Autonomous excavation using a rope shovel
Dunbabin, Matthew & Corke, Peter (2006) Autonomous excavation using a rope shovel. In Corke, Peter & Sukkariah, Salah (Eds.) Field and Service Robotics Results of the 5th International Conference. Springer Berlin / Heidelberg, pp. 555-566.
This paper describes automation of the digging cycle of a mining rope shovel which considers autonomous dipper (bucket) filling and determining methods to detect when to disengage the dipper from the bank. Novel techniques to overcome dipper stall and the online estimation of dipper “fullness” are described with in-field experimental results of laser DTM generation, machine automation and digging using a 1/7th scale model rope shovel presented.
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|Item Type:||Book Chapter|
|Keywords:||rope shovel, autonomous excavation|
|ISSN:||1610-7438 (Print) 1610-742X (Online)|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > RESOURCES ENGINEERING AND EXTRACTIVE METALLURGY (091400) > Mining Engineering (091405)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2006 Springer|
|Deposited On:||04 Nov 2010 10:09|
|Last Modified:||03 Mar 2011 15:39|
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