Three-Dimensional Imaging for a Very Large Excavator  

Oleh:

Roberts, Jonathan ; Winstanley, Graeme ; Corke, Peter

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 22 no. 7-8 (Jul. 2003), page 467-477.
Topik: mining; dragline; terrain map; lasers; automation
Fulltext: 467.pdf (258.66KB)

Isi artikel

In this paper we describe the development of a three-dimensional (3D) imaging system for a 3500 tonne mining machine (dragline). Draglines are large walking cranes used for removing the dirt that covers a coal seam. Our group has been developing a dragline swing automation system since 1994. The system so far has been "blind" to its external environment. The work presented in this paper attempts to give the dragline an ability to sense its surroundings. A 3D digital terrain map (DTM) is created from data obtained from a twodimensional laser scanner while the dragline swings. Experimental data from an operational dragline are presented.

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