# Research on the Trajectory and Operational Performance of Wheel Loader Automatic Shoveling
## 5 Experimental Data Analysis
### Analysis of Wheel Laader Shoveling Performance  
Substituting the measured shoveling weight, the density of gravel, and the porosity into Equation (6), the full bucket rate of the wheel loader for automatic shoveling according to nine shovel trajectories is shown in Figure 16, except for the trajectory with a parallel shoveling depth of 600 mm, which has the lowest full bucket rate of 70.6% and cannot meet the actual operation requirements. The full bucket rate of the rest of the shovel trajectory was between 80% and 90%, which met the actual requirements. Among them, the full bucket rate of the trajectory with a parallel shovel depth of 400 mm is the highest, with a full bucket rate of 88.4%. The automatic shoveling working time of the loader is shown in Figure 17. The trajectory with a parallel shovel depth of 600 mm had the lowest operating time of 12.8 s. Since the full bucket rate could not reach the requirement, the operation time of the remaining trajectories was between 16.1 and 21.3 s after excluding the trajectory with a parallel shoveling depth of 600 mm. The working time of the trajectory with parallel shoveling depths of 400 mm and 500 mm is 16.1 s and 16.5 s. The working time of the trajectory with parallel shoveling depths of 425 mm and 450 mm is higher, all reaching more than 20 s, and the working time of the rest of the trajectory is between 17 s and 20 s.  
Figure 16: Full bucket rate. The operating fuel consumption is shown in Figure 18. After excluding the trajectory with a parallel shoveling depth of 600 mm, the operating fuel consumption of the trajectories with parallel shoveling depths of 425 mm, 450 mm, and 475 mm is higher, the highest reaches 180.4 mL, the lowest is 115.5 mL for the trajectory with a parallel shoveling depth of 400 mm, and the operating fuel consumption of the other trajectories is 130-134 mL. The measured front and rear drive shaft torque and engine output speed are brought into Equation (8), and the displacement, pressure, and radius of the bucket cylinder and moving arm cylinder are brought into Equations (9) and (10). The energy consumption of work performed by the cylinder and the energy consumption of work performed by the whole vehicle are obtained, respectively. As shown in Figure 19a, except for the trajectory with a parallel shoveling depth of 600 mm, the energy consumption of the work performed by the cylinder is between 288.9 kJ and 345 kJ, and the energy consumption of work performed by the whole vehicle is between 312 kJ and 388.5 kJ. The energy consumption of  
Figure 17: Working time. Figure 18: Fuel consumption. the work performed by the whole vehicle for each shoveling trajectory is higher than that of the work performed by the cylinder. Figure 19b shows the total energy consumption of the sum of the energy consumption of the work performed by the whole vehicle and the energy consumption of the work performed by the cylinder. The highest total energy consumption for the work was 713.5 kJ for the trajectory with a shovel depth of 400 mm. The total energy consumption for the work was also higher for shovel depths of 425 mm, 450 mm, and 500 mm, ranging from 693.7 kJ to 698.3 kJ. The operating energy consumption of the remaining trajectories is lower, except for the trajectory of the shovel depth of 600 mm; the total energy consumption of the remaining trajectories is between 600.8 kJ and 658 kJ. The operating resistance curve of the bucket in the horizontal phase is shown in Figure 20a. The bucket starts to insert the pile from point O, and the operating resistance starts to increase. Due to the compression of the material and its lumpiness, a dense nucleus is formed in the front area of the bucket teeth, which leads to a rapid increase in the operating resistance to peak point A. The resistance at point A is the maximum operating resistance of the bucket in the horizontal shoveling phase. The maximum operating resistance of the loader in the horizontal shoveling phase is shown in Figure 20b.