DOCSLIB.ORG

New Miner & Annual Refresher

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
New Miner & Annual Refresher NEW MINER & ANNUAL REFRESHER TRAINING STUDENT GUIDE VERSION III Author: Lowell Institute for Mineral Resources University of Arizona December 2016 1 | Page Acknowledgements ALPHA Foundation for the Improvement of Mine Safety and Health Grant AFC113-6 Parts of this study were sponsored by the ALPHA Foundation for the Improvement of Mine Safety and Health, Inc. (ALPHA FOUNDATION). The views, opinions and recommendations expressed herein are solely those of the authors and do not imply any endorsement by the ALPHA FOUNDATION, its Directors and Staff. 2 | Page contents Acknowledgements ....................................................................................................................... 2 Introduction to Miners’ Rights .................................................................................................... 9 Your Rights under the Act .......................................................................................................... 9 Every Miner’s Responsibilities under the Act ............................................................................ 9 Discrimination........................................................................................................................... 10 Inspections ................................................................................................................................ 10 Right to Pay........................................................................................................................... 10 Contesting Enforcement Actions .......................................................................................... 10 Training ..................................................................................................................................... 11 Health ........................................................................................................................................ 11 Information ............................................................................................................................... 11 Legal Responsibilities ............................................................................................................... 11 Supervisor Responsibilities ....................................................................................................... 12 Rules to Live By ....................................................................................................................... 12 Introduction to Communication ................................................................................................ 13 Handheld Communication Devices .......................................................................................... 13 Signage ...................................................................................................................................... 14 Non-verbal communication ...................................................................................................... 14 Flagging and Tagging ........................................................................................................... 15 Removing Flagging and Tagging .......................................................................................... 15 Incident Management ................................................................................................................ 15 Emergency alarms ..................................................................................................................... 16 Communicating Emergencies ................................................................................................... 16 Determining Emergency Response ........................................................................................... 16 Other Non-Emergency Procedures ....................................................................................... 17 Coal Mine maps ........................................................................................................................ 17 Introduction to Transportation ................................................................................................. 19 Light Vehicle Inspections ......................................................................................................... 19 Exterior Conditions ............................................................................................................... 20 Safe Operating Speeds and Control of Equipment ................................................................... 22 Parking Procedures and Brake Performance ............................................................................. 22 Parking Brake........................................................................................................................ 22 3 | Page Introduction to Health and Hazard Communication .............................................................. 24 Hearing Protection .................................................................................................................... 24 Health Effects ........................................................................................................................ 25 Monitoring Noise Exposure .................................................................................................. 27 Audiometric Testing ............................................................................................................. 28 Hearing Conservation Program............................................................................................. 28 Silicosis ..................................................................................................................................... 28 Chemical Hazards ..................................................................................................................... 29 Forms of Chemicals .............................................................................................................. 30 Routes of Exposure ............................................................................................................... 31 Toxic Effects of Chemicals ................................................................................................... 32 Types of Health Effects from Exposures to Toxic Chemicals .............................................. 32 Chronic Exposure .................................................................................................................. 33 Chemical Labels.................................................................................................................... 33 Material Safety Data Sheet or Safety Data Sheets ................................................................ 35 NFPA 704 Health Diamond .................................................................................................. 37 HMIS and HMIS III .............................................................................................................. 38 Personal Hygiene .................................................................................................................. 45 Introduction to Hazard Recognition ......................................................................................... 46 Consequence Thinking.............................................................................................................. 46 Identifying and Evaluating Hazards and Risks ......................................................................... 47 Broad Categories of Hazards ................................................................................................ 47 Identifying Hazards ................................................................................................................... 47 Area Inspections .................................................................................................................... 47 Standard Operating Procedures (SOPs) ................................................................................ 49 Job Safety Analysis ............................................................................................................... 49 Hazard Identification, Risk Assessment and Determination of Controls (HIRADC) .......... 49 Reducing Risk – Hierarchy of Controls .................................................................................... 50 Hazard Control Strategies ..................................................................................................... 50 Introduction to First Aid safety ................................................................................................. 52 Scene Safety .............................................................................................................................. 52 Emergency Response ............................................................................................................ 52 Triage .................................................................................................................................... 54 Personal Safety ...................................................................................................................... 54 4 | Page Bleeding ................................................................................................................................ 54 Other Injuries ........................................................................................................................ 55 Shock....................................................................................................................................
