Unloading control method, self-moving equipment and storage medium

Abstract

The invention provides a discharging control method, self-moving equipment and a storage medium, and the method comprises the steps: responding to a discharging instruction, and according to the setting that a target discharging position group is prior to a non-target discharging position group and the sequence from the inner layer to the outer layer, determining the discharging position of the non-target discharging position group; a target unloading position is determined from a plurality of unloading positions arranged in the target unloading position group or the non-target unloading position group in a layered mode, and the target unloading position group is determined from a plurality of unloading position groups in a material collecting area according to the equipment position of the self-moving equipment; the non-target unloading position groups are other unloading position groups except the target unloading position group in the plurality of unloading position groups; and in the material collecting area, the discharging position sets are distributed in a sector mode, the self-moving device is controlled to move to the target discharging position, and the discharging task is executed. By means of the method, the unloading efficiency of the self-moving equipment can be ensured.

Description

Technical Field

[0001] The present application relates to the technical field of self-moving equipment, and in particular to a material discharging control method, a self-moving equipment and a storage medium. Background Art

[0002] With the continuous advancement of science and technology and the rapid development of artificial intelligence, the use of self-moving equipment (such as lawn mowers, cleaning machines, etc.) to perform operations can greatly improve work efficiency.

[0003] In the related art, unreasonable operation planning often affects the operation efficiency of the self-propelled equipment. Take a lawn mower as an example. After the grass collecting box is full of grass clippings, the lawn mower often needs to go to the unloading position to unload the grass. If the unloading position of the lawn mower is not reasonably selected, the unloading efficiency of the lawn mower will be affected. Summary of the invention

[0004] In view of the above, it is necessary to provide a discharge control method, a self-moving device and a storage medium, which can solve the technical problem that the operating efficiency of the self-moving device is affected due to unreasonable task scheduling planning.

[0005] On the one hand, the present application provides a material unloading control method, the method comprising: in response to a material unloading instruction, according to the setting of the target unloading position group taking precedence over the non-target unloading position group and the order from the inner layer to the outer layer, determining a target unloading position from the target unloading position group or a plurality of unloading positions arranged in layers in the non-target unloading position group, wherein the target unloading position group is determined from a plurality of unloading position groups in a material collection area according to the device position of a self-moving device, and the non-target unloading position group is other unloading position groups in the plurality of unloading position groups except the target unloading position group; in the material collection area, each unloading position group is distributed in the form of sectors;

[0006] Control the mobile device to move to the target unloading position to perform the unloading task.

[0007] On the other hand, the present application provides a self-moving device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the self-moving device implements the unloading control method.

[0008] On the other hand, the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the unloading control method when executed by a processor in a mobile device.

[0009] In the unloading control method of the present embodiment, the unloading position group closer to the self-moving device can be determined from multiple unloading position groups as the target unloading position group through the device position of the self-moving device. According to the setting that the target unloading position group takes precedence over the non-target unloading position group, the target unloading position can be determined preferentially from the target unloading position group, and then the target unloading position can be determined from the non-target unloading position group, so that the self-moving device can preferentially unload at the target unloading position group, and then unload at the non-target unloading position group. Since the target unloading position group is closer to the self-moving device, unloading at the target unloading position group is preferred, which can improve the unloading efficiency. According to the order from the inner layer to the outer layer, the self-moving device can preferentially unload at the inner layer unloading position, and then unload at the outer layer unloading position, so as to avoid the problem that the materials piled at the outer layer unloading position hinder the travel of the self-moving device, causing the self-moving device to be unable to enter the inner layer unloading position for unloading. In addition, since the aggregate area includes multiple unloading locations, the self-moving equipment can perform dispersed unloading at multiple unloading locations, thereby reducing the weight, height or volume of materials piled at each unloading location and avoiding the problem of the self-moving equipment stopping working due to triggering lifting detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of a self-moving device provided by an embodiment of the present application.

[0011] Figure 2 It is a flow chart of a discharge control method provided in one embodiment of the present application.

