Shigen-to-sozai, Vol.118, No.5,6, pp.369-376.
Study on the Automation of Boulder Breakage by Use of Force Sensors and Image Processing
Hiroshi TAKAHASHIa, Takashi MONDENa and Katsuhiko KANEKOb
| a. Dept. of Geoscience and Technology, Graduate
School of Engineering, Tohoku University,
Sendai 980-8579, Japan b. Div. of Environment and Resources Engineering, Graduate School of Engineering, Hokkaido University |
| In this study, the automatic system for boulder
breakage by use of force sensors and image
processing was investigated. In order to
carry out the full automation of the boulder
breakage, the following three subtasks have
to be automated: l)detection of the boulder, 2)control of the chisel to move to the boulder and 3)carrying out the boulder breakage. In this paper, two algorithms to automate the 3) task were proposed by use of force sensors and image processing. One is the algorithm to detect the chisel sliding while pressing the boulder by the chisel. This algorithm is based on the rate of strain change measured by strain gauges which were attached beside the chisel. The other one is the algorithm to detect the boulder breakage by LISC of the features from the signals of strain gauges and ones from image processing. It was confirmed through the experiments that these algorithms proposed here worked well. |
| KEY WORDS: Boulder Breakage, Force Sensor, Processing, Automation |