Automatic System for Boulder Breakage by Using Force Sensors and Image Processing

In this study, the automatic system for boulder breakage by using force sensors and image processing is 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, the algorithm to automate the 3) task was proposed. The control algorithm was constructed by using the features from the signals of force sensors and ones from image processing. It was confirmed through the experiments that the algorithm proposed here worked well.