Abstract: This disclosure relates to navigation of an underground mining machine. A laser range finder captures first and second 3D point clouds of first and second overlapping parts of the underground mine from first and second positions of the mining machine respectively. A processor determines a first set of candidates for rock bolts as point feature objects from the first 3D point cloud; determines a second set of candidates for rock bolts as point feature objects from the second 3D point cloud; determines an alignment between first shapes defined by at least two of the first set of candidates for rock bolts and second shapes defined by at least two of the second set of candidates for rock bolts; and determines relative location information between the first position of the mining machine and the second position of the mining machine based on the alignment.

Abstract: This disclosure relates to navigation of an underground mining machine. A laser range finder captures first and second 3D point clouds of first and second overlapping parts of the underground mine from first and second positions of the mining machine respectively. A processor determines a first set of candidates for rock bolts as point feature objects from the first 3D point cloud; determines a second set of candidates for rock bolts as point feature objects from the second 3D point cloud; determines an alignment between first shapes defined by at least two of the first set of candidates for rock bolts and second shapes defined by at least two of the second set of candidates for rock bolts; and determines relative location information between the first position of the mining machine and the second position of the mining machine based on the alignment.

Abstract: Described herein is a device (1) for measuring parameters of a material (3) flowing along a passage (5), the passage having two longitudinally spaced apart ends and transverse sides defined by one or more sidewalls (7, 9). The device (1) includes a laser source (15) positioned at a first location within or adjacent a side of the passage (5) and configured to generate a laser beam (17) at one or more predetermined frequencies. A beam projection element (21, 27) projects the laser beam (17) transversely across the passage (5) to irradiate the material (3) within a measuring zone (19). The measuring zone (19) includes a transverse region extending greater than 50% of the width of the passage (5). An optical imaging device (29) is positioned at a second location within or adjacent the passage (5) and configured to capture images of backscattered light from material (3) within the measuring zone (19).

Abstract: This disclosure relates to an underground mining vehicle comprising a three-axis MEMS gyroscope rotatable about a rotation axis and a gyroscope interface that calculates a first rotation rate bias with respect to a first axis different to the rotation axis, a second rotation rate bias with respect to a second axis different to the first axis and different to the rotation axis, a rotation rate about the rotation axis based on the Earth rotation rate vector by correcting the rotational measurement data using the first rotation rate bias and the second rotation rate bias and a third rotation rate bias with respect to the rotation axis based on the calculated rotation rate about the rotation axis. A navigation unit receives the first rotation rate bias, the second rotation rate bias and the third rotation rate bias and calculates a pose of the vehicle.

Abstract: Described herein is a device (1) for measuring parameters of a material (3) flowing along a passage (5), the passage having two longitudinally spaced apart ends and transverse sides defined by one or more sidewalls (7, 9). The device (1) includes a laser source (15) positioned at a first location within or adjacent a side of the passage (5) and configured to generate a laser beam (17) at one or more predetermined frequencies. A beam projection element (21, 27) projects the laser beam (17) transversely across the passage (5) to irradiate the material (3) within a measuring zone (19). The measuring zone (19) includes a transverse region extending greater than 50% of the width of the passage (5). An optical imaging device (29) is positioned at a second location within or adjacent the passage (5) and configured to capture images of backscattered light from material (3) within the measuring zone (19).

Abstract: This disclosure relates to an underground mining vehicle comprising a three-axis MEMS gyroscope rotatable about a rotation axis and a gyroscope interface that calculates a first rotation rate bias with respect to a first axis different to the rotation axis, a second rotation rate bias with respect to a second axis different to the first axis and different to the rotation axis, a rotation rate about the rotation axis based on the Earth rotation rate vector by correcting the rotational measurement data using the first rotation rate bias and the second rotation rate bias and a third rotation rate bias with respect to the rotation axis based on the calculated rotation rate about the rotation axis. A navigation unit receives the first rotation rate bias, the second rotation rate bias and the third rotation rate bias and calculates a pose of the vehicle.