NDLI: Automatic landing method of a reclaimer on the stockpile

Content Provider	IEEE Xplore Digital Library
Author	Chintae Choi Hyunsik Ahn Kwanhee Lee Kitae Shin
Copyright Year	1997
Description	Author affiliation: RIST, Pohang, South Korea (Chintae Choi)
Abstract	The huge reclaimers in the raw ore yard are used to dig ore and transfer it to the blast furnaces. In this paper, an automatic landing method of the reclaimer is proposed to develop an autonomous reclaimer. A 3-dimensional range finder which consists of a 2-dimensional scanner and an additional joint was developed with laser radar concepts and is installed on the roof of the reclaimer to detect the ore pile. A height map is obtained from the acquired range data for an ore pile and a contour map for the pile is obtained through some image processing steps. The optimal landing point in the contour line is determined so that an overload problem does not occur in the slewing operation and reclaiming efficiency is maximized. The algorithm for finding the landing point needs an inverse kinematics solution for the reclaimer. The reclaimer has a redundancy due to the rotating buckets at the end of the its boom. A constraint equation for solving the inverse kinematics of the reclaimer is also derived by the geometrical relationship.
Starting Page	1821
Ending Page	1826
File Size	633508
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.619052
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Laser radar Blast furnaces Radar imaging Radar detection Image processing Kinematics Shape Automation Equations Steel
Content Type	Text
Resource Type	Article

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