[0012] Figure 3 It is a schematic diagram of multiple sectors within an aggregate area provided in one embodiment of the present application.

[0013] Figure 4 It is a schematic diagram of the distribution of multiple unloading locations within the aggregate area provided in one embodiment of the present application.

[0014] Figure 5 It is a schematic diagram of a connection path provided in an embodiment of the present application.

[0015] Figure 6 It is a structural schematic diagram of a self-moving device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0016] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0018] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0019] In the field of self-moving equipment, unreasonable operation planning often affects the operation efficiency of self-moving equipment. This irrationality may be reflected in aspects such as unreasonable task scheduling planning. Taking a lawn mower as an example, after the grass box is filled with grass clippings, the lawn mower often needs to go to the unloading position to unload the grass. If the unloading position of the lawn mower cannot be reasonably planned, it will affect the smooth execution of the unloading task, thereby affecting the mowing efficiency of the lawn mower. In order to solve the above problems, the present application provides a unloading control method that can ensure the unloading efficiency of the self-moving equipment.

[0020] The unloading control method provided in the embodiment of the present application can be applied to one or more self-moving devices. The self-moving devices can be lawn mowers, cleaners, harvesters, loading and unloading forklifts, and automated guided vehicles (AGVs), etc. The present application does not limit the specific types of self-moving devices.

[0021] For example, Figure 1 , which is a schematic diagram of a self-moving device provided in one embodiment of the present application. Figure 1 The self-moving device is a lawn mower, which can travel in the lawn and perform the mowing task according to a preset mowing path. When performing the mowing task, the lawn mower can collect the cut grass and the like into a grass collecting device such as a grass collecting box, or the lawn mower can collect the grass in the lawn into the grass collecting device after the mowing task is completed. During the grass collecting process, the lawn mower can trigger a grass unloading instruction at a preset time interval, and in response to the grass unloading instruction, the lawn mower can go to the grass collecting area to unload the grass.

[0022] Figure 1The lawn mower in the figure is only an example of a self-moving device. In actual application, the self-moving device can also be a cleaning machine or other equipment.

[0023] like Figure 2 , which is a flow chart of a discharge control method provided by an embodiment of the present application. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The discharge control method is applied to a self-moving device.

[0024] S11, in response to the unloading instruction, according to the setting that the target unloading position group takes precedence over the non-target unloading position group and the order from the inner layer to the outer layer, determine the target unloading position from the multiple unloading positions arranged in layers within the target unloading position group or the non-target unloading position group.

[0025] In some embodiments of the present application, the unloading instruction may be a command or signal instructing the mobile device to unload the material in the material collecting device. The material may be fodder, garbage, goods, dust, etc., and the material collecting device may be a material collecting box and a material collecting bag, etc. The present application does not limit the types of the material and the material collecting device.

[0026] The present application does not limit the timing of collecting grass by the self-moving device. For example, if the self-moving device is a lawn mower, the lawn mower can collect the grass cut into a grass collecting device such as a grass collecting box while performing the mowing task along the mowing path in the working area. Alternatively, the lawn mower can collect the grass cut in the working area into the grass collecting device after mowing.

[0027] In some embodiments of the present application, the self-moving device can automatically trigger the unloading instruction during the material collection process, or the self-moving device can receive and trigger the unloading instruction from an external device that communicates with the self-moving device. There are multiple ways to automatically trigger the unloading instruction. Exemplarily, during the material collection process, the self-moving device can trigger the unloading instruction according to a preset time interval, wherein the preset time interval can be customized. Alternatively, during the material collection process, if the detector of the self-moving device detects that the material parameter corresponding to the material collection device of the self-moving device reaches a preset threshold, the self-moving device can generate and trigger the unloading instruction. The detector includes but is not limited to a visual detector, a pressure detector, a gravity sensor, etc. The material parameters include but are not limited to at least one of material volume, material weight, material height, etc. The preset threshold can be customized, and the present application does not impose any restrictions on this.

