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 [in Japanese] Study on the Automation of Boulder Breakage by Use of Force Sensors and Image Processing [in Japanese]
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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.
Shigen-to-Sozai 118(5), 369-375, 2002-06-25
The Mining and Materials Processing Institute of Japan