An autonomous selection method for an unloading point of a self-loading machine for a self-loading machine unloading operation

Abstract

The application discloses an unloading point autonomous selection method for a self-driving loader to carry out a cleaning operation, and belongs to the field of port ship operation machinery, and comprises the following steps: in response to an unloading point determination request data, point cloud data, shovel excavation data and a current working state of a grab bucket are acquired, wherein the shovel excavation data comprises a shovel excavation area and a main shovel excavation direction; based on the point cloud data and the shovel excavation data, an unloading feasible range and an effective shovel excavation point data set are determined; based on the unloading feasible range and the effective shovel excavation point data set, an unloading point data set is determined, wherein the unloading point data set comprises a main unloading point and an auxiliary unloading point; and based on the unloading point data set and the current working state of the grab bucket, a Markov decision process modeling and a value iteration algorithm solving algorithm are adopted to determine an optimal unloading point. According to the volume of the main and auxiliary unloading points and the current working state of the grab bucket, the optimal unloading point is obtained, so that the decision robustness is improved.

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