[0028] In other embodiments, the unloading instruction may also be triggered by the user. For example, the mobile device may generate and trigger the unloading instruction in response to the user turning on or pressing the unloading switch. The above examples of the triggering method or generation method of the unloading instruction are only examples and are not limited to this in actual applications.

[0029] In some embodiments of the present application, the target unloading position group can be determined from multiple unloading position groups in the aggregate area based on the device position of the self-moving device, and in the aggregate area, each unloading position group is distributed in the form of sectors. The non-target unloading position group is the other unloading position group in the multiple unloading position groups except the target unloading position group, and there can be multiple non-target unloading position groups, wherein the device position can be the coordinates or coordinate range of the self-moving device when the unloading instruction is triggered, generated or received. The multiple unloading position groups can be obtained by dividing the aggregate area by at least two dividing lines, and the at least two dividing lines intersect at the same point in the aggregate area. For example, the target unloading position group can be multiple unloading positions in the sector where the line between the device position and the intersection position of the at least two dividing lines is located. Exemplarily, the intersection point of the at least two dividing lines can be the center point of the aggregate area, and the intersection position can be the coordinates of the center point of the aggregate area, or the intersection position between the at least two dividing lines can also be other positions in the aggregate area, and the present application does not limit this.

[0030] The aggregate area is an area used to store or store materials. The aggregate area is located within the operating area of ​​the self-moving equipment, so the self-moving equipment can enter the aggregate area from any direction.

[0031] If there are multiple candidate aggregate areas, the self-mobile device may determine the aggregate area from the multiple candidate aggregate areas based on the distance between the self-mobile device and each candidate aggregate area, wherein the distance between the self-mobile device and each candidate aggregate area may be the distance between the device position and the center position of the candidate aggregate area. The center position of the candidate aggregate area may be the coordinates of the center point of the candidate aggregate area. For example, the self-mobile device may determine the candidate aggregate area closest to the self-mobile device among the multiple candidate aggregate areas as the aggregate area.

[0032] The aggregate area may have a corresponding shape, and the present application does not limit the shape of the aggregate area. For example, the aggregate area may be a circular, rectangular, triangular, or other shaped area.

[0033] For example, Figure 3 FIG. 1 is a schematic diagram of multiple sectors within an aggregate area provided by an embodiment of the present application. Figure 3 In the above figure, the aggregate area is a circular area with a radius of R1 within the working area. The two dividing lines passing through the center of the aggregate area (see Figure 3 The two dotted lines in the figure can divide the aggregate area into four sectors, namely the first sector, the second sector, the third sector and the fourth sector.

[0034] The unloading position may be the coordinates or coordinate range of an area or device for storing materials in the aggregate area. Each unloading position may be obtained through the map information of the aggregate area or may be obtained through user input. The target unloading position group and the non-target unloading position group may be distributed in a layered manner in the corresponding sector. The target unloading position group and the non-target unloading position group may be divided into an outer unloading position and an inner unloading position from the outside to the inside. The outer unloading position may be located on the boundary of the aggregate area or within the boundary of the aggregate area, and the present application does not impose any restrictions on this. The inner unloading position may be one or more layers, and there are at least two unloading positions in each unloading position group that have different distances from the intersection position. The present application does not impose any restrictions on the number of layers of the inner unloading position and the number of unloading positions in each layer of unloading position. Any two layers of unloading positions may be divided by a dividing line, and each dividing line may have a corresponding shape, and the present application does not impose any restrictions on the shape of the dividing line.

