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 scooping task. In result, it became enable to predict the existence of huge rock inside of the rock pile by learning the resistive force which can be measured in the beginning of the scooping task.