Load more

Recommended publications
  • Alabama Mine Map Repository
    ALABAMA MINE MAP REPOSITORY DIRECTORY OF UNDERGROUND MINE MAPS STATE OF ALABAMA DEPARTMENT OF LABOR Fitzgerald Washington Commissioner INSPECTIONS DIVISION Brian J. Wittwer Acting Director ABANDONED MINE LAND PROGRAM Chuck Williams State Mine Land Reclamation Supervisor ALABAMA MINE MAP REPOSITORY DIRECTORY OF UNDERGROUND MINE MAPS By, Charles M. Whitson, PE Mining Engineer Birmingham, Alabama 2013 CONTENTS Introduction …………………………………………………………………………………. 1 Users of the Repository ………………………………………………………………. 1 Source of the Maps ……………………………………………………………………… 1 Repository Location ……………………………………………………………………… 1 Request to Readers ……………………………………………………………………… 2 Acknowledgements ……………………………………………………………………… 2 History …………………………………………………………………………………………. 2 The United States Public Land Survey System (PLSS) ……………… 4 Explanation of the Files in the Repository …………………………………. 8 Active Mines ……………………………………………………………………… 8 Abandoned Mines ……………………………………………………………… 8 Disclaimer ……………………………………………………………………………………. 10 Bibliography …………………………………………………………………………………. 11 Directory ………………………………………………………………………………………. 13 Active Underground Mines ………………………………………………… 14 Abandoned Underground Coal Mines Bibb County ……………………………………………………………. 18 Blount County …………………………………………………………. 24 Cherokee County ……………………………………………………. 27 Cullman County ………………………………………………………. 28 DeKalb County ………………………………………………………… 30 Etowah County ……………………………………………………….. 31 Fayette County ………………………………………………………. 33 Jackson County ……………………………………………………… 34 Jefferson County ……………………………………………………. 36 Lawrence
    [Show full text]
  • Westray Story a Predictable Path to Disaster
    3 . // ^V7 / C‘H- The Westray Story A Predictable Path to Disaster Report of the Westray Mine Public Inquiry Justice K. Peter Richard, Commissioner Volume One November 1997 LIBRARY DEPARTfvtEr,T Or NATURAL RESOURCES. \ HALIFAX, NOVA SCOTIA \ ^V 2,2,4- VJ. I Published on the authority of the Lieutenant Governor in Council c, by the Westray Mine Public Inquiry. © Province of Nova Scotia 1997 ISBN 0-88871-465-3 Canadian Cataloguing in Publication Data Westray Mine Public Inquiry (N.S.) The Westray story: a predictable path to disaster Includes bibliographical references. Partial contents: v.[3] Reference - v.[4] Executive summary. ISBN 0-88871-465-3 (v.l) - 0-88871-466-1 (v.2) - 0-88871-467-X ([v.3])-0-88871-468-8 ([v.4]) 1. Westray Mine Disaster, Plymouth, Pictou, N.S., 1992. 2. Coal mine accidents—Nova Scotia—Plymouth (Pictou Co.) I. Richard, K. Peter, 1932- II. Title. TN806C22N6 1997 363.11’9622334'0971613 C97-966011-4 Cover: Sketch of Westray mine by Elizabeth Owen Permission is hereby given by the copyright holder for any person to reproduce this report or any part thereof. “The most important thing to come out of a mine is the miner.” Frederic Le Play (1806-1882) French sociologist and inspector general of mines of France » At 5:20 am on 9 May 1992 the Westray mine exploded taking the lives of the following 26 miners. John Thomas Bates, 56 Trevor Martin Jahn, 36 Larry Arthur Bell, 25 Laurence Elwyn James, 34 Bennie Joseph Benoit, 42 Eugene W. Johnson, 33 Wayne Michael Conway, 38 Stephen Paul Lilley, 40 Ferris Todd Dewan, 35 Michael Frederick MacKay, 38 Adonis J.
