Estimation of The Amount of Rock Pile by Using The Image Processing and Force Sensors and Task Planning Shoveling based on the Three Dimensional Shape of Rock Pile

摘要

In the previous paper, we proposed the method to recognize the existence ofthe rock pile by use of the image and laser slit light. In this study, we proposethe method to estimate the amount of the rock pile by use of the image and forcesensors. In order to estimate the amount of the rock pile, three dimensional measurement of the rock pile was carried out. Furthermore, in order to detect the contour of the rock pile, the force sensors were used. In this experiment, two strain gauges were used as force sensors.Several kinds of rock piles were made and the experiments to estimate the amount of the rock pile were conducted. By comparing the estimated values and the actual ones, it was confirmed that the method proposed here works well.Furthermore, the shoveling task was planned based on the three dimensional shape of the rock pile.