Title :
Robust sensing for a 3500 tonne field robot
Author :
Roberts, Jonathan M. ; Pennerath, F. ; Corke, Peter I. ; Winstanley, Graeme J.
Author_Institution :
Div. of Manuf. Sci. & Technol., CSIRO, Kenmore, Qld., Australia
Abstract :
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
Keywords :
coal; cranes; industrial robots; laser beam applications; materials handling; mining; position control; sensors; tracking; 3500 tonne; coal mining; cranes; dragline; field robot; hoist ropes; laser scanners; materials removal; mining industry; position control; robust sensing system; rope position sensing; tracking; Australia; Computer vision; Costs; Machine vision; Manufacturing automation; Mining industry; Robot sensing systems; Robotics and automation; Robustness; Service robots;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.774009