    [Show full text]
  • Canadian Rail No158 1964
    C;a:n..a )~~iin Number 158 / September 1964 GOVERNMENT OWNERSHIP of railways in Canada occurs at all levels, and not the least interesting is the Pacific Great East­ ern, which is owned by the Province of British Columbi'l.. For many years, the PGE began and ended nowhere, but in 1952 and 1956, the completion of extensions linked the "nowhere" carrier with the rest of the Canadian rail network. Here, in the latter year, the inaugural train is shown arriving from North Vancouver at Squamish, the erstwhile southern terminus of the line. (See "The PGE Is A rDiffe~entr Railway" in this issue). Photograph by PETER COX. Canadian Rail Page 179 ~ontreal Streetcars 900 by R. M. Binns Class (M.S.R. Photos) By mid-December 1904 about class),- and probably on the new half of the fifty 790 class semi­ 790 class, had fo~ned the habit convertible cars were in service. of collecting fares on the plat­ Well satisfied with these cars, form at stops where only one or the first to have transverse two passeng ers got on. seats, - Montre al ~tre d t Hailway Co. was authorized by its 80ard The "Pay-as-You-~nter" me­ of Directors to build twenty-five thod had been tried on one or two more, at a cost of $6000 each - roads in the United States, but all to be built in the Company's without success. It was clear shops. Ten cars were to be equip­ that the conventiona l car was not ped with General ~lectric Co.'s adapted to that system.
    [Show full text]
  • Rail Heritage Managed by the Department of Conservation West Coast „ Charming Creek Walkway, 1910-1958, Near Westport
    Prepared by Paul Mahoney, National Coordinator Rail Heritage managed by the Historic Heritage, Department of Conservation. Department of Conservation June 2007 The Department manages a diverse range of rail heritage sites that are becoming increasingly popular. In 2007 the Automobile Association asked over 20,000 New Zealanders to identify the '101 Must-Do’s for Kiwis' — places they most wanted to visit. Of all DOC's historic sites two rail heritage sites were the most popular; the Central Otago Rail Trail (14th) and the Karangahake Mines (42nd). Rail heritage sites are different from static museums and operating lines. They offer an adventure experience exploring remote and scenic trails, adding diversity to the overall rail heritage scene and providing further entry points to trigger peoples potential interest. DOC’s sites include an industrial railway focus; timber, gold, coal, and even lighthouses, and so preserve another category of rail heritage. The Department shares the expertise of its heritage program, such as the results of scientific research into materials conservation; stone, wood and metal. These 31 DOC sites are open to visitors: AucklandAuckland Kauri Timber Co tramline, 1925-40, Whangaparapara, Great Barrier Island. Route of bush tram 14km long. One of the most fantastic bush trams ever. Includes 11 sections of incline worked by winch and cable. Tramping skills required. WaikatoWaikato Billy Goat incline, 1922-25, Kauaeranga Valley, Coromandel Forest Park. Route of bush tram 5 km long. A section of track is re-laid. A Price rail tractor will be restored and displayed. Karangahake Rail Trail, 1905-1978, Karangahake, near Paeroa. Route of the former East Coast Main Trunk railway from Karangahake to Waikino, 7 km long.
    [Show full text]
  • Milford Mine National Register Historic District, Crow Wing County, Minnesota
    MILFORD MINE NATIONAL REGISTER HISTORIC DISTRICT, CROW WING COUNTY, MINNESOTA CULTURAL LANDSCAPE REPORT Site History, Existing Conditions, Analysis and Evaluation Prepared by Two Pines Resource Group, LLC and 10,000 Lakes Archaeology, Inc. March 2015 PUBLIC VERSION MILFORD MINE NATIONAL REGISTER HISTORIC DISTRICT, CROW WING COUNTY, MINNESOTA CULTURAL LANDSCAPE REPORT Site History, Existing Conditions, Analysis and Evaluation Prepared for Crow Wing County Land Services 322 Laurel Street, Suite 12 Brainerd, MN 56401 Prepared by Michelle M. Terrell, Ph.D., RPA Two Pines Resource Group, LLC 17711 260th Street Shafer, MN 55074 Amanda Gronhovd, M.S., RPA 10,000 Lakes Archaeology, Inc. 220 9th Avenue South South St. Paul, MN 55075 THIS PROJECT WAS FUNDED IN PART BY THE ARTS AND CULTURAL HERITAGE FUND March 2015 PUBLIC VERSION MILFORD MINE NATIONAL REGISTER HISTORIC DISTRICT CULTURAL LANDSCAPE REPORT This publication was made possible in part by the people of Minnesota through a grant funded by an appropriation to the Minnesota Historical Society from the Minnesota Arts and Cultural Heritage Fund. Any views, findings, opinions, conclusions or recommendations expressed in this publication are those of the authors and do not necessarily represent those of the State of Minnesota, the Minnesota Historical Society, or the Minnesota Historic Resources Advisory Committee. MILFORD MINE NATIONAL REGISTER HISTORIC DISTRICT CULTURAL LANDSCAPE REPORT MILFORD MINE NATIONAL REGISTER HISTORIC DISTRICT CULTURAL LANDSCAPE REPORT They came mostly to fulfill dreams of a better life and were willing to work hard and long to achieve that – if not for themselves, at least for their children… ~ ~ ~ Among the miners there developed a closeness and camaraderie that transcended the differences in language, ethnic background, and religion.
