Vision-based motion sensor for mining machine control

• US 6,296,317 B1
• Filed: 10/29/1999
• Issued: 10/02/2001
• Est. Priority Date: 10/29/1999
• Status: Expired due to Term

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Kelly, Alonzo James, Herdle, David K., Stentz, Anthony J., Higgins, Frank, Hegadorn, Timothy Ennis, Fromme, Christopher C., Campbell, Bryan G., McCargo Moore, Richard Jr., Ollis, Mark, Herman, Herman, Bares, John
• Primary Examiner(s): Bagnell, David
• Assistant Examiner(s): KRECK, JOHN J
• Application Number:
  US09/430,102
• Time in Patent Office: 704 Days
• Field of Search: 299/1.05, 299/1.4, 299/1.9, 299/30, 701/23, 701/28, 701/25, 701/24, 701/20, 382/153, 382/104, 382/106, 356/3.07
• US Class Current: 299/1.4
• CPC Class Codes: E21C 35/08 Guiding the machine
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593

Abstract

A mining machine having a position sensing and control apparatus is claimed. The mining machine has a vehicle body having forward and rearward ends and movable along a mine floor. A cutter head is mounted on the forward end of the mining machine for upward and downward movement relative to the vehicle body. A conveyor mounted on the vehicle body conveys material cut by the cutter head. The position sensing and control apparatus has at least one light source and at least one imaging device mounted on the machine. The position sensing and control apparatus captures images of natural features of an interior surface of a mine, digitizes the images and determines the distance between the imaging device and the natural feature to determine positional change of the machine.

Claims

1. A mining machine comprising:

a vehicle body having forward and rearward ends, said vehicle body being movable along a mine floor;

a cutter head mounted on said forward end for upward and downward movement relative to said vehicle body;

a conveyer mounted on said vehicle body for conveying material cut by said cutter head toward said rearward end; and

a position sensing and control apparatus including

at least one imaging module including

a diffuse light source and a striping light source; and

at least one imaging device mounted on said vehicle body, said imaging device having a filter so that said imaging device picks up only light having the wavelength of said diffuse light source and said light stripe source, and said imaging device capturing an image of natural features of an interior surface of the mine; and

a computer having a framegrabber, said computer receiving a first image and a second image from said imaging device, said computer digitizing the first image and separating said first image into an even data field and digitizing said second image and separating said second image into an odd data field, said even data field showing the image illuminated by the diffuse light source, said computer using the even data field to determine the center of the natural feature, said first odd data field showing the image illuminated by the light stripe, said computer using the odd data field to determine the distance between the imaging device and the natural feature, said computer receiving a third image and a fourth image from said imaging device, said computer digitizing said third image and separating said third image into a second even data field and said computer digitizing said fourth image and separating said fourth image into a second odd data field, said second even data field showing the image illuminated by the diffuse light source and tracking the location of the natural feature and determining the center of the natural feature, said second odd data field showing the image illuminated by the light stripe and determining the distance between the imaging device and the natural feature, said computer computing the distance between the imaging device of successive images and the natural feature to determine six degrees of positional changes between said successive images, said six degrees of positional changes used to compute the roll, yaw and lateral offset of said machine.

2. A mining machine as set forth in claim 1 and further comprising a controller for steering said vehicle body using PID control, and wherein said computer transmits said roll, yaw and lateral offset to said controller.

3. A mining machine as set forth in claim 1 and further comprising an operator display, and wherein said computer transmits said roll, yaw and lateral offset to said operator display.

4. A mining machine as set forth in claim 1, wherein said machine comprises four imaging modules.