Automation of a reclaimer using global and local range-finding systems

Hyun Sik Ahn; Chin Tae Choi; Kwan Hee Lee; Yeong-Ho Ha

doi:10.1117/12.232248

21 February 1996 Automation of a reclaimer using global and local range-finding systems

Hyun Sik Ahn, Chin Tae Choi, Kwan Hee Lee, Yeong-Ho Ha

Proceedings Volume 2665, Machine Vision Applications in Industrial Inspection IV; (1996) https://doi.org/10.1117/12.232248
Event: Electronic Imaging: Science and Technology, 1996, San Jose, CA, United States

Abstract

A reclaimer is used to dig raw material from a pile and transfer it to the blast furnaces in a steel making company. We propose a range finding vision system consisting of global and local range finders to fully automate the reclaimer. A global range sensor attached to the top of the reclaimer enables scanning more than 270 degrees and detecting a three dimensional profile of a pile. The sensor uses Ladar containing a range finder and one axis scan mirror. We added a motor to rotate Ladar for another axis scanning. A height map is obtained from the acquired range data by geometric transformation. Linear interpolation is applied between neighboring range data pixels because the initial height map is represented as a group of sparsely shaped points. By thresholding and edge following, we can calculate the optimal job path which avoids overload and maximizes digging efficiency. A local range finder attached at the end of the boom detects range data between the pile and bucket. The world coordinates are computed by three-dimensional translation and rotation of local range data. The local range data is used for renewing the height map after picking up some part of the pile. In this way, we obtain pile management and reclaimer automation.

Citation Download Citation

Hyun Sik Ahn, Chin Tae Choi, Kwan Hee Lee, and Yeong-Ho Ha "Automation of a reclaimer using global and local range-finding systems", Proc. SPIE 2665, Machine Vision Applications in Industrial Inspection IV, (21 February 1996); https://doi.org/10.1117/12.232248

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