    [Show full text]
  • Power from Coal.Pdf
    PHOTOS PROVIDED BY: AMAX Coal Industries, Inc. American Electric Power Service Corp. CONSOL, Inc. Peabody Holding Company, Inc. National Mining Association American Coal Foundation 101 Constitution Avenue NW, Suite 525 East Washington, DC 20001 202-463-9785 [email protected] www.teachcoal.org WHERE'S ALL THIS COAL COMING FROM? Take a minute to think about what you did this morning. You woke up, perhaps switched off the clock radio reached for the light switch, and went into the bathroom to wash your face, brush your teeth or take a hot shower. Did you use a hair dryer? Did you scramble an egg or toast a piece of bread for breakfast this morning? Did you play a video game or VCR? If you did any of these things, you were using electricity - a full- time energy servant that most Americans take for granted. There is something else you probably never think much about - coal. It's very likely you've never seen a piece of coal, although you may remember your grandparents talking about the coal they used to shovel into the furnace to heat their home. What's the connection? What does coal have to do with electricity? Isn't coal part of the past? Isn't electricity about as up-to-date as you can get? After all, it's electricity that allows us to watch television, use a computer, cook on the stove or in the microwave, enjoy stereo music, heat and cool our homes, read at night - all these things and dozens more that take place daily.
    [Show full text]
  • 679 Part 77—Mandatory Safety Standards, Surface
    Mine Safety and Health Admin., Labor Pt. 77 § 75.1916 Operation of diesel-powered 77.203 Use of material or equipment over- equipment. head; safeguards. 77.204 Openings in surface installations; (a) Diesel-powered equipment shall safeguards. be operated at a speed that is con- 77.205 Travelways at surface installations. sistent with the type of equipment 77.206 Ladders; construction; installation being operated, roadway conditions, and maintenance. grades, clearances, visibility, and other 77.207 Illumination. traffic. 77.208 Storage of materials. 77.209 Surge and storage piles. (b) Operators of mobile diesel-pow- 77.210 Hoisting of materials. ered equipment shall maintain full 77.211 Draw-off tunnels; stockpiling and re- control of the equipment while it is in claiming operations; general. motion. 77.211–1 Continuous methane monitoring de- (c) Standardized traffic rules, includ- vice; installation and operation; auto- ing speed limits, signals and warning matic deenergization of electric equip- signs, shall be established at each mine ment. 77.212 Draw-off tunnel ventilation fans; in- and followed. stallation. (d) Except as required in normal min- 77.213 Draw-off tunnel escapeways. ing operations, mobile diesel-powered 77.214 Refuse piles; general. equipment shall not be idled. 77.215 Refuse piles, construction require- (e) Diesel-powered equipment shall ments. not be operated unattended. 77.215–1 Refuse piles; identification. 77.215–2 Refuse piles; reporting require- ments. PART 77—MANDATORY SAFETY 77.215–3 Refuse piles; certification. STANDARDS, SURFACE COAL 77.215–4 Refuse piles; abandonment. MINES AND SURFACE WORK 77.216 Water, sediment, or slurry impound- ments and impounding structures; gen- AREAS OF UNDERGROUND COAL eral.
