What question did this study set out to answer?

To develop and evaluate an autonomous closed-loop push-based robotic system capable of identifying and sorting heavy, irregular gangue from coal on dynamic conveyor belts.

August 16, 2026Journal of Field RoboticsOpen Access

A Push‐Based Gangue‐Sorting Robotic System: Design, Development, Integration, and Field Evaluation

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Authors

GSG. X. SunChina University of Mining and Technology YZYixuan ZhouShanghai Jiao Tong University JMJunyi MaShanghai Jiao Tong University

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Implication

Field evaluation demonstrates efficient autonomous gangue removal on dynamic industrial conveyors, indicating scalable automation potential for hazardous mining environments.

Key Points

To develop and evaluate an autonomous closed-loop push-based robotic system capable of identifying and sorting heavy, irregular gangue from coal on dynamic conveyor belts.
Engineered a closed-loop framework integrating dynamic perception, identity-consistent tracking, contour-level pose estimation, time-aware push planning, and multimodal outcome verification.
Replaced traditional grasp-lift-place actions with planar pushing primitives supported directly by the conveyor belt.
Evaluated system performance through long-term autonomous field tests and industrial online trials in real mine conveyor environments.
Dynamic gangue recognition accuracy exceeded 92%, while multimodal execution-outcome verification accuracy reached over 95%.
Single robotic arms achieved an average planning time of approximately 0.4 s, an average execution time of roughly 2.8 s, and a peak gangue removal rate of 61.52%.
Cascade modeling projected multi-arm line-level removal rates exceeding 80% under fully isolated operations without manual intervention.

Cite This Study

Sun et al. (2026) studied this question.

synapsesocial.com/papers/6a817a11f2fb91fc834adadc https://doi.org/10.1002/rob.70324

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Implication

Field evaluation demonstrates efficient autonomous gangue removal on dynamic industrial conveyors, indicating scalable automation potential for hazardous mining environments.

A Push‐Based Gangue‐Sorting Robotic System: Design, Development, Integration, and Field Evaluation

Discussion

Member takes

Implication

Key Points

Cite This Study

A Push‐Based Gangue‐Sorting Robotic System: Design, Development, Integration, and Field Evaluation

Discussion

Member takes

Implication

Key Points

Cite This Study

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