[0035] For example, take over Figure 3 Aggregate area shown, Figure 4 FIG. 1 is a schematic diagram of the distribution of multiple unloading locations within the aggregate area provided in one embodiment of the present application. Figure 4 In the figure, the outer unloading position of the first sector includes unloading position 17, unloading position 18, unloading position 19 and unloading position 20, the first inner unloading position from the outside to the inside includes unloading position 5, unloading position 6 and unloading position 7, and the second inner unloading position from the outside to the inside includes unloading position 1. The outer unloading position of the second sector includes unloading position 21, unloading position 22, unloading position 23 and unloading position 24, the first inner unloading position from the outside to the inside includes unloading position 8, unloading position 9 and unloading position 10, and the second inner unloading position from the outside to the inside includes unloading position 2. The outer unloading position of the third sector includes unloading position 25, unloading position 26, unloading position 27 and unloading position 28, the first inner unloading position from the outside to the inside includes unloading position 11, unloading position 12 and unloading position 13, and the second inner unloading position from the outside to the inside includes unloading position 3. The outer unloading positions of the fourth sector include unloading positions 29, 30, 31 and 32, the first inner unloading positions from the outside to the inside include unloading positions 14, 15 and 16, and the second inner unloading positions from the outside to the inside include unloading position 4. Figure 4 In the multiple sectors shown, the boundary of the circular area with a radius of R2 is the boundary between the outer layer unloading position and the first layer inner layer unloading position in each sector, and the boundary of the circular area with a radius of R3 is the boundary between the first layer inner layer unloading position and the second layer inner layer unloading position in each sector, wherein R1 is greater than R2, and R2 is greater than R3. For example, R1 can be 1m, R2 can be 0.6m, and R3 can be 0.4m. Figure 4In the self-moving device shown, the sector where the line connecting the device position of the self-moving device and the center position of the aggregate area is located is the first sector. Therefore, the multiple unloading positions in the first sector are the target unloading position group, and the multiple unloading positions in the second sector, the third sector and the fourth sector are all non-target unloading position groups.

[0036] Each unloading position has a corresponding preset unloading number, and the preset unloading number corresponding to each unloading position may be the number of times the self-moving device is allowed to unload at the unloading position. The preset unloading number may be determined based on the aggregate parameters of the aggregate device of the self-moving device, and the aggregate parameters include but are not limited to: the capacity, volume and height of the aggregate device. Exemplarily, for each unloading position, the preset unloading number of the self-moving device corresponding to the larger aggregate parameter at the unloading position may be greater than the preset unloading number of the self-moving device corresponding to the smaller aggregate parameter at the unloading position. In other embodiments, the preset unloading number may also be customized, and the present application does not limit this.

[0037] In some embodiments of the present application, the distance between adjacent unloading positions among the multiple unloading positions may be greater than or equal to the length of the self-moving device, so as to reduce the influence of the materials piled at the adjacent unloading positions on the unloading and / or self-rotation of the self-moving device. Exemplarily, if the self-moving device is a lawn mower, the unloading instruction may be a grass unloading instruction, the material collection area may be a grass collection area, and the unloading position may be a grass unloading position. If the lawn mower needs to self-rotate before unloading the grass, when the distance between adjacent unloading positions is greater than or equal to the length of the lawn mower, it can be avoided that the lawn mower collides with the grass piled at the adjacent grass unloading position when it self-rotates at a grass unloading position. For example, in a case such as Figure 4 In the unloading position shown, the distance between the unloading position 17 and the unloading position 18 can be greater than the length of at least one self-moving device, and the distance between the unloading position 17 and the unloading position 18 is referenced Figure 4 The distance between the double arrows in . Figure 4 The distances shown are examples only.

[0038] In some embodiments of the present application, the method for determining the target unloading position includes: the self-moving device searches in each layer of unloading positions within the target unloading position group according to the order from inner layer to outer layer until the target unloading position is obtained, and stops searching, wherein the actual unloading number of the target unloading position is less than the corresponding preset unloading number; if the target unloading position group does not include the target unloading position, searches in each layer of unloading positions within the non-target unloading position group according to the order from inner layer to outer layer until the target unloading position is obtained, and stops searching.

[0039] The unloading positions in each layer of unloading positions can be searched in batches or one by one. The number of unloading positions to be searched in batches can be customized. For example, all unloading positions in each layer of unloading positions can be searched at the same time, or two at a time.

