Method for controlling based on grass collecting function and related device

Abstract

The application provides a control method based on a grass collecting function and related devices, applied to a terminal device. The method comprises: determining predicted operation information according to image information of an operation area to be executed for a weeding operation and first position information corresponding to a weeding device; determining a target area according to the predicted operation information; and controlling the weeding device to record and save a moving path between the target area and a grass unloading position according to the first position information. In this way, the terminal device determines an appropriate grass unloading position according to the operation area, and then performs a recording operation of the moving path in advance according to the actual operation condition, thereby improving the grass collecting efficiency and stability of the weeding device, and improving the operation efficiency of the weeding device and the continuity of the area operation.

Description

Technical Field

[0001] This application belongs to the field of data processing based on the Internet industry, and specifically relates to a control method and related device based on grass collection function. Background Technology

[0002] Currently, with the improvement of people's living standards, people often use weeding equipment to trim lawns or design lawn patterns in various lawn beautification situations.

[0003] However, when weeding equipment performs lawn mowing operations, because the equipment may need to handle multiple lawn areas, improper selection of hay storage points and arrangement of the operation sequence can lead to low hay collection efficiency and long operation time. Summary of the Invention

[0004] This application provides a control method and related device based on the grass collection function, in order to improve the efficiency and stability of the grass collection function of the weeding equipment, as well as to improve the operating efficiency of the weeding equipment and the continuity of regional operations.

[0005] In a first aspect, embodiments of this application provide a control method based on a weeding function, applied to a terminal device in an operation control system, wherein the operation control system further includes a weeding device, the weeding device being communicatively connected to the terminal device; the method includes:

[0006] Based on the image information of the work area to be weeded and the first location information corresponding to the weeding equipment, the predicted work information is determined, wherein the work area includes multiple lawn areas;

[0007] The target area is determined based on the predicted operation information. The target area is the lawn area where the weeding equipment is located when it needs to move to the unloading position. The unloading position is determined by the terminal device based on the image information. The unloading position is a preset range located within the operation area and outside the multiple lawn areas.

[0008] Based on the first location information, the weeding equipment is controlled to record and save the movement path between the target area and the unloading location.

[0009] Secondly, embodiments of this application provide a control device based on a weeding function, applied to a terminal device in an operation control system. The operation control system further includes a weeding device, which is communicatively connected to the terminal device. The device includes:

[0010] The first determining unit is used to determine predicted operation information based on the image information of the operation area to be weeded and the first location information corresponding to the weeding equipment, wherein the operation area includes multiple lawn areas;

[0011] The second determining unit is used to determine the target area based on the predicted operation information. The target area is the lawn area where the weeding equipment is located when it needs to move to the unloading position. The unloading position is determined by the terminal device based on the image information. The unloading position is a preset range within the operation area and outside the multiple lawn areas.

[0012] The control unit is configured to control the weeding equipment to record and save the movement path between the target area and the unloading position based on the first location information.

[0013] Thirdly, embodiments of this application provide a terminal device including a processor, a memory, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps as described in the first aspect of embodiments of this application.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps in the first aspect of embodiments of this application.

[0015] Fifthly, embodiments of this application provide a computer program product, including a computer program / instructions, which, when executed by a processor, implement some or all of the steps described in the first aspect of embodiments of this application.

[0016] As can be seen, in this embodiment of the application, the terminal device determines the appropriate unloading position based on the work area, and then records the movement path in advance according to the actual work situation, thereby improving the grass collection efficiency and stability of the weeding equipment, as well as improving the work efficiency of the weeding equipment and the continuity of regional operations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a structural block diagram of a work control system provided in an embodiment of this application;

[0019] Figure 2 This is a flowchart illustrating a control method based on grass collection function provided in an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of a scenario for determining the order of operations provided in an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of a scenario for determining the unloading location provided in an embodiment of this application;

[0022] Figure 5 This is a schematic diagram of a weeding device performing a weeding unloading operation, provided in an embodiment of this application.

