Study on the Vision System to Recognize the Shape of the Rock Pile by Use of Image Processing

摘要

Robotic excavation and loading task have been receiving considerable attention in several fields, especially in mining and construction site. In order to realize the robotic excavation by the wheel loader, the robot has to recognize the shape of the rock pile because the excavation task is planned based on the shape of the rock pile. This paper is related to the vision system to recognize the shape of the rock pile. A CCD camera was used to obtain the image of the rock pile. The image processing procedure was proposed to detect the rock pile area from the original image.