力覚と画像処理を用いた大岩小割作業の自動化に関する研究 Study on the Automation of Boulder Breakage by Use of Force Sensors and Image Processing

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著者

    • 高橋 弘 TAKAHASHI Hiroshi
    • 東北大学大学院工学研究科地球工学専攻 Dept. of Geoscience and Tenhnology, Graduate School of Engineering, Tohoku University
    • 門傳 孝 MONDEN Takashi
    • 東北大学大学院工学研究科地球工学専攻 Dept. of Geoscience and Tenhnology, Graduate School of Engineering, Tohoku University
    • 金子 勝比古 KANEKO Katsuhiko
    • 北海道大学大学院工学研究科環境資源工学専攻 Div. of Environment and Resources Engineering, Graduate School of Engineering, Hokkaido University

抄録

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: 1)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 use 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.

収録刊行物

  • 資源と素材 : 資源・素材学会誌 : journal of the Mining and Materials Processing Institute of Japan

    資源と素材 : 資源・素材学会誌 : journal of the Mining and Materials Processing Institute of Japan 118(5), 369-375, 2002-06-25

    The Mining and Materials Processing Institute of Japan

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各種コード

  • NII論文ID(NAID)
    10008852190
  • NII書誌ID(NCID)
    AN10062646
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    09161740
  • NDL 記事登録ID
    6191256
  • NDL 雑誌分類
    ZP41(科学技術--金属工学・鉱山工学)
  • NDL 請求記号
    Z17-315
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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