Automatic determination of soil parameters by robotic vehicles

Наумов, В.Н.; Mashkov, K.; Byakov, K

doi:10.1088/1742-6596/1177/1/012016

Cited by 3 publications

(2 citation statements)

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“…The first model is based on the Bernstein-Letoshnev approach and two types of data: theoretical dependencies and the results of experiments on the forwarder indentation. This variant excludes a direct estimate of soil parameters because all materials used are integral indicators of this process [21]. Furthermore, the time spent accumulating and processing information is considerably reduced, which only increases the efficiency of such a model and the value of its use.…”

Section: Introductionmentioning

confidence: 99%

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Predicting the Passability of Wheeled Tractors

Khakhina¹,

Grigorev²,

Dolmatov³

et al. 2022

MMEP

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Assessment of the tractor's passability plays an essential role in determining its capability to move under certain conditions. However, the operation of forest machinery may lead to soil deformation and degradation of its mechanical properties. Consequently, this study aims to develop a mathematical model for the tractor's crosscountry capability assessment and its impact on the soil. A predictive model was created as part of the study, which depends on the soil and the forwarder parameters. Some high-correlation dependencies of deformation modulus and cone index, specific tractive force, internal friction angle, and shear modulus on these parameters were established. The developed model can be used to analyze changes in rut depth and soil compaction factors after multiple tractor passages. Soil moisture content and temperature can influence the deformation rate, as drier and warmer soils tend to deform much faster. Furthermore, the proposed model can analyze the impact of forestry and agricultural machinery on soils.

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Section: Introductionmentioning

confidence: 99%

“…The parameters of the tire contact pattern on the soil were used as input data. It can only be determined experimentally, and the measurement methodology may differ for some researchers due to a lack of a single unified system [21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Predicting the Passability of Wheeled Tractors

Khakhina¹,

Grigorev²,

Dolmatov³

et al. 2022

MMEP

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<i>Development of an integrated sensor system for automated on-the-spot measurement of physical soil properties</i>

Carlson¹,

Adamchuk²,

Kvezereli³

et al. 2020

2020 ASABE Annual International Virtual Meeting, July 13-15, 2020

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Method for determining the parameters of an electromechanical transmission of an industrial tractor

Padalkin¹,

Gorelov²,

Staduhin³

et al. 2019

Traktory i sel hozmashiny

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In this paper, authors propose a method for determining the mechanical characteristics of traction electric motors and parameters of an electromechanical transmission of an industrial tractor. To ensure maximum machine performance, the developed transmission has two mechanical ranges: transport and technological. A feature of the presented scheme is the inclusion of a «ZK» type rotation mechanism (developed by the staff of Bauman MSTU G. Zaichik, M. Kreines and M. Kristi) in its composition. This mechanism is characterized by high traction in turning. The layout of industrial tractors involves placing the transmission in a cramped space inside the frame. In this regard, when developing the unit, it was required to implement its most compact design. This was achieved by using the same planetary gears to form the «ZK» rotation mechanism and for the reduced «technological» transmission range. As part of the study, traction capabilities of the tractor in each range were evaluated. In addition, an analysis was made of the influence of the design parameter of the planetary gears of the «ZK» mechanism on the operational characteristics of the machine. Depending on the design parameter, the required torques and rotational speeds of the traction electric motor rotors were obtained to ensure a given driving mode in a turn, and the time to complete a full rotation of the machine around the center of mass and the stopped side in the «transport» and «technological» transmission ranges was determined. In conclusion, an assessment was made of the influence of tractor transmission parameters on the maximum speed of maneuvers, which made it possible to determine the required power of electric machines taking into account the comfortable work of the driver-operator.

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Automatic determination of soil parameters by robotic vehicles

Cited by 3 publications

References 1 publication

Predicting the Passability of Wheeled Tractors

Predicting the Passability of Wheeled Tractors

<i>Development of an integrated sensor system for automated on-the-spot measurement of physical soil properties</i>

Method for determining the parameters of an electromechanical transmission of an industrial tractor

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Automatic determination of soil parameters by robotic vehicles

Cited by 3 publications

References 1 publication

Predicting the Passability of Wheeled Tractors

Predicting the Passability of Wheeled Tractors

&lt;i&gt;Development of an integrated sensor system for automated on-the-spot measurement of physical soil properties&lt;/i&gt;

Method for determining the parameters of an electromechanical transmission of an industrial tractor

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Product

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<i>Development of an integrated sensor system for automated on-the-spot measurement of physical soil properties</i>