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2008 remote mining

Presentation of Remote Mining projects

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2008 remote mining

  1. 1. Remote Mining Elliot Duff Senior Research Scientist Nov 2007
  2. 2. CSIRO. TeleRobotics Mining Equipment Shovels Trucks Draglines Excavators Drilling Shearers LHD Loading Exploration & Mining Sensors & Communications INS LasersGPS RadarVision WiFi GSM/GPRS CDMA/3G Adhoc UWB TIP/MS/MST Traditional Roles in CSIRO
  3. 3. CSIRO. TeleRobotics Sensors & Communications New navigation and position systems New distributed sensor technologies Mining Equipment Intelligent control systems Real-time reasoning Specialising in the development of intelligent systems for the autonomous operation of mining equipment 10 Years of Collaboration
  4. 4. CSIRO. TeleRobotics Example 1. Dragline Swing Assist
  5. 5. CSIRO. TeleRobotics Example 1. Dragline Terrain Following
  6. 6. CSIRO. TeleRobotics Example 2. LHD Auto Tramming
  7. 7. CSIRO. TeleRobotics Example 3. Explosive Loading
  8. 8. CSIRO. TeleRobotics Mining Equipment Sensors & Communications Humans SafetyHMI Mine Awareness • Failsafe communications • Reliable localization • Asset management Mine Telerobotics • Visualization • Immersion • Haptic Feedback OH&STraining Productivity Improving health and safety for workers in hazardous environments, as well as, enhancing equipment utilization and consistency of production. Mine Automation • Shared Autonomy • Cooperative Behavior • Material Handling New Directions in Mining
  9. 9. CSIRO. TeleRobotics Mine Tele-Robotics and Remote Mining Mixed-RealityTele-Robotic Robot Tele-Operation Machine Autonomy Shared Autonomy Autonomy Manual User Interface Intelligent Behavior Extent of Knowledge Communications Latency Global LocalReactive Proactive Augmented Reality Augmented Virtuality Supervisory Assistive Real Virtual Mine Automation Mine Sensing and Comms Mine Tele-Robotics Development of shared perceptive space (distributed model of the world) that facilitates communication and task planning between humans and machines with different levels of sensing and autonomy. Development of an augmented virtual user interface that is capable of supervising a number of remote machines and integrating complex geological data with real-time data streams from multiple remote sensors
  10. 10. CSIRO. TeleRobotics Future Control Room • Industry Drivers • Underground - Remove people from dangerous environment • Surface - Improve productivity (dig-to-plan & cooperative) • Requirements • Visual and Haptic user interfaces that are capable of integrating complex geological data with real-time data streams from multiple and remote machine sensor • Visualization • Putting disparate and numerous data sets into a coherent hole. • NOT Virtual or Simulated data - augmented virtuality • Based upon actual state of the machine/environment in real-time • Immersive and Interactive • Experience of being fully present - Not necessarily HMD or stereo • Appropriate presentation of data to the user - single modality • Engage operator in a natural and intuitive manner - 3D and Haptic
  11. 11. CSIRO. TeleRobotics Enabling Technology – Localization • Inertial Navigation Systems • Global Positioning System • Beacons / Tracking • Laser • Radar • Vision
  12. 12. CSIRO. TeleRobotics Enabling Technology - Environmental Sensing • Conventional sensors • Vision / Stereo • Scanning Range Laser • Ad-Hoc Sensing networks • Radar
  13. 13. CSIRO. TeleRobotics Enabling Technologies – Digital Terrain Mapping
  14. 14. CSIRO. TeleRobotics Enabling Technologies – Active Controls Dragline Controls Haptic Workbench • Seamless Set-point Transfer • Intuitive Feedback • Operator Acceptance • Interchangeable
  15. 15. CSIRO. TeleRobotics Example 4. Excavator Guidance Real-time 3D Digital Terrain Map Simulation based upon measured joint angles Laser Bucket Tracking Bucket Ground Excavator Truck
  16. 16. CSIRO. TeleRobotics Example 4. Excavator Reconciliation
  17. 17. CSIRO. TeleRobotics Example 5: Shovel Truck Interaction
  18. 18. CSIRO. TeleRobotics Example 5: Shovel DigAssist
  19. 19. CSIRO. TeleRobotics Example 3: Scale Dragline
  20. 20. CSIRO. TeleRobotics GUI Development Trees Machine Centre Trailer Dig face
  21. 21. CSIRO. TeleRobotics GUI Contour Plot Mark dig and dump point
  22. 22. CSIRO. TeleRobotics Tele-Excavation over the Internet QCAT Redbank ADSL WiFi JPL Internet
  23. 23. CSIRO. TeleRobotics Full Automation
  24. 24. CSIRO. TeleRobotics Before and After
  25. 25. Contact Us Phone: 1300 363 400 or +61 3 9545 2176 Email: enquiries@csiro.au Web: www.csiro.au Thank you ICT Centre Elliot Duff Senior Research Scientist Phone: +61 7 3327 4632 Email: elliot.duff@csiro.au Web: www.csiro.au/asl
  26. 26. CSIRO. TeleRobotics Autonomy Spectrum (Digging) Manual AutonomousDigToPlan DigAssist Plan Safety Tool Position Encoders 3D Display Realtime DTM Lasers Immersive Display Machine State Haptics INS etc Force Feedback Visualization GPS 2D Display Offline DTM Situation Awareness Comms Mission Collaborative Interfaces
  27. 27. CSIRO. TeleRobotics State of the art in Excavation? 0 50 100 Digging Swing Dump Walk Maintenance Integration Autonomous Manual DigAssist DigToPlan
  28. 28. CSIRO. TeleRobotics Longwall Automation Remote visualization of longwall driven by real data in realtime
  29. 29. CSIRO. TeleRobotics Where to now?
  30. 30. CSIRO. TeleRobotics Gaming ? Eve - Asteroid MiningSecond Life

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