Efficient Scooping of Rocks by Autonomous Controlled  Wheel Loader

Hisashi Osumi; Tomoya Uehara; Naoto Okada; Takuya Fujiwara; Shigeru Sarata

doi:10.20965/jrm.2012.p0924

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JRM Vol.24 No.6 pp. 924-932

doi: 10.20965/jrm.2012.p0924

(2012)

Paper:

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Efficient Scooping of Rocks by Autonomous Controlled Wheel Loader

Hisashi Osumi^1, Tomoya Uehara^2, Naoto Okada^2, Takuya Fujiwara^3, and Shigeru Sarata^*4

^*Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

^*2Canon Corp., Japan

^*3Graduate School of Science and Engineering, Chuo University, Japan

^*4University of Tsukuba, Japan

Received:

June 12, 2012

Accepted:

August 10, 2012

Published:

December 20, 2012

Keywords:

wheel loader, autonomous control, optimal scooping path, reaction force model, rock pile

Abstract

We propose a method for the efficient scooping of sediment by a wheel loader. We performed experiments to verify the effectiveness of the proposed method. First, in order to calculate the energy required for the scooping operation, we derived a model of the reaction force that is generated on the bucket. We verified the validity of the model by experiments. We then used the reaction force model to determine the optimal trajectory for the bucket. A mechanical simulator was used to verify the trajectory. Although experimental results showed the unexpected effects of sediment that settled inside the bucket, we obtained results that reflect theoretical values.

Cite this article as:

Hisashi Osumi, Tomoya Uehara, Naoto Okada, Takuya Fujiwara, and Shigeru Sarata, “Efficient Scooping of Rocks by Autonomous Controlled Wheel Loader,” J. Robot. Mechatron., Vol.24, No.6, pp. 924-932, 2012.

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References

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[2] H. Oshima, T. One, H. Tamaki, and S. Takasugi, “Automation of Loading and Hauling Work in Mining and Quarry,” KOMATSU TECHNICAL REPORT, Vol.43, No.1, pp. 27-39, 1997 (in Japanese).
[3] H. Osumi, “Automation of Loading Operation by Wheel Loader – Abstract of Yamazumi Project –,” Construction Machinery and Eqauipment, Japan Industrial Publishing, Vol.42, No.3, pp. 42-47, 2006 (in Japanese).
[4] N. Koyachi, S. Sarata, and K. Sugawara, “Scoop and Loading Execution by the Autonomous Wheel Loader “Yamazumi-4” – Task Control and Path Following Control –,” J. of Robotics Society of Japan, Vol.26, No.6, pp. 514-521, 2008 (in Japanese).
[5] A. Hemami, “Force analysis in the scooping/loading operation of an LHD Loader,” Proc. MineMechanization and Automation, Almgren, Kumar & Vaganas (Eds.), pp. 415-424, 1993.
[6] H. Zhang, K. Sato, and K. Itakura, “Strategy, Trajectory Generation and Control for Scooping – Study on implementing machine intelligence into wheel loader (2^nd Report) –,” Shigen-to-Sozai, Vol.117, pp. 947-954, 2001 (in Japanese).
[7] H. Takahashi, “Analysis on the Resistive Forces Acting on the Bucket of a Load-Haul-Dump Machine and a Wheel Loader in the Scooping Task,” Advanced Robotics, Vol.13, No.2, pp. 97-114, 1999.
[8] Y. Takahashi, R. Yasuhara, O. Kanai, H. Osumi, and S. Sarata, “Development of Bucket Scooping Mechanism for Analysis of Reaction Force against Rock Piles,” Proc. 23rd Int. Symposium on Automation and Robotics in Construction, pp. 476-481, 2006.
[9] F. Oka, “Soil Mechanics,” Asakura Publishing, 2003 (in Japanese).

[1] [1] H. Oda, K. Obata, and A. Fujioka, “Unmanned Construction System of Civil Engineering,” J. of Robotics Society of Japan, Vol.18, No.7, pp. 923-927, 2000.

[2] [2] H. Oshima, T. One, H. Tamaki, and S. Takasugi, “Automation of Loading and Hauling Work in Mining and Quarry,” KOMATSU TECHNICAL REPORT, Vol.43, No.1, pp. 27-39, 1997 (in Japanese).

[3] [3] H. Osumi, “Automation of Loading Operation by Wheel Loader – Abstract of Yamazumi Project –,” Construction Machinery and Eqauipment, Japan Industrial Publishing, Vol.42, No.3, pp. 42-47, 2006 (in Japanese).

[4] [4] N. Koyachi, S. Sarata, and K. Sugawara, “Scoop and Loading Execution by the Autonomous Wheel Loader “Yamazumi-4” – Task Control and Path Following Control –,” J. of Robotics Society of Japan, Vol.26, No.6, pp. 514-521, 2008 (in Japanese).

[5] [5] A. Hemami, “Force analysis in the scooping/loading operation of an LHD Loader,” Proc. MineMechanization and Automation, Almgren, Kumar & Vaganas (Eds.), pp. 415-424, 1993.

[6] [6] H. Zhang, K. Sato, and K. Itakura, “Strategy, Trajectory Generation and Control for Scooping – Study on implementing machine intelligence into wheel loader (2^nd Report) –,” Shigen-to-Sozai, Vol.117, pp. 947-954, 2001 (in Japanese).

[7] [7] H. Takahashi, “Analysis on the Resistive Forces Acting on the Bucket of a Load-Haul-Dump Machine and a Wheel Loader in the Scooping Task,” Advanced Robotics, Vol.13, No.2, pp. 97-114, 1999.

[8] [8] Y. Takahashi, R. Yasuhara, O. Kanai, H. Osumi, and S. Sarata, “Development of Bucket Scooping Mechanism for Analysis of Reaction Force against Rock Piles,” Proc. 23rd Int. Symposium on Automation and Robotics in Construction, pp. 476-481, 2006.

[9] [9] F. Oka, “Soil Mechanics,” Asakura Publishing, 2003 (in Japanese).

Efficient Scooping of Rocks by Autonomous Controlled Wheel Loader

Hisashi Osumi*1, Tomoya Uehara*2, Naoto Okada*2, Takuya Fujiwara*3, and Shigeru Sarata*4

Hisashi Osumi^1, Tomoya Uehara^2, Naoto Okada^2, Takuya Fujiwara^3, and Shigeru Sarata^*4