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The International Journal of Robotics Research
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Three-Dimensional Imaging for a Very Large Excavator

Jonathan Roberts

CSIRO Manufacturing & Infrastructure Technology PO Box 883, Kenmore, Australia, jonathan.roberts{at}csiro.au

Graeme Winstanley

CSIRO Manufacturing & Infrastructure Technology PO Box 883, Kenmore, Australia

Peter Corke

CSIRO Manufacturing & Infrastructure Technology PO Box 883, Kenmore, Australia

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.

Key Words: mining • dragline • terrain map • lasers • automation

The International Journal of Robotics Research, Vol. 22, No. 7-8, 467-477 (2003)
DOI: 10.1177/02783649030227003
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