Abstract
Articulated wheel loaders used in the construction industry are heavy vehicles and have poor stability and a high rate of accidents because of the unpredictable changes of their body posture, mass and centroid position in complex operation environments. This paper presents a novel distributed multi-sensor system for real-time attitude estimation and stability measurement of articulated wheel loaders to improve their safety and stability. Four attitude and heading reference systems (AHRS) are constructed using micro-electro-mechanical system (MEMS) sensors, and installed on the front body, rear body, rear axis and boom of an articulated wheel loader to detect its attitude. A complementary filtering algorithm is deployed for sensor data fusion in the system so that steady state margin angle (SSMA) can be measured in real time and used as the judge index of rollover stability. Experiments are conducted on a prototype wheel loader, and results show that the proposed multi-sensor system is able to detect potential unstable states of an articulated wheel loader in real-time and with high accuracy.
Highlights
1.1.IntroductionArticulated wheel wheel loaders loaders have have multi multi body body structure structure and and are are widely widely used used in in engineering engineeringArticulated construction sites, i.e., unstructured ground.They have an articulated steering mechanism that construction sites, i.e., unstructured ground
To reduce the risk of conducting experiments on a real articulated wheel loader, we have built a physical prototype of an articulated wheel loader to carry out experiments in our laboratory, which has a ratio of 1:5 in size with respect to XG958 wheel loader made by Xiamen XGMA Machinery Co., Ltd
Similar to the work in [26], we carry out a number of static and dynamic tests to analyze and verify the static and dynamic measurement accuracy of AHRS in order to verify the reliability of the proposed multi-sensor system and the complementary filtering fusion algorithm
Summary
Many researchers used geometric theory to characterize vehicle stability, and constructed an instability indicator using the relationship among the weight center of the vehicle, the tire grounding location and the position of the resultant force vector [6]. This force-angle based instability indicator was widely used in a multi-legged robot on the rugged road [7]. This paper proposes the use of SSMA as a new instability prediction index to monitor lateral stability of an articulated wheel loader whose special structure and lateral tilting process have been taken into consideration.
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