A portable teleoperation system for the compact loader/trammer

A miniature load-haul-dump unit developed under contract with the US Bureau of Mines was designed to muck narrow stopes more effectively than existing equipment. The machine, called a compact loader/trammer, is radio remote controlled and uses a computer-assisted navigation system that allows the machine to follow the stope walls automatically. Tests have shown the need to assist the machine operator by providing visual information when the machine is tramming long distances in dark, underground environments. When the machine operator remains stationary while controlling the machine, the distance between them may exceed 60 m (200 ft). Under these conditions, it is difficult for the operator to determine if obstacles are in the machine´s path, if the machine is loading muck properly, or if it has reached its load capacity. This paper describes a portable, inexpensive, teleoperation system that uses video cameras mounted on the machine to provide visual information to the remote operator