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
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.
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