，被配置为基于至少部分所述环境的扫描生成扫描数据; 确定与所述第一组数据相关联的第一参数; 确定对应于第一参数并与第二组数据相关联的第二参数; 以及确定所述第一和第二参数之间的差异。

3. 发明授权

US08473142B2 Method and arrangement for calculating a conformity between an estimated representation of an environment and the actual environment 有权
标题翻译：用于计算估计的环境表现与实际环境之间的一致性的方法和装置
公开(公告)号：US08473142B2
公开(公告)日：2013-06-25
申请号：US12736935
申请日：2009-05-28
申请人： Johan Larsson , Michael Krasser
发明人： Johan Larsson , Michael Krasser
IPC分类号： G01C22/00
CPC分类号： G09B29/005 , E21F13/02 , G01C7/06 , G01C15/002 , G01S17/89
摘要： The present invention concerns a method for determining a conformity between a representation of an environment and said environment, wherein said representation of the environment constitutes a representation in at least two dimensions, where a distance between two points in the representation has a known relation to the corresponding distance in said environment, characterized in that said determination involves the step of determining a first set of parameter values for a first position in said representation of the environment, comparing said first determined set of expected parameter values with a second set of parameter values, where said second set of parameter values has been determined for a second position, where said second position constitutes a position in said environment that essentially corresponds to said first position, and using said comparison to determine a measure of conformity between said environment and said representation of the environment. The invention also concerns an arrangement and the mining and/or construction machine.
摘要翻译：本发明涉及一种用于确定环境的表示和所述环境之间的一致性的方法，其中所述环境的表示构成至少二维的表示，其中所述表示中的两个点之间的距离与所述环境的已知关系在所述环境中的对应距离，其特征在于，所述确定包括确定所述环境表示中的第一位置的第一组参数值的步骤，将所述第一确定的预期参数值集合与第二组参数值进行比较，其中所述第二组参数值已经被确定为第二位置，其中所述第二位置构成所述环境中基本上对应于所述第一位置的位置，并且使用所述比较来确定所述环境和所述表示之间的一致性的度量环境。本发明还涉及一种布置和采矿和/或建筑机器。

4. 发明申请

US20020113869A1 Pipeline mapping system and method 审中-公开
标题翻译：管线测绘系统及方法
公开(公告)号：US20020113869A1
公开(公告)日：2002-08-22
申请号：US09740069
申请日：2000-12-18
发明人： Scott M. Kirkwood
IPC分类号： H04N007/18 , H04N009/47
CPC分类号： F17D5/00 , F17D3/01 , G01C7/06 , G01C15/00
摘要： A pipeline mapping system (1) and method has a mapping probe (2) on a probe conveyor (3) that is positioned on a base vehicle (5) in a main pipeline (6) from which the probe conveyor is extendable into a lateral pipeline (4) selectively. The base vehicle has a vehicle motor that can be a vehicle water jet (7) for propulsion of the base vehicle in the main pipeline and the probe conveyor has a probe motor that can be a probe water jet (8) for propulsion of the probe conveyor in the lateral pipeline. A mapping recorder that can include a metal detector (9), a TV monitor (10) and a computer (11) is in electronic communication with the mapping probe for recording mapping information from the mapping probe.
摘要翻译：管道测绘系统（1）和方法在探针传送器（3）上具有位于主管道（6）中的基本车辆（5）上的测绘探测器（2），探测传送器从该传播器延伸到侧面管道（4）选择性。基本车辆具有车辆电动机，其可以是用于在主管道中推进基本车辆的车辆水射流（7），并且探测传送器具有探针电动机，该探针电动机可以是用于推动探针的探针水射流（8）输送机在侧向管道中。可以包括金属检测器（9），电视监视器（10）和计算机（11）的映射记录器与映射探针电子通信，用于从映射探测器记录映射信息。

5. 发明授权

US5237384A Laser positioner and marking method using the same 失效
标题翻译：激光定位器和使用它的标记方法
公开(公告)号：US5237384A
公开(公告)日：1993-08-17
申请号：US726179
申请日：1991-07-05
申请人： Nobuyuki Fukunaga , Mutsuhiko Kimura , Yasuo Metoki , Takeo Saito , Yoshiaki Ishida , Kenji Miyahara
发明人： Nobuyuki Fukunaga , Mutsuhiko Kimura , Yasuo Metoki , Takeo Saito , Yoshiaki Ishida , Kenji Miyahara
IPC分类号： G01C7/06 , G01C15/00
CPC分类号： G01C7/06 , G01C15/002
摘要： A laser positioner is located at a survey base point for projecting a geodetic design pattern depicting design working points onto a working face remote from the base point by use of a laser pattern projector, upon surveying an object route by use of a laser surveying unit. In tunneling operations for example, the design pattern is formed on the working face, so that boring of the holes for charging explosives in the working face can be performed without paint-marking on the working face.

