<論文>画像と力覚を用いた砕石堆積量の推定と堆積物の3次元形状に基づくすくい取り作業計画

概要

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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.
秋田大学の論文