Lab Scale Model Experiment of Smart Hopper System to Remove Blockages Using Machine Vision and Collaborative Robot

In this study, we propose a smart hopper system that automatically unblocks obstructions caused by rocks dropped into hoppers at mining sites. The proposed system captures RGB (red green blue) and D (depth) images of the upper surfaces of hopper models using an RGB-D camera and transmits them to a computer. Then, a virtual hopper system is used to identify rocks via machine vision-based image processing techniques, and an appropriate motion is simulated in a robot arm. Based on the simulation, the robot arm moves to the location of the rock in the real world and removes it from the actual hopper. The recognition accuracy of the proposed model is evaluated in terms of the quantity and location of rocks. The results confirm that rocks are accurately recognized at all positions in the hopper by the proposed system.