[0023] Figure 6 This is a functional unit block diagram of a control device based on grass collection function provided in an embodiment of this application;

[0024] Figure 7 This is a functional unit block diagram of another control device based on grass collection function provided in the embodiments of this application;

[0025] Figure 8 This is a structural block diagram of a terminal device provided in an embodiment of this application. Detailed Implementation

[0026] The technical solutions in the embodiments of this application are clearly and completely described. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0027] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0028] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] Please see Figure 1 , Figure 1 This is a structural block diagram of a work control system provided in an embodiment of this application. Figure 1 As shown, the operation control system 100 includes a terminal device 110 and a weeding device 120, which are connected via communication. The weeding device 120 can be any commercially available device capable of communicating with the terminal device 110 and executing user-instructed weeding tasks according to commands from the terminal device 110, such as a computer, mobile phone, or tablet. The weeding device 120 can also be any commercially available weeding tool capable of communication interaction, and in addition to performing weeding tasks, it can also collect the weeds generated during the weeding process. In specific application scenarios, users can establish a communication connection between the weeding device 120 and the terminal device 110, and place the terminal device 110 in the area where they want to mow the lawn. This area may include one or more lawn areas; this solution is primarily suitable for areas with multiple lawn areas. Subsequently, the terminal device 110 determines the appropriate unloading location based on the actual conditions of the work area, and predicts the operation sequence and time of the weeding equipment based on the lawn area where weeding operations actually need to be performed. This allows for pre-recording of the movement path, ensuring the efficiency of subsequent weeding operations and the safety of the weeding equipment's movement. A work control system 100 may include one terminal device 110 and one or more weeding devices 120. One terminal device 110 controls all weeding devices 120 via communication connections. Alternatively, a work control system 100 may include multiple terminal devices 110, each capable of controlling the weeding devices 120 within the work control system 100.

[0030] Based on this, the present application provides a control method based on the grass collection function. The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0031] Please see Figure 2 , Figure 2 This is a flowchart illustrating a control method based on a weeding function provided in an embodiment of this application, applied to a terminal device in a work control system 100. The work control system further includes a weeding device, which is communicatively connected to the terminal device. The method includes:

[0032] Step S201: Determine the predicted operation information based on the image information of the operation area to be weeded and the first location information corresponding to the weeding equipment.

[0033] The work area includes multiple lawn areas; the weeding equipment is specifically used to perform weeding operations on the lawn areas and to activate the grass collection function to collect the grass generated during the weeding operation at a subsequently determined unloading location.

[0034] In one possible embodiment, predictive operation information is determined based on image information of the work area to be mowed and first location information corresponding to the mowing equipment. This includes: determining the area and second location information of multiple lawn areas within the work area based on the image information; determining whether the mowing equipment is located within any lawn area based on the first and second location information; if the mowing equipment is located within any lawn area, determining the operation sequence number of the reference lawn area where the mowing equipment is located as the starting sequence number; and, based on the starting sequence number and the first location distance, sequentially sorting the operation sequence numbers of the remaining lawn areas outside the reference lawn area to determine the operation order for multiple lawn areas; determining the operation time corresponding to each lawn area based on multiple areas and the average mowing rate of the mowing equipment; and determining the predictive operation information based on the operation order and each operation time.

[0035] In this scheme, the weeding equipment is located within the work area; therefore, the location indicated by the first location information is a specific location within the work area where weeding operations are to be performed. Image information can be obtained beforehand by capturing images of the entire work area using a drone or a high-positioned camera. These images must be clear enough to support subsequent data processing and completely cover the entire area. Then, image segmentation techniques are used to distinguish the lawn areas from other areas (such as land, buildings, etc.) in the image. Common image segmentation methods include threshold-based segmentation, edge detection, and region growing. In the segmented image, feature extraction methods are used to detect lawn areas. Lawns typically possess unique color, texture, and shape features that can be utilized for detection. Finally, the detected lawn areas are marked, and their areas are measured. Specifically, pixel counting or area measurement algorithms can be used to determine the area of ​​each lawn area. Then, the second location information of each lawn area is determined using the captured location information of the work area.