    [Show full text]
  • Mine Safety Technology Task Force Report May 29, 2006
    Mine Safety Technology Task Force Report May 29, 2006 Thesis Mine Safety Recommendations Report to the Director of the Office of Miners’ Health, Safety and Training By the West Virginia Mine Safety Technology Task Force As required by West Virginia Code §56-4-4 May 29, 2006 i Mine Safety Technology Task Force Report May 29, 2006 The views expressed in this document are those of the authors and do not reflect the official policy or position of the Office of Miners’ Health Safety and Training or the State of West Virginia. Questions concerning this report can be directed to the Mine Safety Technology Task Force’s Technical Advisor, Randall Harris, at 304-558-1425 or [email protected] i Mine Safety Technology Task Force Report May 29, 2006 ABSTRACT The Sago and Aracoma disasters and their fourteen deaths, highlighted needed improvements in equipment, capabilities and processes for mine emergency response. The resultant worldwide attention has forever shifted the public’s view of underground mine safety. With the resolve of our government leaders, operators and labor representatives, we have embarked on a mission to improve mine health and safety, thus safeguarding the miners that fuel our nation. The Mine Safety Technology Task Force was charged with the duty of investigating and evaluating options and developing guidelines geared toward protecting the lives of our miners. Special emphasis has been placed on the systems and equipment necessary to sustain those threatened by explosion, fire or other catastrophic events while attempting escape or awaiting rescue. The West Virginia Mine Safety Technology Task Force Report provides a summary of commercial availability and functional and operational capability of SCSR’s, emergency shelters, communications, and tracking along with recommendations regarding implementation, compliance and enforcement.
    [Show full text]
  • Tng 99 Spring 1983
    NARROW GAUGI RAllWAY SOCIITY Serving the narrow gauge world since 1951 SECRETARY M. Portsmouth, 15 Ham View, Upton-on-Severn, Wares. WR8 OGE MEMBERSHIP SECRETARY P.A.Slater, The Hole in the Wall, Bradley, Ashbourne, Derbys. TREASURER J.H.Steele, 32 Thistley Hough, Penkhull, Stoke-on-Trent, ST4 SHU The Society was founded in 1951 to encourage interest in all forms of narrow gauge rail transport. Members interests cover every aspect of the construction, operation, history and modelling of narrow gauge railways throughout the world. Society members receive this magazine and Narrow Gauge News, a bi-monthly review of current events on the narrow gauge scene. An extensive library, locomotive records, and modelling information service are available to members. Meetings and visits are arranged by local areas based in Leeds, Leicester, London, Malvern, Stoke-on-Trent and Warrington. Annual subscription currently £6.00, due 1st April. THI NARROW GAUGI ISSN 0142-5587 EDITOR : M. Swift, 47 Birchington Avenue, Birchencliffe, Huddersfield, HD3 3RD BACK NUMBER SALES : A. Neale. 7 Vinery Road, Leeds. LS4 2LB Published quarterly by the Narrow Gauge Railway Society to record the history and development of narrow gauge rail transport. Our intention is to present a balanced, well illustrated publication, and the Editor welcomes original articles. photographs and drawings for consideration. Articles should preferably be written or typed with double spacing on one side of the paper only. The Editor appreciates a stamped addressed envelope if a reply is required. A range of back numbers, and binders for eight issues are available from the address above. Copyright of all material in this magazine remains vested in the authors and publisher.
    [Show full text]
  • Handbook of Training in Mine Rescue and Recovery Operations
    Handbook of Training in Mine Rescue and Recovery Operations P R 9 E 2 P 19 A E 2014 RED SINC MINE RESCUE HANDBOOK HANDBOOK OF TRAINING IN MINE RESCUE AND RECOVERY OPERATIONS 2014 P R 9 E 2 P 19 A E RED SINC i TABLE OF CONTENTS © Copyright 2015 Workplace Safety North (WSN) First printing 1930 Revised 1941 Revised 1951 Revised 1953 Revised 1957 Revised 1961 Revised 1964 Revised 1968 Reprinted 1971 Revised 1973 Reprinted 1975 Reprinted 1978 Revised 1984 Revised 1992 Reprinted with corrections 1994 Revised 2000 Reprinted with corrections 2001 Revised 2009 Revised 2011 Revised 2014 Reprinted with corrections 2015 Written and issued by WSN for the use of persons training in mine rescue and recovery at the main mine rescue stations and substations established in the province. P R 9 E 2 P 19 A E RED SINC Box 2050, Stn. Main 690 McKeown Ave., North Bay ON P1B 9P1 tf. 1-888-730-7821 • fax (705) 472-5800 workplacesafetynorth.ca/minerescue ii MINE RESCUE HANDBOOK ACKNOWLEDGEMENTS The revisions of the handbook have been compiled by the Supervisor of Mine Rescue with the cooperation of the Mine Rescue Officers/Consultants, Workplace Safety North staff, and Ministry of Labour personnel. Assistance has been rendered by the manufacturers of breathing apparatus and other equipment used in mine rescue work. Suggestions by a special fire committee set up by the mining industry of Ontario to investigate firefighting operations are gratefully acknowledged and deeply appreciated. iii TABLE OF CONTENTS PREFACE AUTHORIZATION The responsibilities associated with mine rescue in Ontario are set out in Regulation 854 of the Occupational Health and Safety Act.