[0040] Exemplarily, if the actual number of unloading times at an unloading location is less than the corresponding preset number of unloading times, the self-mobile device can unload at the unloading location; alternatively, if the actual number of unloading times at the unloading location reaches the corresponding preset number of unloading times, the self-mobile device cannot unload at the unloading location.

[0041] In some embodiments of the present application, the statistics of the actual unloading times at the unloading position can be realized by a counter. For example, each unloading position can correspond to a counter, and the counter is used to count the actual unloading times at the corresponding unloading position. By comparing the actual unloading times of multiple unloading positions, the target unloading position can be quickly determined.

[0042] When the target unloading position group does not include the target unloading position, if there are multiple non-target unloading position groups, the self-moving device can determine whether the target unloading position is included in the unloading positions arranged in layers in the multiple non-target unloading position groups according to the priority between the multiple non-target unloading position groups and the order from the inner layer to the outer layer, wherein the priority between the multiple non-target unloading position groups can be determined according to the distance between each non-target unloading position group and the self-moving device, or can be determined according to the random sorting of the multiple non-target unloading position groups, and the present application does not limit this. Among them, the distance between each non-target unloading position group and the self-moving device can be the distance between the center position of each non-target unloading position group and the device position of the self-moving device. For example, in the distance between each non-target unloading position group and the self-moving device, the priority of the non-target unloading position group corresponding to the larger distance can be higher than the priority of the non-target unloading position group corresponding to the smaller distance; or, the priority of the non-target unloading position group with a higher sorting can be higher than the priority of the non-target unloading position group with a lower sorting. The above-mentioned example of the determination method of the target unloading position in the case where there are multiple non-target unloading position groups is only an example, and is not limited to this in actual application.

[0043] For example, take over Figure 4The target unloading position group is a plurality of unloading positions in the first sector. If, in the plurality of non-target unloading position groups, the priority of the plurality of unloading positions in the fourth sector is higher than the priority of the plurality of unloading positions in the second sector, and the priority of the plurality of unloading positions in the second sector is higher than the priority of the plurality of unloading positions in the third sector, the self-moving device can determine, according to the order from the inner layer to the outer layer, whether the plurality of unloading positions arranged in layers in the first sector include unloading positions whose actual unloading times are less than the corresponding preset unloading times. When the unloading position whose actual unloading times are less than the corresponding preset unloading times is found, the search is stopped, and the unloading position whose actual unloading times are less than the corresponding preset unloading times is determined to be the target unloading position; if the plurality of unloading positions arranged in layers in the first sector do not include unloading positions whose actual unloading times are less than the corresponding preset unloading times, the self-moving device can determine, according to the order from the inner layer to the outer layer, whether the plurality of unloading positions arranged in layers in the fourth sector include unloading positions whose actual unloading times are less than the corresponding preset unloading times. When the unloading position whose actual unloading times are less than the corresponding preset unloading times is found, the search is stopped, and the unloading position whose actual unloading times are less than the corresponding preset unloading times is determined to be the target unloading position. Find the unloading position where the actual unloading number is less than the corresponding preset unloading number, stop searching, and determine the unloading position where the actual unloading number is less than the corresponding preset unloading number as the target unloading position; if the multiple unloading positions arranged in layers in the fourth sector do not include the unloading position where the actual unloading number is less than the corresponding preset unloading number, the self-moving device can determine whether the multiple unloading positions arranged in layers in the second sector include the unloading position where the actual unloading number is less than the corresponding preset unloading number according to the order from the inner layer to the outer layer, and stop searching after finding the unloading position where the actual unloading number is less than the corresponding preset unloading number, and determine the unloading position where the actual unloading number is less than the corresponding preset unloading number as the target unloading position; if the multiple unloading positions arranged in layers in the second sector do not include the unloading position where the actual unloading number is less than the corresponding preset unloading number, the self-moving device can determine at least one unloading position where the actual unloading number is less than the corresponding preset unloading number from the multiple unloading positions arranged in layers in the third sector according to the order from the inner layer to the outer layer as the target unloading position.

[0044] The following will take multiple unloading positions in the first sector as an example to explain the process of determining whether the multiple unloading positions in the first sector include the target unloading position according to the order from the inner layer to the outer layer. The self-equipment device can determine whether the actual unloading number of unloading position 1 in the second inner layer unloading position of the first sector is less than the corresponding preset unloading number. If the actual unloading number of unloading position 1 is less than the corresponding preset unloading number, stop searching and determine unloading position 1 as the target unloading position; if the actual unloading number of unloading position 1 is not less than the corresponding preset unloading number, the self-equipment device can determine in batches or one by one whether the actual unloading number of unloading position 5, unloading position 6 and unloading position 7 in the first inner layer unloading position of the first sector is less than the corresponding preset unloading number of unloading positions. When the unloading position whose actual unloading number is less than the corresponding preset unloading number is found, stop searching and determine the unloading position whose actual unloading number is less than the corresponding preset unloading number as the target unloading position; if unloading position 5, unloading position 6 and unloading position 7 do not include the unloading position whose actual unloading number is less than the corresponding preset unloading number, the unloading position 5, unloading position 6 and unloading position 7 do not include the unloading position whose actual unloading number is less than the corresponding preset unloading number. The self-mobile equipment can determine in batches or one by one whether the actual unloading times of unloading positions 17, 18, 19 and 20 in the outer unloading positions of the first sector are less than the corresponding preset unloading times, and stop searching after finding the unloading position whose actual unloading times are less than the corresponding preset unloading times, and determine the unloading position whose actual unloading times are less than the corresponding preset unloading times as the target unloading position; if unloading position 17, 18, 19 and 20 do not include the unloading position whose actual unloading times are less than the corresponding preset unloading times, the self-mobile equipment can refer to the above description of determining whether the multiple unloading positions arranged in layers in the first sector include the target unloading position according to the order from the inner layer to the outer layer, and determine whether the multiple unloading positions arranged in layers in the fourth sector include the target unloading position.

[0045] In this embodiment, since the target unloading position group is a plurality of unloading positions within the sector where the line between the device position of the self-moving device and the intersection position of the at least two dividing lines is located, the target unloading position group is closer to the self-moving device than the non-target unloading position group. Since the collection area includes a plurality of unloading positions, the self-moving device can disperse the unloading at the plurality of unloading positions, thereby reducing the weight, height or volume of the materials piled at each unloading position, thereby avoiding the problem of the self-moving device stopping working due to triggering the lifting detection. Exemplarily, if the self-moving device is a lawn mower, the collection area can be a grass collection area. When stepping on a higher grass pile, the lawn mower will trigger the lifting detection mechanism. When it is detected that there is an abnormal contact between the lawn mower and the ground or the height between the lawn mower and the ground is greater than or equal to the preset height threshold, the lawn mower will automatically stop working to ensure safety. When the grass collection area includes a plurality of unloading positions, the lawn mower can disperse the unloading at the plurality of unloading positions, thereby reducing the overall height of the grass pile, thereby avoiding the problem of the lawn mower stopping working due to triggering the lifting detection mechanism.

[0046] S12, controlling the mobile equipment to move to the target unloading position to perform the unloading task.

[0047] In some embodiments of the present application, since the self-moving device can enter the collection area from any direction, the self-moving device can flexibly move from the device position of the self-moving device to the target unloading position. The present application does not limit the moving path of the self-moving device. For example, the self-moving device can move to the target unloading position along the shortest path between the device position and the target unloading position. For example, if the target unloading position is Figure 4 The unloading position 2 in Figure 5 , which is a schematic diagram of a moving path provided by an embodiment of the present application, wherein the self-moving device can move from the device position to the unloading position 2 along a straight path between the device position and the unloading position 2 .

[0048] In this embodiment, the travel distance can be shortened by following the shortest straight path from the equipment position to the target unloading position, thereby improving the unloading efficiency.

[0049] In other embodiments of the present application, if there are multiple target unloading positions, the self-moving device may randomly select a target unloading position from the multiple target unloading positions for unloading, or the self-moving device may select a target unloading position farthest from the device position of the self-moving device among the multiple target unloading positions for unloading. The above example of selecting a target unloading position from multiple target unloading positions for unloading is only an example and is not limited to this in actual applications.

[0050] In some embodiments of the present application, the self-moving device can perform a self-rotation operation, so that the discharge port of the material collecting device of the self-moving device rotates to a preset direction, and the material collecting device is controlled to discharge at the target unloading position. The preset direction can be customized, and the present application does not limit this. For example, the preset direction can be the direction of the line between the target unloading position and the center position of the material collecting area.

[0051] In this embodiment, by controlling the discharge port of the material collecting device of the mobile equipment to rotate to a preset direction, the direction of unloading can be controlled, thereby ensuring the aesthetics and neatness of the stacked materials.

[0052] In other embodiments of the present application, the self-moving device can unload at a location adjacent to the target unloading location, where the adjacent location can be a location whose distance from the target unloading location is less than or equal to a preset threshold, and the preset threshold can be customized.

[0053] In the unloading control method of this embodiment, according to the setting that the target unloading position group takes precedence over the non-target unloading position group, the target unloading position can be determined preferentially from the target unloading position group, and then from the non-target unloading position group, so that the self-moving device can preferentially unload at the target unloading position group, and then unload at the non-target unloading position group. Since the target unloading position group is closer to the self-moving device, unloading at the target unloading position group is preferred, which can improve the unloading efficiency. According to the order from the inner layer to the outer layer, the self-moving device can preferentially unload at the inner layer unloading position, and then unload at the outer layer unloading position, so that the materials piled at the outer layer unloading position hinder the travel of the self-moving device, causing the self-moving device to be unable to enter the inner layer unloading position for unloading. In addition, since the aggregate area includes multiple unloading positions, the self-moving device can disperse the unloading at multiple unloading positions, so that the weight, height or volume of the materials piled at each unloading position can be reduced, and the problem of the self-moving device stopping working due to triggering the lifting detection can be avoided.

[0054] like Figure 6 , which is a schematic diagram of the structure of a self-moving device provided by an embodiment of the present application. Figure 6 In the figure, the self-moving device 1 includes a body and a memory 11, a processor 12, a power supply 13, a sensor 14, an operating mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18 and a bus 19 arranged on the body. The processor 12 is coupled to the memory 11, the power supply 13, the sensor 14, the operating mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 through the bus 19.

[0055] The memory 11 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 12, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0056] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 12. The non-volatile memory may include a disk storage device and a flash memory.

[0057] The memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, the unloading control method executed on the self-moving device 1 can be implemented.

[0058] In other embodiments, the self-mobile device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-mobile device 1 .

[0059] The processor 12 may include one or more processing units, for example, the processor 12 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0060] The processor 12 provides computing and control capabilities. For example, the processor 12 is used to execute a computer program stored in the memory 11 to implement the above-mentioned unloading control method.

[0061] The power source 13 is used to power the self-moving device. In one embodiment of the present application, the power source 13 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, a wind power generation module, etc.

[0062] The sensor 14 is used to obtain information for the mobile device 1, such as obtaining environmental information and movement information of the mobile device 1. In an embodiment of the present application, the sensor 14 may include one or more sensors such as a laser radar, a camera, an infrared sensor, and an encoder.

[0063] The operating mechanism 15 is used to perform corresponding operating tasks, such as mowing, patrolling, sweeping and spraying pesticides. In some embodiments of the present application, the operating mechanism 15 may include a motor, a transmission mechanism, a cutter disc and a grass collecting box. In some embodiments of the present application, the motor can drive the cutter disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area. The grass collecting box can be used to collect fallen leaves and cut grass.