[0036] Wherein, the first position distance is the interval between the second position information and the first position information corresponding to the remaining lawn areas, and the average weeding rate is the ratio of the historical lawn area corresponding to the weeding operation performed by the weeding equipment within a preset time to the historical operation time.

[0037] In this example, the job sequence number can be displayed in various forms on the terminal device. Specifically, this refers to the text format displayed to the user. During data processing, the lawn areas are typically sorted using the most direct numerical format. The job sequence number can be displayed in the following ways: 1. Numerical format: The simplest and most direct method is to use numbers to represent the starting number, such as "1" or "0". This method is suitable for digital numbering systems. 2. Alphabetical format: In some cases, the starting number may be represented by letters, such as "A" or "AA". This method is typically used in numbering systems that combine letters and numbers. 3. Text description: In some cases, the starting number may be represented by a text description, such as "First" or "Initial". This method is suitable for scenarios where the meaning of the sequence number needs to be clearly explained.

[0038] If the weeding equipment is already in a certain lawn area, that lawn area can be used as the starting sequence number. Subsequent lawn areas are then ordered by distance from the weeding equipment, from closest to furthest, thus improving the continuity of weeding operations across multiple lawn areas within the work area. Furthermore, since the terminal device has already determined the area of ​​each lawn area based on the image information corresponding to the work area, the required weeding time (i.e., work time) for each lawn area can be predicted by obtaining the average weeding rate determined from the historical weeding operations performed by the weeding equipment. The preset time for determining the average weeding rate should not be set too long. It can be determined based on the frequency of user use of the weeding equipment. For example, if the user frequently uses the weeding equipment once a month, the preset time can be set to six months. Alternatively, if the user uses the weeding equipment once a week, the preset time can be set to one month. As long as a sufficient amount of data is available for calculating the average weeding rate, and the time span of the data is not too long, the accuracy of the determined average weeding rate can be guaranteed, thereby improving the accuracy of subsequent data processing.

[0039] As can be seen in this example, different job sequence numbering operations are performed based on the positional relationship between the current location of the weeding equipment and the corresponding location of the lawn area. This improves the flexibility of the terminal equipment in determining the job execution order and the accuracy of the predicted job information, thereby improving the efficiency of the weeding equipment in performing the weeding operation.

[0040] In one possible embodiment, before determining the operation time corresponding to each lawn area based on multiple areas and the average weeding rate of the weeding equipment, and after determining whether the weeding equipment is located within any lawn area based on the first and second location information, the method further includes: if the weeding equipment is not located within a lawn area, determining the third location information of the center area of ​​the operation area based on image information; if there are any two lawn areas with the same second location distance and an area difference greater than a preset difference, determining the area of ​​any two lawn areas as a reference area; determining a first priority; or, if there are any two lawn areas with the same second location distance and an area difference less than or equal to a preset difference, obtaining the boundary length of any two lawn areas; determining a second priority based on the boundary length; and sorting the multiple lawn areas by operation sequence number from smallest to largest according to the second location distance, the first priority, or the second priority to determine the operation order.

[0041] Wherein, the second position distance is the interval distance between the center area and each lawn area determined according to the second position information and the third position information. The first priority is used to indicate that the operation sequence number of the lawn area corresponding to the smaller reference area is given priority over the operation sequence number of the lawn area corresponding to the larger reference area. The second priority is used to indicate that the operation sequence number of the lawn area corresponding to the longer area boundary length is given priority over the operation sequence number of the lawn area corresponding to the shorter area boundary length.

[0042] This example illustrates a different strategy for determining the work sequence based on the positional relationship between the weeding equipment and the lawn area. Since the weeding equipment is not located within any lawn area, the third positional information corresponding to the central region of the work area to be weeded is determined again based on the image information. This central region should be set to a small area, only used to represent the center point of the work area. Because the work sequence is ordered based on the second positional distance of each lawn area from the central region, there may be cases where the determined second positional distances are the same. In this case, the priority of the ordering is determined based on the area corresponding to the lawn areas with the same second positional distance.

