Abstract
By: Reza Aslanzadeh & Stefan Klaassen
Rockbreakers are integral machines at many mine sites all over the world. While their movements may seem straightforward, the maneuverability of rockbreakers can be challenging. The variability of the environment and scenarios adds further complexity to the process. Autonomous control is a complex element that can simplify maneuverability significantly for all users.
TeleOp has proven to be a safe and reliable system for control over all makes and models of machinery and this research further enhances the capabilities by adding autonomous rock breaking features.
For this presentation, we will reveal our latest advancements in automated rockbreakers. Our system solves many of the challenges with teleoperation while also fulfilling some of the requirements of a fully autonomous rockbreaker. We will show improvements through various experiments using simulations and in-field case studies. Results have demonstrated improvement in several aspects of both the safety and performance of mining operations. Our scientific research and industrial experiments focus on actuator control and computer vision systems required for an autonomous rockbreaker. We will exhibit features designed both for vision monitoring and autonomous controlling such as candidate target suggestion, auto park, deploy, and moving to target autonomously.
The path planning algorithms and motion control systems that have been developed can compete with a trained operator using three metrics. It is designed to outperform a trained operator in speed and accuracy, all while following best practices outlined by the manufacturer. This could lead to a significant decrease in long-term maintenance costs.
The computer vision-based monitoring system implemented in this study has been shown to provide a better user experience for operators by decreasing their cognitive load. The tested features that led to decreased cognitive load include a simple and intuitive way to control rockbreaker movement, highlight important details, and provide alerts when actions are required. As a result, the process can be done easier, faster, safer, and more efficiently while also giving the user the ability to control more than one rockbreaker at the same time.