Automatic system for boulder breakage using force sensors

H. Takahashi, T. Monden

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


The automation of the task of boulder breakage consists of 1) automatic detection of boulders, 2) automatic control to make the breaker tip move to the surface of the boulders, and 3) carrying out the task of breakage. In the previous study, the image processing procedures to detect the boulders and to measure the three dimensional information of boulder position were investigated. In this study, an algorithm for boulder breakage using force sensors is proposed. Strain gauges were attached to the chisel of the hydraulic breaker and the signals from the strain gauges were measured. The rock breakage experiments revealed that large compressive or tensile strains were obtained at the moment of rock breakage. The utilization of a neural network was proposed in this study to construct an algorithm to detect rock breakage. The experiments confirm that this algorithm works well.

Original languageEnglish
Pages (from-to)267-277
Number of pages11
Issue number3
Publication statusPublished - 1999 Jan 1
Externally publishedYes


  • Force sensor
  • Hydraulic breaker
  • Neural network
  • Rock breakage

ASJC Scopus subject areas

  • Geotechnical Engineering and Engineering Geology


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