Summary
This paper describes automation of the digging cycle of a mining rope shovel which considers autonomous dipper (bucket) filling and determining methods to detect when to disengage the dipper from the bank. Novel techniques to overcome dipper stall and the online estimation of dipper “fullness” are described with in-field experimental results of laser DTM generation, machine automation and digging using a 1/7th scale model rope shovel presented.
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© 2006 Springer-Verlag Berlin Heidelberg
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Dunbabin, M., Corke, P. (2006). Autonomous Excavation Using a Rope Shovel. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_46
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DOI: https://doi.org/10.1007/978-3-540-33453-8_46
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33452-1
Online ISBN: 978-3-540-33453-8
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