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Shape control of a rock heap by wheel loader

Research Project

Project/Area Number 24560302
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionChuo University

Principal Investigator

OSUMI Hisashi  中央大学, 理工学部, 教授 (00203779)

Project Period (FY) 2012-04-01 – 2015-03-31
Project Status Completed (Fiscal Year 2014)
Budget Amount *help
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2014: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2013: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2012: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Keywordsホイールローダ / 安息角 / 堆積土砂形状 / 積み込み / 堆積土砂モデル / 建設ロボット / 堆積土砂 / 自律制御
Outline of Final Research Achievements

A method of making desired rock sediment shapes on a truck bed is developed by designing target motion trajectories of the bucket of a wheel loader. As a first step the behavior of rocks in the bucket of a wheel loader during the tilting motion of the bucket was observed by a video camera. From the obtained image, it was revealed that the rocks on the slope collapse at intervals, and two values of repose angle exist. From the result, physical mechanism of forming the slope angles in the bucket is analyzed. On the other hand, the behavior of fallen rocks on the ground is simulated by using column element model and the stable shape of the rock pile is obtained. By combining the rock behaviors in the bucket and the column element model, an algorithm for designing the bucket motion to make desired rock sediment shapes is proposed, and its effectiveness is verified by fundamental experiments.

Report

(4 results)
  • 2014 Annual Research Report   Final Research Report ( PDF )
  • 2013 Research-status Report
  • 2012 Research-status Report
  • Research Products

    (3 results)

All 2014 2012

All Presentation (3 results)

  • [Presentation] ホイールローダの自動化に向けたバケット内土砂の挙動解析2014

    • Author(s)
      岩瀬裕史, 森大輔, 大隅久, 皿田滋
    • Organizer
      第14回建設ロボットシンポジウム
    • Place of Presentation
      中央大学後楽園キャンパス
    • Year and Date
      2014-08-28
    • Related Report
      2014 Annual Research Report
  • [Presentation] ホイールローダによる積み込み作業の自律化に向けたバケット内土砂の挙動解析2014

    • Author(s)
      岩瀬裕史, 大隅久, 森大輔, 皿田滋
    • Organizer
      日本機械学会ロボティクス・メカト ロニクス部門講演会ROBOMECH2014
    • Place of Presentation
      富山市総合体育館
    • Year and Date
      2014-05-26
    • Related Report
      2014 Annual Research Report
  • [Presentation] ホイールローダによる積み込み作業における堆積土砂形状のシミュレーション2012

    • Author(s)
      長野隼人,森大輔,大隅久,皿田滋
    • Organizer
      第13回建設ロボットシンポジウム
    • Place of Presentation
      東京
    • Related Report
      2012 Research-status Report

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Published: 2013-05-31   Modified: 2019-07-29  

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