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Robust sensing for a 3500 tonne field robot

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4 Author(s)
Roberts, J.M. ; Div. of Manuf. Sci. & Technol., CSIRO, Kenmore, Qld., Australia ; Pennerath, F. ; Corke, P.I. ; Winstanley, G.J.

The mining industry is highly suitable for the application of robotics and automation technology since the work is arduous, dangerous and often repetitive. This paper discusses a robust sensing system developed to find and trade the position of the hoist ropes of a dragline. Draglines are large `walking cranes' used in open-pit coal mining to remove the material covering the coal seam. The rope sensing system developed uses two time-of-flight laser scanners. The finding algorithm uses a novel data association and tracking strategy based on pairing rope data

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference: