Abstract
Authors have developed an autonomous control system for loading rocks on a dump truck which can make arbitrary shapes of a rock pile on the loading platform. In order to realize such a system, it is necessary to analyze the behaviors of rocks fallen from the bucket of the wheel loader. However, the calculated shapes based on the behavior the bucket are not enough. Therefore the rock behaviors are carefully observed by a new developed image processing system and the mechanism of slope failure of rocks in the bucket in this paper.
