US 12,481,282 B2
Underground vehicle monitoring system field
Jussi Puura, Tampere (FI); Samuel Hyyppa, Tampere (FI); and Lauri Siivonen, Tampere (FI)
Assigned to Sandvik Mining and Construction Oy, Tampere (FI)
Appl. No. 18/027,471
Filed by SANDVIK MINING AND CONSTRUCTION OY, Tampere (FI)
PCT Filed Sep. 23, 2021, PCT No. PCT/EP2021/076211
§ 371(c)(1), (2) Date Mar. 21, 2023,
PCT Pub. No. WO2022/063903, PCT Pub. Date Mar. 31, 2022.
Claims priority of application No. 20198251 (EP), filed on Sep. 24, 2020.
Prior Publication US 2023/0376040 A1, Nov. 23, 2023
Int. Cl. G05D 1/00 (2024.01); G08G 1/0968 (2006.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0274 (2013.01); G05D 1/0291 (2013.01); G08G 1/096855 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An apparatus comprising at least one processor, at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processor, cause the apparatus to:
obtain route plan information defining a route to be driven by an articulated vehicle including a front portion and a rear portion articulably coupled to the front portion, the route plan information being indicative of a set of route points for a tunnel system of an underground worksite for at least partially autonomous driving of the articulated vehicle;
detect, for at least some route points in the set of route points, space information for the at least some route points in the set of route points, the space information being indicative of spaces required by the front portion and the rear portion of the articulated vehicle at associated route points based on dimensions of the respective machine portion and an articulation angle between the front portion and the rear portion;
generate a set of route point specific envelopes on the basis of the space information, wherein a front portion envelope is indicative of space required by the front portion and a rear portion envelope is indicative of space required by the rear portion at an associated route point; and
control visualization of the set of route point specific envelopes at the associated route points in a tunnel model to represent a planned route front portion trace and a rear portion trace of the articulated vehicle when driving via the route points.