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Three-dimensional imaging for a very large excavator

Roberts, Jonathan , Winstanley, Graeme , & Corke, Peter (2003) Three-dimensional imaging for a very large excavator. The International Journal of Robotics Research, 22(7/8), pp. 467-478.

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Abstract

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 two-dimensional laser scanner while the dragline swings. Experimental data from an operational dragline are presented.

Impact and interest:

10 citations in Scopus
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4 citations in Web of Science®

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ID Code: 33865
Item Type: Journal Article
Keywords: mining, terrain map, dragline, lasers, automation
DOI: 10.1177/02783649030227003
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 2003 SAGE
Deposited On: 06 Oct 2010 11:17
Last Modified: 11 Aug 2011 04:22

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