[0043] Furthermore, during the process of sorting the job sequence based on the area of ​​lawn areas with the same distance from the second location, different determination steps are performed based on the difference between the areas. Specifically, if the area difference is greater than a preset difference, it is determined that the difference between the two lawn areas is larger, and the smaller lawn area is processed first. The purpose of determining the job sequence in this way is to ensure that during the weeding operation, the weeding equipment works from the inside out, processing each lawn area from smallest to largest. This not only facilitates the subsequent departure of the weeding equipment from the work area but also allows the user to perceive a faster processing speed (because the weeding equipment can complete the weeding of smaller lawn areas first), improving the user experience. Conversely, if the area difference is less than the preset difference, it is determined that the difference between the two lawn areas is smaller and less noticeable to the user. In this case, the terminal device also obtains the area boundary length, prioritizing the job sequence number of lawn areas with longer boundary lengths over those with shorter boundary lengths. The purpose of determining the order of operations in this way is that the longer the boundary length of a lawn area of ​​the same size, the more irregular the boundary of the lawn area. Prioritizing the weeding operation on this lawn area can improve the aesthetics of the work area and enhance the user experience.

[0044] For example, please refer to Figure 3 , Figure 3 This is a schematic diagram illustrating a scenario for determining the order of operations, as provided in an embodiment of this application. Figure 3 As shown, if the current position of the weeding device 305 within the work area 301 is not within any lawn area, the terminal device will determine the third position information of the central area 304 of the work area 301. Figure 3 D1 in the diagram represents the second location distance between lawn area A302 and center area 304. Figure 3 In this context, D2 represents the second positional distance between lawn area B303 and the central area 304. If D1 and D2 are the same, then the areas S1 of lawn area A302 and S2 of lawn area B303 are determined. Assuming S1 is greater than S2, and the difference between S1 and S2 is greater than a preset difference, then the operation sequence number corresponding to the smaller lawn area B303 will take precedence over the operation sequence number corresponding to the larger lawn area A302; that is, lawn area B will be weeded by the weeding equipment before lawn area A. If D1 and D2 are the same, and the difference between S1 and S2 is less than or equal to the preset difference, then the second priority is determined by comparing the boundary lengths of lawn areas A302 and B303.

[0045] As can be seen in this example, different job sequence numbering operations are performed based on the positional relationship between the current location of the weeding device and the corresponding location of the lawn area. This improves the flexibility of determining the job execution order of the terminal device and the efficiency of the weeding device in the final weeding operation. In addition, different job sequence numbers are used to improve the user experience.

[0046] Step S202: Determine the target area based on the predicted operation information.

[0047] The target area is the lawn area where the weeding equipment needs to move to the unloading position. After moving to the target area, the weeding equipment will activate the grass collection function to perform the unloading operation. The unloading operation involves the weeding equipment unloading and piling up the loaded hay. The unloading position is determined by the terminal device based on image information and is a preset area within the work area but outside multiple lawn areas. The target area is the lawn area where the weeding equipment needs to move to the unloading position to perform the unloading operation, as determined by the terminal device based on the aforementioned predicted work information. There are two reasons why the weeding equipment needs to move to the unloading position: 1. The weeding equipment has completed weeding operations in all lawn areas; 2. The weeding equipment cannot perform the grass collection function due to the capacity of the corresponding grass collection container during weeding, meaning the weeding equipment cannot load more hay. If the weeding equipment is not unloaded in this case, hay produced during weeding will remain on the lawn, increasing the difficulty of subsequent grass collection, or requiring manual collection, wasting manpower and resources, and affecting the appearance of the lawn.

[0048] In one possible embodiment, determining the target area based on the predicted operation information includes: determining the number of lawn areas corresponding to the operation area; if the number of areas is less than a preset number, then determining the lawn areas that meet the preset conditions as the target area based on the operation sequence and operation time; if the number of areas is greater than or equal to the preset number, then sequentially accumulating the operation time corresponding to each lawn area according to the operation sequence; and, when the accumulated time is an integer multiple of the preset time, determining the lawn area corresponding to the currently accumulated operation time as the target area; or, determining the lawn area with the corresponding operation sequence number as the last number as the target area.

