Automatic stop of the large dump truck based on loading posture of the backhoe

Abstract

We develop a large-size dump truck that automatically transports sediments loaded by human-operated backhoes. The dump truck is equipped with a driver robot named SAM and sensors. The driver robot can drive the dump truck remotely and autonomously. However, the difficulty of loading sediments is to decide the suitable dump truck parking location that changes according to the working position of the backhoe. Here, this paper proposes a method to decide the dump truck loading location. We proposed two ideas for obtaining the loading location. These two ideas were evaluated based on the human-operated dump truck loading data. We confirmed that the actual dump truck automatically parked the loading location based on the backhoe cabin.