PURPOSE: To automate the rock positioning work by extracting the contour of a rock from the intensity information of an image acquired by a camera, calculating a centroid, calculating the difference between the centroid and the center of a screen, and calculating the controlled variable of an arm.
CONSTITUTION: The action end of a breaker is moved on a rock, and a switch is turned on. A CCD camera 10 acquires the image of the rock on a screen. An image processor 11 extracts the contour of the image from the intensity informtion on the screen. A computer 12 calculates the centroid of the contour nearest to the center. The difference between the centroid and the center of the present screen is calculated. A feedback gain is applied to the difference, and the controlled variable of an arm is calculated. A hydraulic actuator 3 is operated and controlled so that the centroid coincides with the center of the screen. When they coincide, the action end is set perpendicular to the rock, and positioning is completed. The positioning work is automated, and the work efficiency can be improved.
SATO TOSHIBUMI
MIYAUCHI YOSHIKAZU