[0049] Among them, the preset conditions are that the single operation time corresponding to the lawn area exceeds the preset time, or the operation sequence number corresponding to the lawn area is the last sequence number. The preset quantity is related to the total area of ​​the operation area, and the preset time is related to the container loading efficiency of the weeding equipment. The container loading efficiency is the weight of grass loaded per unit time after the weeding equipment activates the grass collection function.

[0050] It should be noted that the number of target areas can be multiple, determined based on the actual operating time of the weeding equipment and the number of lawn areas corresponding to those areas. Regardless of whether the number of areas is greater than, less than, or equal to the preset number, this example determines the target areas based on the following two criteria: first, the cumulative time of the weeding equipment's weeding operation has exceeded the preset time or is a multiple of the preset time; second, the corresponding lawn area is the last lawn area for which the weeding equipment needs to perform weeding operations. The preset time is based on the actual container loading efficiency of the weeding equipment, i.e., how long the weeding equipment needs to perform weeding operations to fill the grass collection container used for the integrated function. In other words, the weeding equipment only needs to perform the unloading operation after completing its work and when the grass collection container is full, which requires moving from the corresponding lawn area to the unloading position.

[0051] For example, the work area includes three lawn areas: lawn area A, lawn area B, and lawn area C. The work sequence is lawn area C - lawn area A - lawn area B, with work times of (lawn area A, 30 minutes), (lawn area B, 20 minutes), and (lawn area C, 40 minutes). The container loading efficiency is 10 kg of forage collected in 10 minutes of weeding operation, and the maximum container weight is 45 kg. Therefore, the time required to fill the container is 45 minutes. Based on the work sequence and time, it can be determined that when the weeding equipment performs 45 minutes or 90 minutes of weeding operation, the lawn areas where the equipment is located are lawn area A and lawn area C. Therefore, lawn area A and lawn area C are the target areas. Furthermore, since the weeding equipment can complete the weeding operation in 90 minutes, lawn area C, as the last lawn area worked on, should also be designated as the target area. The terminal equipment can then pre-record the movement path between the unloading position and lawn areas A and C to ensure the safety and stability of the weeding equipment's movement.

[0052] As can be seen in this example, the terminal device predicts the target area based on the actual working efficiency of the weeding equipment, the loading efficiency of the grass collection container, and the operation time and sequence for each lawn area. This allows for the pre-recording of the movement path, reducing the risk of the weeding equipment moving to the unloading position during the actual weeding process and improving the stability and efficiency of the grass collection by the weeding equipment.

[0053] In one possible embodiment, after determining the target area based on the predicted operation information and before controlling the weeding equipment to record and save the connection path between the target area and the unloading position based on the first location information, the method further includes: acquiring historical video data for the operation area; determining pedestrian activity areas and obstacle positions based on the historical video data; determining obstacle areas based on obstacle positions and preset interval distances; determining grass collection and placement areas based on pedestrian activity areas, obstacle areas, and operation areas; and determining the position with the smallest total distance to each lawn area within the grass collection and placement area as the unloading position based on the second location information.

[0054] The historical video data refers to video data from the same time period as the current time period within a preset number of days. The preset number of days should not be too few or too many, ensuring both the accuracy of subsequently identifying obstacle areas and pedestrian activity areas, and the efficiency of data processing by the terminal device. Furthermore, because pedestrian activity within the work area is easily affected by time of day—for example, pedestrian activity in the work area is less during working hours than during off-peak hours—the historical video data acquired by the terminal device should correspond to the same shooting time period as the current time period to minimize the impact of time period differences. Moreover, the current time period can be the time period when the terminal device determines the unloading location, or the time period when the user begins weeding operations using the preset weeding equipment on the terminal device; there is no limitation here.

