US 12,283,040 B2
Mining equipment inspection system, mining equipment inspection method, and mining equipment inspection device
Fredrik Johansson, Skellefteå (SE); Håkan Ståhlbröst, Skellefteå (SE); Lars Furtenbach, Skellefteå (SE); Johanna Fahlgren, Kåge (SE); Lotta Kågström, Skellefteå (SE); Magnus J. Eriksson, Kåge (SE); Jhino Silva, Lima (PE); and Victor Wesly Ruiz, Lima (PE)
Assigned to Metso Outotec Finland Oy, Tampere (FI)
Appl. No. 17/761,364
Filed by Metso Outotec Finland Oy, Tampere (FI)
PCT Filed Jun. 30, 2020, PCT No. PCT/EP2020/068393
§ 371(c)(1), (2) Date Mar. 17, 2022,
PCT Pub. No. WO2021/052645, PCT Pub. Date Mar. 25, 2021.
Claims priority of application No. 1951064-3 (SE), filed on Sep. 20, 2019.
Prior Publication US 2022/0351353 A1, Nov. 3, 2022
Int. Cl. G06T 7/33 (2017.01); B02C 17/18 (2006.01); G06T 7/00 (2017.01)
CPC G06T 7/001 (2013.01) [B02C 17/18 (2013.01); G06T 7/33 (2017.01); G06T 2207/10028 (2013.01)] 34 Claims
OG exemplary drawing
 
1. A computer-implemented point-cloud data acquisitioning method for acquiring point-cloud data of the inside of a mining equipment, the method comprising:
acquiring from a sensor, a first dataset and a second dataset, wherein each dataset comprises datapoints at coordinates;
extracting features from the first and second dataset;
aligning the first and second dataset using the extracted features;
combining the aligned first and second dataset into a point-cloud data;
estimating a geometry of the mining equipment based on the point-cloud data;
identifying by use of the point-cloud data a region of the estimated geometry indicating insufficient data.