Real-Time Recognition of Loading Cycles’ Process Based on Electric Mining Shovel Monitoring

Figure 2

(a) Example of a cable shovel performing loading task; (b) diagram of a three-dimensional trajectory of a bucket moving in the loading cycle. X is the straight-line direction of the bucket rod when unloading; Y is the direction of the vertical excavation surface of the blasting pile; and Z is the direction perpendicular to the ground.