Autonomous LHD loading
Paper
Paper/Presentation Title | Autonomous LHD loading |
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Presentation Type | Paper |
Authors | Petty, Matt K. (Author), Billingsley, John (Author) and Tran-Cong, Thanh (Author) |
Editors | Werner, Bob |
Journal or Proceedings Title | Proceedings of the 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997) |
Number of Pages | 6 |
Year | 1997 |
Place of Publication | Los Alamitos, CA. United States |
ISBN | 0818680253 |
Digital Object Identifier (DOI) | https://doi.org/10.1109/MMVIP.1997.625330 |
Web Address (URL) of Paper | http://ieeexplore.ieee.org/document/625330/ |
Conference/Event | 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997) |
Event Details | 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997) Parent International Conference on Machine Vision and Mechatronics in Practice Delivery In person Event Date 23 to end of 25 Sep 1997 Event Location Toowoomba, Australia |
Abstract | Machine vision is used for guidance of the autonomous loading of ore during underground mining. Three dimensional spatial data of the ore pile is derived in real-time from camera images and is used for planning the scooping process. A sensory integration technique combines feedforward from the same vision system with wheel odometry to guide the vehicle to and from the ore pile. A computationally efficient kinematic model of the vehicle is derived and its application discussed. LHD (load-haul-dump) vehicles are used extensively in underground mining. Increasing production costs and the ongoing quest for improved safety provide a great incentive to automate their working cycle. This research concentrates on a major component of this task-automation of loading. The proposed loading controller will load an LHD swiftly and safely while leaving the ore pile in a suitable condition for subsequent bucket scoops. |
Keywords | load-haul-dump vehicles; machine vision; sensory integration technique; underground mining; wheel odometry; autonomous loading; camera images; computationally efficient kinematic model; feedforward |
ANZSRC Field of Research 2020 | 400703. Autonomous vehicle systems |
400799. Control engineering, mechatronics and robotics not elsewhere classified | |
400999. Electronics, sensors and digital hardware not elsewhere classified | |
Public Notes | © 1997 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Byline Affiliations | Department of Mechanical and Mechatronic Engineering |
Institution of Origin | University of Southern Queensland |
https://research.usq.edu.au/item/q0431/autonomous-lhd-loading
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