Three-dimensional imaging for a very large excavator

Roberts, Jonathan M., 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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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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12 citations in Scopus
5 citations in Web of Science®
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ID Code: 33865
Item Type: Journal Article
Refereed: Yes
Keywords: mining, terrain map, dragline, lasers, automation
DOI: 10.1177/02783649030227003
ISSN: 0278-3649
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: Current > Schools > School of Electrical Engineering & Computer Science
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2003 SAGE
Deposited On: 06 Oct 2010 01:17
Last Modified: 12 Sep 2014 04:14

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