Abstract
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 dimensionalmeasurement of the rock pile was carried out. Furthermore, in order to detectthe 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 theamount of the rock pile were conducted. By comparing the estimated valuesand the actual ones, it was confirmed that the method proposed here works well. Furthermore, the shoveling task was planned based on the three dimensionalshape of the rock pile.