6. 发明授权

US5235398A Cavity monitoring system 失效
标题翻译：腔监测系统
公开(公告)号：US5235398A
公开(公告)日：1993-08-10
申请号：US840516
申请日：1992-02-25
申请人： Fabien Miller , Denis Jacob
发明人： Fabien Miller , Denis Jacob
IPC分类号： G01B11/24 , G01C7/06 , G01S7/481 , G01S17/42
CPC分类号： G01S7/4813 , G01B11/24 , G01C7/06 , G01S17/42
摘要： A cavity monitoring system includes a supporting system adapted to be installed in an access leading to a mined stope, or any other cavity, a mast mounted on the supporting system and adapted to extend into the cavity, and a laser rangefinder mounted at the end of the mast. The laser rangefinder is capable of being rotated around the axis of the mast and directed at the wall of the cavity at angles varying from 0 to 145 degrees from the axis of the mast so as to scan concentric circles on the wall of the cavity permitting a series of distance measurements to be taken to obtain the shape and volume of the cavity.
摘要翻译：空腔监测系统包括一个支撑系统，该支撑系统适于安装在通向开采站点的任何通道或任何其它腔室中，安装在支撑系统上的并适于延伸到空腔中的桅杆以及安装在末端的激光测距仪桅杆激光测距仪能够围绕桅杆的轴线旋转并以与桅杆的轴线0至145度变化的角度指向空腔的壁，以便在腔体的壁上扫描同心圆，从而允许采取一系列距离测量来获得空腔的形状和体积。

7. 发明授权

US4586571A Method of and arrangement for positioning of a drilling apparatus 失效
标题翻译：钻孔设备定位方法和布置
公开(公告)号：US4586571A
公开(公告)日：1986-05-06
申请号：US643004
申请日：1984-08-21
申请人： Pauli Rajakallio , Pentti Hyvonen
发明人： Pauli Rajakallio , Pentti Hyvonen
IPC分类号： E21B7/02 , E21B15/00 , E21B19/24 , E21B47/02 , G01C7/06 , E21C9/00
CPC分类号： G01C7/06 , E21B19/24 , E21B47/02
摘要： The present invention relates to a method and an apparatus for positioning a drilling apparatus with respect to a drilling plane formed by holes to be drilled in a rock in a tunnel. Light beams pointing in opposite directions are developed and fixed with respect to the drilling unit and are directed towards marks on the tunnel walls by adjusting the base of the apparatus in a horizontal plane.
摘要翻译：本发明涉及一种用于定位钻孔设备的方法和设备，该钻孔设备相对于在隧道中的岩石中钻孔所形成的钻孔平面。指向相反方向的光束相对于钻孔单元展开和固定，并且通过在水平面中调节设备的基部而被引向隧道壁上的标记。

8. 发明授权

US4367021A Method and apparatus in tunneling 失效
标题翻译：隧道中的方法和装置
公开(公告)号：US4367021A
公开(公告)日：1983-01-04
申请号：US201485
申请日：1980-07-03
申请人： Bo G. Nordgren , Bo Akerlind , Klaus Biedermann
发明人： Bo G. Nordgren , Bo Akerlind , Klaus Biedermann
IPC分类号： E21D9/00 , E21D9/14 , F42D3/04 , G01C7/06 , G01C15/00
CPC分类号： G01C15/002 , E21D9/006 , G01C7/06 , Y10S33/21
摘要： Disclosed is a method for marking out drill holes in accordance with a predetermined drill hole pattern. A direction reference beam (c) is projected in a direction defining the direction of the tunnel and part of a beam (e) is deflected from the reference beam, the part of the beam is passed to a beam derivating means (d.sub.2) by means of which the part beam is directed in accordance with a predetermined drill hole pattern onto the rock surface (4) to present thereon images of the part beam at locations of intended drill holes. Correspondingly, a device for executing said method comprises means (d.sub.1) for deflecting at least part of a direction reference light beam (c) to form part of a beam (e), and means (d.sub.2) to direct the part of the beam onto locations of drilling holes for explosives in accordacne with a predetermined pattern.
摘要翻译： PCT No.PCT / SE79 / 00223 Sec。 371日期1980年7月3日 102（e）日期1980年6月23日PCT申请日1979年11月1日PCT公布。出版物WO80 / 01003 日期为1980年5月15日。公开是根据预定的钻孔图案标记钻孔的方法。方向参考光束（c）以限定隧道方向的方向投影，并且光束（e）的一部分从参考光束偏转，光束的一部分通过装置传递到光束衍射装置（d2）其中部分梁根据预定的钻孔图案被引导到岩石表面（4）上，以在目标钻孔的位置处呈现部分梁的图像。相应地，用于执行所述方法的装置包括用于偏转方向参考光束（c）的至少一部分以形成光束（e）的一部分的装置（d1），以及用于将光束的一部分引导到爆炸物钻孔位置与预定图案相符。

