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.
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.
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|Item Type:||Journal Article|
|Keywords:||mining, terrain map, dragline, lasers, automation|
|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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