Automatic detection and breaking system for boulders by use of CCD camera and laser pointer

Takahashi, Hiroshi; Sano, Koji

doi:10.1080/13855149809408785

Cited by 8 publications

(5 citation statements)

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“…Others have built on this work for applications in homogenous materials [6]. For a different application, [10] used a CCD camera and a laser pointed to detect boulders. Another, targeted specifically at excavation for load-haul-dump (LHD) machines, made an effort to avoid large fragments by focusing on the gradient and overall shape of the pile rather than its composition [11].…”

Section: A Problem Backgroundmentioning

confidence: 99%

Automatic Identification of Large Fragments in a Pile of Broken Rock Using a Time-of-Flight Camera

McKinnon

Marshall

2014

IEEE Trans. Automat. Sci. Eng.

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This paper presents a solution to part of the problem of making robotic or semi-robotic digging equipment less dependant on human supervision. A method is described for identifying rocks of a certain size that may affect digging efficiency or require special handling. The process involves three main steps. First, by using range and intensity data from a time-of-flight (TOF) camera, a feature descriptor is used to rank points and separate regions surrounding high scoring points. This allows a wide range of rocks to be recognized because features can represent a whole or just part of a rock. Second, these points are filtered to extract only points thought to belong to the large object. Finally, a check is carried out to verify that the resultant point cloud actually represents a rock. Results are presented from field testing on piles of fragmented rock. Note to Practitioners-This paper presents an algorithm to identify large boulders in a pile of broken rock as a step towards an autonomous mining dig planner. In mining, piles of broken rock can contain large fragments that may need to be specially handled. To assess rock piles for excavation, we make use of a TOF camera that does not rely on external lighting to generate a point cloud of the rock pile. We then segment large boulders from its surface by using a novel feature descriptor and distinguish between real and false boulder candidates. Preliminary field experiments show promising results with the algorithm performing nearly as well as human test subjects.

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Section: A Problem Backgroundmentioning

confidence: 99%

Automatic Identification of Large Fragments in a Pile of Broken Rock Using a Time-of-Flight Camera

McKinnon

Marshall

2014

IEEE Trans. Automat. Sci. Eng.

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“…To prevent machine damage, Correa et al [93] developed the haptic tele-operation system based on a 3D LIDAR scanning and point-cloud model of the environment, which can estimate repulsion forces transferred to the operator (see Figure 13). Regarding the autonomous operation of impact hammers, although research started more than twenty years ago (Takahashi et al [94]), the reported results are still not satisfactory for the application of this technology in a real mining environment. Lampinen et al [95] obtained an average success rate of only 34% in the task of the remote control of rock breaking.…”

Section: Application Of Electric Hammers In Miningmentioning

confidence: 99%

Review of Linear Electric Motor Hammers—An Energy-Saving and Eco-Friendly Solution in Industry

et al. 2023

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Standard hydraulic breaking hammers are widely used for crushing oversized blasted materials and concrete structures demolition in industry. These hammers, installed in on-surface working excavators or stationary manipulators at the dumping points of underground conveyors, provide the required limited sizes of bulk materials and enable the safe operation of other equipment (screens, crushers). In parallel, hydraulic hammers have an alternative—fully electric hammers. This paper aims to review existing linear electric motor (LEM) hammers as an energy-saving and eco-friendly solution in industry. Global market analysis is presented with potential branches of LEM hammers. Several aspects for implementation—design optimization, dynamics simulation, machine control, and performance estimation—are considered. Different case studies for LEM-hammer application are given. The preliminary measurements are demonstrated on the electric hammer of Lekatech Company, which is intended for the mining industry and construction demolition. Experiments showed that depending on the impact frequency, type of rock, and shape of the crushing tool, the time to fracture varies significantly. Optimal parameters exist for every case, for which adjusting requires online hammer control.

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“…The first reported attempts at autonomous vision-based rock breaking originates from 1998. Takahashi and Sano (1998) proposed an early image processing approach to detect rocks on the grizzly. The position of the rocks was obtained by complementing image data with a laser pointer mounted on the manipulator.…”

Section: Literature Reviewmentioning

confidence: 99%

Autonomous robotic rock breaking using a real‐time 3D visual perception system

Lampinen

Niu

Hulttinen

et al. 2021

Journal of Field Robotics

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Crushing of blasted ore is an essential phase in extraction of valuable minerals in mining industry. It is typically performed in multiple stages with each stage producing finer fragmentation. Performance and throughput of the first stage of crushing is highly dependent on the size distribution of the blasted ore. In the crushing plant, a metal grate prevents oversized boulders from getting into the crusher jaws, and a human-controlled hydraulic manipulator equipped with a rock hammer is required to break oversized boulders and ensure continuous material flow. This secondary breaking task is event-based in the sense that ore trucks deliver boulders at irregular intervals, thus requiring constant human supervision to ensure continuous material flow and prevent blockages. To automatize such breaking tasks, an intelligent robotic control system along with a visual perception system (VPS) is essential. In this manuscript, we propose an autonomous breaker system that includes a VPS capable of detecting multiple irregularly shaped rocks, a robotic control system featuring a decision-making mechanism for determining the breaking order when dealing with multiple rocks, and a comprehensive manipulator control system. We present a proof of concept for an autonomous robotic boulder breaking system, which consists of a stereo-camera-based VPS and an industrial rock-breaking manipulator robotized with our retrofitted system design. The experiments in this study were conducted in a real-world setup, and the results were evaluated based on the success rates of breaking. The experiments yielded an average success rate of 34% and a break pace of 3.3 attempts per minute.

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Automatic detection and breaking system for boulders by use of CCD camera and laser pointer

Cited by 8 publications

References 0 publications

Automatic Identification of Large Fragments in a Pile of Broken Rock Using a Time-of-Flight Camera

Automatic Identification of Large Fragments in a Pile of Broken Rock Using a Time-of-Flight Camera

Review of Linear Electric Motor Hammers—An Energy-Saving and Eco-Friendly Solution in Industry

Autonomous robotic rock breaking using a real‐time 3D visual perception system

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