Motion Planning from Perceptual Data for a Roadheader in Automatic Selective Cutting Operation

International audienceno abstrac

Robotisation d'une machine à attaque ponctuelle lors d'une opération d'abattage sélectif

National audienc

DiseNo final y montaje del ensayo in situ en Grimsel

Centro de Informacion y Documentacion Cientifica (CINDOC). C/Joaquin Costa, 22. 28002 Madrid. SPAIN / CINDOC - Centro de Informaciòn y Documentaciòn CientìficaSIGLEESSpai

Use of Computer vision for Automation of a Roadheader in Selective Cutting Operation

International audienceState-of-the art of automation in roadheaders Most of the experimental work for roadheaders automation has been centered in the operations which imply cutting a complete section which has a constant profile, or shows only slight changes, and with an arrangement of the cutting sequence subject basically only to the restrictions arising from the geometrical or geotechnical conditions. Nowadays, the market offers Systems able to control automatically the cutting of a fixed profile, which are applied to build roadways or tunnels

Mining robotics: Application of computer vision to the automation of a roadheader

International audienceAutomation of mining operations involves the use of sensing, remote monitoring and control systems in order to confront a variety of situations and environmental conditions. The need of profitability of a mine sometimes requires that selective cutting be performed in order to separate rich ore from waste at the cutting stage. Basically, the problems to be solved are those of modelling an uncontrolled, changing mine environment and programming the machine to cut a pattern accordingly. We present in this paper how image segmentation and classification, 3-D scene perception and path planning can cooperate to solve such a complex problem as selective cutting

Robotique minière : application de la vision par ordinateur à l'automatisation d'une machine d'abattage

National audienceThis work has been performed in the framework of a collaborative program funded by the Commission of the European Communities; AITEMIN, LAAS-CNRS and INERIS have undertaken a. research project to automate the cutting Operation of a roadheader for selective cutting in an Underground potash mine near Barcelona in Spain