    [Show full text]
  • Sinking and Equipping Inclined Shafts of More Than 60 Degree Dip
    Scholars' Mine Professional Degree Theses Student Theses and Dissertations 1938 Sinking and equipping inclined shafts of more than 60 degree dip Wilford Stillman Wright Follow this and additional works at: https://scholarsmine.mst.edu/professional_theses Part of the Mining Engineering Commons Department: Recommended Citation Wright, Wilford Stillman, "Sinking and equipping inclined shafts of more than 60 degree dip" (1938). Professional Degree Theses. 259. https://scholarsmine.mst.edu/professional_theses/259 This Thesis - Open Access is brought to you for free and open access by Scholars' Mine. It has been accepted for inclusion in Professional Degree Theses by an authorized administrator of Scholars' Mine. This work is protected by U. S. Copyright Law. Unauthorized use including reproduction for redistribution requires the permission of the copyright holder. For more information, please contact [email protected]. SINKING AND EQ,UIPPING INaLIlrED SHAFl'S OF MORE THAN 60 DEGREE DI P by Wilford Stillman Wright A THE SIS submi tted to the faoul ty of the SCHOOL OF MINES AND METALLURGY OF THE UNIVElRSITY OF MISSOURI in partial fulfillment of the work required for the DEGREE OF ENGI NEER OF MI NEB Rolla, Mo. 1938 - Approved by __~~~~ professor of Mining. TABLE OF OONTENTS. The I ncIined Shaft •• •• • • • • · • 1 Merlts and Demerite Locati on . • • • •• • • • 3 Size and Shape of Shaft • • • • •• • , Equipnent ••••• • • •• · • 6 The Collar. • ••••• •• • • • • • 18 Dri IIing and Blasting • • ••• • • • 20 Mucking • • • • • •• • •• •• • • • 2, Timbering • •• •••• • • •• •• 27 Shaft Station a.nd Ore pockets •• • 34 organi z8.ti on • • · .. • • •• • •• • • 3, Ooste • • ••• • •• 37 Speed • • • • •• • • • • • • •• • • 40 Liibliography • • • ••• • • • •• • • 40-A Index • • • • • • • • •• • • • ••• 41 -- - LIST OF ILLUS'fRATIONS. Fig. 1 Headframe and Ore ~in for Sinking••• lO-A Fig.
    [Show full text]
  • Mining Haul Truck Pose Estimation and Load Profiling Using Stereo Vision
    Mining Haul Truck Pose Estimation and Load Profiling Using Stereo Vision by James Robert Borthwick B.Sc., The University of British Columbia, 2003 A THESIS SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF APPLIED SCIENCE in The Faculty of Graduate Studies (Electrical and Computer Engineering) THE UNIVERSITY OF BRITISH COLUMBIA (Vancouver) August 2009 c James Robert Borthwick 2009 ! Abstract Earthmoving at surface mines centers around very large excavators (mining shovels) that remove material from the earth and place it into haul trucks. During this loading process, the truck may be inadvertently loaded in a manner that injures the truck driver, or that results in an asymmetrically loaded or overloaded truck. This thesis presents two systems which aim to assist with haul truck loading: 1) a stereo-vision based system that determines a haul truck’s pose relative to the shovel housing as part of an operator loading assistance system, and 2) a system that can determine a haul truck’s load volume and distribution as the truck is being loaded. The haul truck pose estimation system is significant in that it is the first six-degrees of freedom truck pose estimation system that is sufficiently fast and accurate to be applicable in an industrial mine setting. Likewise, it is the first time that a system capable of determining a haul truck’s volume as it is being loaded has been described. To achieve this, a fast, resolution independent nearest neighbour search is presented and used within Iterative Closest Point (ICP) for point cloud registration. It also shown, for the first time, to the best of our knowledge, the possibility of using the Perspective-n-Point (PnP) pose estimation technique to estimate the pose a range-sensor derived point cloud model, and to use the same technique to verify the pose given by ICP.
    [Show full text]