Model-based task planning for loading operation in mining

As basic research on autonomous systems in mining fields, a model-based task planning method for loading operation is proposed. The models of loader and pile of fragmented ore have been developed. The pile model represents shape and volume of the pile, changes of shape and volume by scooping, and falling behavior accompanied scooping. The model has simple structure for faster processing in computer. The task planning method generates a series of scooping points for given initial shape of pile through processing of the models. Scooping position and direction for each scooping are determined based on shape of the pile. The series of scooping points contains bucket path and travel path for each scooping, which can be reference values for control system of the loader.