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Development of Automatic System for Boulder Breakage by Sensor Fusion Technique

Research Project

Project/Area Number 12555284
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section展開研究
Research Field 資源開発工学
Research InstitutionTOHOKU UNIVERSITY

Principal Investigator

TAKAHASHI Hiroshi  Tohoku University, Graduate School of Engineering, Associate Professor, 大学院・工学研究科, 助教授 (90188045)

Co-Investigator(Kenkyū-buntansha) KANEKO Katsuhiko  Hokkaido University, Graduate School of Engineering, Professor, 大学院・工学研究科, 教授 (20128268)
SAITO Seiji  Tohoku University, Graduate School of Engineering, Professor, 大学院・工学研究科, 教授 (80302173)
Project Period (FY) 2000 – 2001
Project Status Completed (Fiscal Year 2001)
Budget Amount *help
¥7,300,000 (Direct Cost: ¥7,300,000)
Fiscal Year 2001: ¥2,700,000 (Direct Cost: ¥2,700,000)
Fiscal Year 2000: ¥4,600,000 (Direct Cost: ¥4,600,000)
KeywordsSensor Fusion / Image Processing / Boulder Breakage / Force Sensor / Vision Sensor / Hydraulic Breaker / Automation / センサフュージュン
Research Abstract

PURPOSE: The purpose of this study is to investigate the autonomous locomotion method of mobile mining robots theoretically and experimentally. The mobile mining robots are divided into two types, that is wheeled type and tracked type. Therefore, in this study, the kinematics of wheeled and tracked robots is investigated. Furthermore, the advantages of the articulated steering tracked vehicles are confirmed through the numerical simulation and model experiments.
RESULTS:
PURPOSE: The purpose of this study is to investigate flie automatic system for boulder breakage by using force sensors and image processing. Furthermore, the fracture development in the boulder by impacting of hydraulic breaker is also investigated.
RESULTS:
(1) Design and Manufacturing the Hydraulic Breaker Model
The hydraulic breaker model of 3 degrees of freedom was designed and manufactured. Strain gauges were used as force sensors and they were attached beside the chisel.
(2) Detection of the Sliding of Chisel
Before imp … More acting the boulder, the chisel pushes the boulder to keep it stable. The algorithm to detect the chisel sliding while pushing the boulder was proposed by using the measured strain data.
(3) Obtaining the strain data in the boulder breakage experiments
The strain data while impacting the boulder was measured by the strain gauges attached beside the chisel. The algorithm to detect the boulder breakage was proposed by using the measured strain data.
(4) Obtaining the image data of boulder breakage
The vision sensor (CCD Camera) was attached in the hydraulic breaker model and images of boulder before and after impacting were obtained. The algorithm to confirm the boulder breakage was proposed by using these images.
(5) Automatic System for Boulder Breakage by using Force Sensors and ImageProcessing
The first, boulder breakage was judged by the force sensors because it is possible to carry out the real time judgment. If the above algorithm judges that the boulder is not broken, then this result was confirmed by the image processing. It was confirmed that this judgmentalgorithm worked well.
(6) Numerical Simulation of Boulder Breakage
Numerical simulation of boulder breakage was carried out by using Distinct Element Method (DEM). The fracture development in the boulder by impacting was well simulated. Less

Report

(3 results)
  • 2001 Annual Research Report   Final Research Report Summary
  • 2000 Annual Research Report
  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] H.Takahashi et al.: "Automatic System for Boulder Breakage by using Force Sensors and Image Processing"Proc.of 18th Int.Symposium on Automation and Robot ics in Construction. 1. 287-292 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 高橋 弘, 泉 亘: "油圧ブレーカによる岩石破砕の数値シミュレーション"第1回オーガナイズド・テラメカニックス・ワークショップin仙台 講演論文集. 1. 36-39 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 高橋 弘 他: "油圧ブレーカによる大岩破砕の数値シミュレーション"応用力学論文集. 1. 307-316 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] H. Takahashi et al.: "Automatic System for Boulder Breakage by using Force Sensors and Image Processing"Proc. of 18th Int. Symposium on Automation and Robotics in Construction. Vol. 1. 287-292 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] H. Takahashi and W. Izumi: "Numerical Simulation on the Boulder Breakage by Hydraulic Breaker"Proc. of the 1st Organized Terramechanics Workshop in Sendai. Vol. 1. 36-39 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] H. Takahashi et al.: "Numerical Simulation on the Boulder Breakage by Hydraulic Breaker"Journal of Applied Mechanics, Japanese Society of Civil Engineering. Vol. 4. 307-316 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] H.Takahashi et al.: "Automatic System for Boulder Breakage by using Force Sensors and Image Processing"Proc. of 18th Int. Symposium on Automation and Robotics in Construction. 1. 287-292 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 高橋 弘 他: "力覚と画像処理を用いた大岩自動破砕システムに関する研究"資源・素材学会誌. (発表予定).

    • Related Report
      2001 Annual Research Report
  • [Publications] 高橋 弘 他: "油圧ブレーカによる大岩破砕の数値シミュレーション"応用力学論文集. 4. 307-316 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 高橋 弘, 泉亘: "油圧ブレーカによる岩石破砕の数値シミュレーション"第1回オーガナイズド・テラメカニックス・ワークショップin 仙台 講演論文集. 1. 36-39 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Takahashi et al.: "Automatic System for Boulder Breakage by using Force Sensors and Image Processing"Proc.of 18th Int.Symp.on Automation and Robotics in Construction. (intended to be publication).

    • Related Report
      2000 Annual Research Report
  • [Publications] 高橋弘 他: "画像処理と力覚を用いた大岩自動破砕システムに関する研究"資源・素材学会誌. (発表予定).

    • Related Report
      2000 Annual Research Report

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Published: 2000-04-01   Modified: 2016-04-21  

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