Dragline Bucket Location Using Machine Vision

Past experience has shown that the automation of the dragline swing motion requires real time monitoring of the bucket position. A current project at the Centre for Mining Technology and Equipment (CMTE) is aiming to achieve this using machine vision. The hardware platform is a Datacube MaxVideo 200 system. The images are obtained by a fixed camera installed on the dragline boom. The field of view is large enough to include the bucket in all possible configurations. Standard chain coding and run-length coding algorithms are used to process the video image. The three-dimensional bucket position is calculated by combining the output of the machine vision system with the rope length data obtained from transducers installed on drag and hoist drums. This information is then fed into a control computer which takes corrective action to suppress bucket oscillations before they reach dangerous levels.