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A robotic excavator for autonomous truck loading

Stentz, A. / Bares, J. / Singh, S. / Rowe, P.

Excavators are used for the rapid removal of soil and other materials in mines, quarries, and construction sites. The automation of these machines offers promise for increasing productivity and improving safety. To date, most research in this area has focused on selected parts of the problem. In this paper we present a system that completely automates the truck loading task. The excavator uses two scanning laser rangefinders to recognize and localize the truck, measure the soil face, and detect obstacles. The excavator's software decides where to dig in the soil, where to dump in the truck, and how to quickly move between these points while detecting and stopping for obstacles. The system was fully implemented and was demonstrated to load trucks as fast as human operators.

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A robotic excavator for autonomous truck loading

Stentz, A. / Bares, J. / Singh, S. / Rowe, P.

Excavators are used for the rapid removal of soil and other materials in mines, quarries, and construction sites. The automation of these machines offers promise for increasing productivity and improving safety. To date, most research in this area has focused on selected parts of the problem. In this paper we present a system that completely automates the truck loading task. The excavator uses two scanning laser rangefinders to recognize and localize the truck, measure the soil face, and detect obstacles. The excavator's software decides where to dig in the soil, where to dump in the truck, and how to quickly move between these points while detecting and stopping for obstacles. The system was fully implemented and was demonstrated to load trucks as fast as human operators.

A robotic excavator for autonomous truck loading

Stentz, A. / Bares, J. / Singh, S. / Rowe, P.

Excavators are used for the rapid removal of soil and other materials in mines, quarries, and construction sites. The automation of these machines offers promise for increasing productivity and improving safety. To date, most research in this area has focused on selected parts of the problem. In this paper we present a system that completely automates the truck loading task. The excavator uses two scanning laser rangefinders to recognize and localize the truck, measure the soil face, and detect obstacles. The excavator's software decides where to dig in the soil, where to dump in the truck, and how to quickly move between these points while detecting and stopping for obstacles. The system was fully implemented and was demonstrated to load trucks as fast as human operators.

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Title:

A robotic excavator for autonomous truck loading

Contributors:

Stentz, A. (author) / Bares, J. (author) / Singh, S. (author) / Rowe, P. (author)

Published in:

Innovations in Theory, Practice and Applications, IEEE/RSJ International Conference on Intelligent Robots and Systems, 1998 ; 1885-1893

Publication date:

1998

Size:

9 Seiten, 23 Quellen

ISBN:

DOI:

https://doi.org/10.1109/IROS.1998.724871

Type of media:

Conference paper

Type of material:

Print

Language:

English

Keywords:

Erdbaumaschine , Bilderkennung , mobiler Roboter , Schmutzbeseitigen , Bergwerk , Steinbruch , Hinderniserkennung

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