Autonomous Scooping of a Rock Pile by a Wheel Loader Using Disturbance Observer
نویسندگان
چکیده
A controller for a miniature wheel loader is developed to scoop rock piles autonomously. During a scooping task operation, the load of the bucket varies momentarily according to the phase of scooping. Before the insertion of the bucket into the rock pile, the load is just the bucket weight, but after the insertion the reaction force from the rock piles is applied to the bucket. The values of the reaction forces changes significantly and they can not be identified in advance. To achieve autonomous loading, it is required for the bucket controller to work stably in both cases with the same algorithm. Therefore, a disturbance observer mechanism is installed into a miniature wheel loader “Yamazumi 3” to adapt various amounts of loads. Its effectiveness is verified by fundamental experiments.
منابع مشابه
Estimation of Internal Condition in Piled Fragment Rocks by Use of Resistive Forces Acting on the Bucket of Wheel Loaders
In order to automate the scooping task, it is necessary to obtain the resistive forces acting on the bucket before the scooping is performed. In this study, empirical equations to predict the friction coefficient between the bucket and rocks, the friction coefficient among rocks and particle diameters were obtained by using the resistive forces which are measured at the beginning of the scoopin...
متن کاملAnalysis of Resistive Forces Acting on the Bucket of LHD in the Scooping Task
In order to automate the scooping task, it is desirable that the resistive force acting on the bucket be obtained before the scooping is performed. The objective of this study is to derive theoretically the resistive forces acting on the bucket during scooping of piled rock fragments. First, the changes in the shape of the rock pile due to the penetration of it by the bucket are modeled. Based ...
متن کاملImproving Point Cloud Accuracy Obtained from a Moving Platform for Consistent Pile Attack Pose Estimation
We present a perception system for enabling automated loading with waistarticulated wheel loaders. To enable autonomous loading of piled materials, using either above-ground wheel loaders or underground load-haul-dump vehicles, 3D data of the pile shape is needed. However, using common 3D scanners, the scan data is distorted while the wheel loader is moving towards the pile. Existing methods th...
متن کاملAdmittance Control for Robotic Loading: Design and Experiments with a 1-Tonne Loader and a 14-Tonne LHD
This paper describes the design, tuning, and extensive field testing of an admittance-based Autonomous Loading Controller (ALC) for robotic excavation. Several iterations of the ALC were tuned and tested in fragmented rock piles—similar to those found in operating mines—by using both a robotic 1-tonne capacity Kubota R520S diesel-hydraulic surface loader and a 14-tonne capacity Atlas Copco ST14...
متن کاملThe Analysis of Wheel Loader Diesel Engine Crankshaft Failure
The main purpose of this study is to review the cause for the crankshaft failure of six-cylinder diesel engine of a wheel loader after passing a short period of time. The failure had occurred after 4800 hours of in-service in the fifth crankpin of the crankshaft. Hardness and tensile tests were carried out to study their mechanical properties. Spectrophotometer machine was used to examine the c...
متن کامل