9. 发明授权

US4345839A Device for controlling the position of a drift advancing machine 失效
标题翻译：用于控制漂移推进机的位置的装置
公开(公告)号：US4345839A
公开(公告)日：1982-08-24
申请号：US114600
申请日：1980-01-23
申请人： Bernhard Droescher , Alfred Zitz
发明人： Bernhard Droescher , Alfred Zitz
IPC分类号： G01C15/00 , E21C35/24 , E21D9/10 , G01C7/06 , G01B11/00
CPC分类号： E21D9/108 , G01C7/06
摘要： In apparatus for controlling the position of a drift advancing machine having a longitudinal axis: two light beam sources or laser beam sources spaced longitudinally from the machine, the sources emitting beams which are parallel to each other and to the drift axis and which are in different vertical planes extending longitudinally of the drift; and two beam receivers arranged on the machine, the receivers being in transversely spaced apart positions relative to the longitudinal axis of the machine, and the transverse distance between the receivers corresponding to the transverse distance between the two beams.
摘要翻译：在用于控制具有纵向轴线的漂移推进机的位置的装置中：两个光束源或激光束源与机器纵向间隔开，源发射彼此平行并且与漂移轴不同的光束垂直平面纵向延伸; 以及布置在机器上的两个光束接收器，接收器相对于机器的纵向轴线处于横向间隔开的位置，并且接收器之间的横向距离对应于两个光束之间的横向距离。

10. 发明授权

US4238828A Position detecting apparatus 失效
标题翻译：位置检测装置
公开(公告)号：US4238828A
公开(公告)日：1980-12-09
申请号：US949185
申请日：1978-10-06
申请人： Andrew G. Hay , Peter R. Mason
发明人： Andrew G. Hay , Peter R. Mason
IPC分类号： G01B11/00 , G01B11/27 , G01C7/06 , G01D5/26 , G01S5/16 , G01V5/00 , E21B25/16
CPC分类号： G01S5/16 , G01B11/005 , G01B11/272 , G01C7/06 , G01D5/26
摘要： Position detecting apparatus having a target comprising radiation emittingeans for emitting radiation to define four points in non-planar relationship such that a first set of three of the points lies in a first target plane while a second set of three of the points lies in a second target plane which may for example be substantially normal to the first target plane; a camera having a focal plane on which images of objects presented to the camera are formed, the camera being arranged for viewing said target, and being provided at said focal plane with a two-dimensional array of photo sensitive elements which can receive radiation from the radiation emitting means of the said target; and a computer arranged to scan said two dimensional array to generate signals indicative of the position of images of the radiation emitting means on the array, whereby the position of the target, and hence of an object to which it is attached, may be determined in relation to a selected reference plane.
摘要翻译：具有目标的位置检测装置包括用于发射辐射以定义非平面关系中的四个点的辐射发射装置，使得第一组三个点位于第一目标平面中，而第二组三个点位于第二目标平面可以例如基本上垂直于第一目标平面; 具有焦平面的照相机，在该平面上形成呈现给照相机的物体的图像，该照相机布置成用于观看所述目标，并且在所述焦平面处设置有能够接收来自所述目标的辐射的二维光敏元件阵列所述靶的辐射发射装置; 以及布置成扫描所述二维阵列以产生指示阵列上的辐射发射装置的图像的位置的信号的计算机，由此目标的位置以及因此与其相关联的对象的位置可以在与所选参考平面的关系。

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