[0064] The communication module 16 is used to realize communication between the mobile device and other devices. In one embodiment of the present application, the communication module 16 can exchange data with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or more combinations of communication modes such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0065] The positioning module 17 is used to determine the position of the mobile device. In some embodiments of the present application, the positioning module 17 may include one or more positioning modules of the type of global positioning system (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0066] The driving wheel 18 is used to realize the movement of the self-moving device. In some embodiments of the present application, the driving wheel 18 can realize the movement function of the self-moving device according to the control of the processor 12. In some embodiments of the present application, the driving wheel 18 may include a left driving wheel and a right driving wheel.

[0067] The bus 19 is at least used to provide a channel for mutual communication among the memory 11 , the processor 12 , the power supply 13 , the sensor 14 , the operating mechanism 15 , the communication module 16 , the positioning module 17 , and the driving wheel 18 in the mobile device 1 .

[0068] In other embodiments of the present application, the self-moving device 1 may further include an anti-collision part and a steering assembly, etc. The anti-collision part may be used to prevent the driving wheel 18 from colliding with an obstacle in front of the self-moving device. The steering assembly may be used to enable the driving wheel 18 to adjust the driving direction.

[0069] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0070] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0071] The computer-readable storage medium may be an internal memory of the mobile device or electronic device described in the above embodiments, for example, a hard disk or memory of the mobile device or electronic device. The computer-readable storage medium may also be an external storage device of the mobile device or electronic device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc., equipped on the mobile device or electronic device.

[0072] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created based on the use of the mobile device or electronic device, etc.

[0073] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0074] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0075] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling unloading, It is characterized in that The method comprises: In response to the unloading instruction, according to the setting that the target unloading position group takes precedence over the non-target unloading position group and the order from the inner layer to the outer layer, the target unloading position is determined from the target unloading position group or the multiple unloading positions arranged in layers in the non-target unloading position group, wherein the target unloading position group is determined from the multiple unloading position groups in the aggregate area according to the equipment position of the self-moving equipment, and the non-target unloading position group is the other unloading position groups in the multiple unloading position groups except the target unloading position group; in the aggregate area, the various unloading position groups are distributed in the form of sectors; Control the mobile device to move to the target unloading position to perform the unloading task.

2. The unloading control method according to claim 1, It is characterized in that The unloading instruction is a grass unloading instruction, the collecting area is a grass collecting area, the unloading position is a grass unloading position, and the unloading task is a grass unloading task.

3. The unloading control method according to claim 1, It is characterized in that Each unloading position has a corresponding preset unloading number, and the method for determining the target unloading position includes: Searching in each layer of the target unloading position group in order from the inner layer to the outer layer until the target unloading position is obtained, and then stopping the search, wherein the actual unloading number of the target unloading position is less than the corresponding preset unloading number; If the target unloading position group does not include the target unloading position, a search is performed in each layer of unloading positions in the non-target unloading position group in order from the inner layer to the outer layer until the target unloading position is obtained, and the search is stopped.

4. The unloading control method according to claim 1, It is characterized in that The plurality of unloading position groups are obtained by dividing the aggregate area by at least two dividing lines, and the at least two dividing lines intersect at a same point in the aggregate area.

5. The unloading control method according to claim 4, It is characterized in that The target unloading position group is a plurality of unloading positions within a sector where a line connecting the equipment position and the intersection position of the at least two dividing lines is located.

6. The unloading control method according to claim 5, It is characterized in that In each unloading position group, at least two unloading positions have different distances from the intersection position.

7. The unloading control method according to claim 1, It is characterized in that A distance between adjacent unloading positions among the plurality of unloading positions is greater than a length of the self-moving device.

8. The unloading control method according to claim 1, It is characterized in that The execution method of the unloading task includes: The self-rotation operation is performed to rotate the discharge port of the material collecting device of the self-moving device to a preset direction, and the material collecting device is controlled to discharge at the target unloading position.

9. A self-propelled device, It is characterized in that The self-moving device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-moving device implements the unloading control method as claimed in any one of claims 1 to 8.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor in a mobile device, implements the unloading control method according to any one of claims 1 to 8.

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