Machine Learning approach to Automatic Bucket Loading

• The automation of bucket loading for repetitive tasks of earth-moving operations is desired in several applications at mining sites, quarries and construction sites where larger amounts of gravel and fragmented rock are to be moved. In load and carry cycles the average bucket weight is the dominating performance parameter, while fuel efficiency and loading time also come into play with short loading cycles. This paper presents the analysis of data recorded during loading of different types of gravel piles with a Volvo L110G wheel loader. Regression models of lift and tilt actions are fitted to the behavior of an expert driver for a gravel pile. We present linear regression models for lift and tilt action that explain most of the variance in the recorded data and outline a learning approach for solving the automatic bucket loading problem. A general solution should provide good performance in terms of average bucket weight, cycle time of loading and fuel efficiency for different types of material and pile geometries. We propose that a reinforcement learning approach can be used to further refine models fitted to the behavior of expert drivers, and we briefly discuss the scooping problem in terms of a Markov decision process and possible value functions and policy iteration schemes.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

NATURVETENSKAP  -- Data- och informationsvetenskap -- Medieteknik (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Media and Communication Technology (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Keyword

Industrial Electronics

Industriell elektronik

Pervasive Mobile Computing

Distribuerade datorsystem

Reglerteknik

Control Engineering

Publication and Content Type

ref (subject category)

kon (subject category)