US 12,086,921 B2
Positioning of mobile device in underground worksite
Pekka Martikainen, Tampere (FI)
Assigned to Sandvik Mining and Construction Oy, Tampere (FI)
Appl. No. 17/761,348
Filed by SANDVIK MINING AND CONSTRUCTION OY, Tampere (FI)
PCT Filed Sep. 17, 2020, PCT No. PCT/EP2020/076040
§ 371(c)(1), (2) Date Mar. 17, 2022,
PCT Pub. No. WO2021/053111, PCT Pub. Date Mar. 25, 2021.
Claims priority of application No. 19198779 (EP), filed on Sep. 20, 2019.
Prior Publication US 2022/0343585 A1, Oct. 27, 2022
Int. Cl. G06T 15/06 (2011.01); E02F 9/20 (2006.01); E02F 9/26 (2006.01); G05D 1/00 (2024.01); G06T 17/00 (2006.01); G06T 17/20 (2006.01)
CPC G06T 15/06 (2013.01) [E02F 9/205 (2013.01); E02F 9/26 (2013.01); G05D 1/0231 (2013.01); G05D 1/0274 (2013.01); G06T 17/20 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An apparatus comprising:
at least one processor and at least one memory including computer program code, the at least one memory and computer program code being configured to, with the at least one processor, cause the apparatus to:
receive a three-dimensional tunnel model of an underground tunnel system of a worksite;
receive two-dimensional position data including sets of x coordinate values and y coordinate values of a mobile device in the underground tunnel system;
perform a vertical plane ray cast operation in the tunnel model at a mobile device position defined by an x coordinate value and a y coordinate value in the received position data; and
determine a z coordinate value indicative of a vertical position of the mobile device in the tunnel system on the basis of the ray cast operation and at least one earlier resolved z coordinate value for a preceding mobile device position.