Arrangement of Loading to Dump Truck in Autonomous Loading Operation by Wheel Loader
Authors have been conducting development of autonomous system for loading operation by wheel loader. As a part of the research,a method for arrangement of loading of material to vessel of dump truck will be described in this paper. For effective loading,it is required that the final volume of material in the vessel is close to the capacity of the vessel and the final shape of the loaded material is flatter.Because the volume of scooped material is changed by the shape of pile and trajectory of the bucket,the weight of scooped material at each scooping is estimated based on hydraulic pressure of cylinders in bucket mechanism of the loader. Then the weight is converted into the volume. The shape of the material in the vessel after loading is estimated and evaluated by simulation using column model. The proposed method is applied on the experimental system for autonomous loading operation and shows good results in simulation of the test field trial.
Wheel loader Loading Autonomous system Column model Volume estimation
Shigeru Sarata Hisashi Osumi Noriho Koyachi
National Institute of Advanced Industrial Science and Technology (AIST),Japan Chuo University,Japan
国际会议
北京
英文
191-198
2008-10-20（万方平台首次上网日期，不代表论文的发表时间）