2022 Volume 40 Issue 5 Pages 449-452
In recent construction and civil engineering industry, there is a high demand for automation of soil moving work by collaboration between a backhoe and a dump truck. For the automation, it is necessary to obtain information of the dump truck such as its pose against the backhoe and soil condition in the truck bed. With regards to the latter, shape and volume of the loaded soil in the bed is quite important for the machineries to work efficiently. In this paper, our methodology to measure shape and volume of the soil loaded in a truck bed is reported promptly. In particular, to solve occlusion are a which cannot be measured directly at the far side of loaded soil, the volume of soil in the truck bed is estimated by interpolating the occluded shape according to a time-series point cloud while considering angle of repose.
