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
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. 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. 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. CSIRO. TeleRobotics
Enabling Technology – Localization
• Inertial Navigation Systems
• Global Positioning System
• Beacons / Tracking
• Laser
• Radar
• Vision
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