[0055] After acquiring historical video data, the terminal device preprocesses the video to improve the accuracy of subsequent analysis. Then, computer vision technology is used to detect objects appearing in the video. Smaller objects are ignored, while larger objects are retained to reduce the amount of data processed and to exclude objects that will not affect the movement of the weeding equipment. Larger, stationary objects are identified as obstacles, while larger, moving objects are identified as pedestrians. Further, the detected pedestrians are tracked to determine their movement paths and activity areas in the video. Based on the tracking results, the pedestrian activity areas are analyzed, specifically using statistical analysis and density estimation to determine areas where pedestrians frequently appear. Additionally, object detection algorithms can be used to identify obstacles in the video. Since obstacles do not move on their own, the weeding equipment must maintain a certain distance when passing obstacles to avoid collisions and damage. Thus, obstacle areas are determined based on the location of the obstacles and preset intervals. After identifying the obstacle zone and pedestrian activity zone, all areas within the work area other than these zones and the lawn area are considered suitable locations for unloading grass. Finally, the location with the smallest total distance within the area is selected as the unloading location based on its position relative to the lawn area, thereby improving the efficiency of the weeding equipment's unloading operation.

[0056] For example, please refer to Figure 4 , Figure 4 This is a schematic diagram illustrating a scenario for determining the unloading location, provided in an embodiment of this application. For example... Figure 4 As shown, Figure 4 The area shown is the work area, in which Figure 4 The area indicated by 401 is the lawn area; the other areas are non-lawn areas within the work area. The terminal equipment needs to determine the unloading location in the non-lawn areas. The terminal equipment acquires and analyzes historical video data to determine the pedestrian activity area 405 and the obstacle location 404. Based on the determined obstacle location 404 and pedestrian activity area 405, the remaining non-lawn areas are identified as the grass collection and placement areas, thus determining the unloading location 403. The weeding equipment 402 can move to the unloading location 403 to perform the unloading operation when the grass is full or after completing the weeding operation.

[0057] As can be seen in this example, the terminal device obtains historical video data, analyzes and processes the historical video data to determine the area suitable for placing haystacks, and then selects the appropriate unloading point, thereby improving the unloading efficiency of the weeding equipment and ensuring the safety of the weeding equipment movement.

[0058] Step S203: Based on the first location information, control the weeding equipment to record and save the movement path between the target area and the unloading location.

[0059] In one possible embodiment, controlling the weeding device to record and save the movement path between the target area and the unloading position based on the first location information includes: if any second location information contains the first location information and the lawn area where the first location information is located is not the target area, or if no second location information contains the first location information, then sending a first movement command to the weeding device; after detecting that the weeding device is at the unloading position, sending a second movement command to the weeding device; and after receiving a first response message sent back by the weeding device in response to the second movement command, saving the movement path carried in the first response message.

[0060] The first movement command is used to instruct the weeding equipment to move to the unloading position. The second movement command is determined by the terminal device based on the target location information corresponding to the target area. The second movement command is used to instruct the weeding equipment to move to the target area and to record the movement path traversed by the weeding equipment when it moves to the boundary of the target area.

[0061] Before the weeding equipment performs weeding operations on the work area, the area outside the lawn area is an unknown area (it is difficult to reflect the possible situations that may occur during the actual movement of the weeding equipment through image information alone). Therefore, the terminal equipment needs to record the movement path between the target area and the unloading position in advance to ensure the safety and stability of the subsequent unloading operation.

[0062] This example illustrates a scenario where the weeding equipment is located in a lawn area that is not part of the target area, or in an area other than the lawn area. In this case, the weeding equipment is controlled to first reach the unloading position, and then from there to each target area to record the movement path, improving the efficiency of recording the movement path. It's important to note that when the weeding equipment moves from the unloading position to the boundary of the target area, there may be obstacles, roads, etc., outside the lawn area that could affect its movement. Therefore, to ensure the safety of the weeding equipment's movement, the user can remotely control the weeding equipment via a terminal device to record the movement path, so that the weeding equipment can automatically perform the unloading operation based on the movement path later. Alternatively, visual analysis can be performed using the camera on the weeding equipment to identify areas or obstacles that need to be bypassed to safely reach the destination. When there are multiple target areas, after recording the movement path in the previous target area, the terminal device will control the weeding equipment to return to the unloading position and then proceed to the next target area to record a new movement path.

[0063] For example, please refer to Figure 5 , Figure 5 This is a schematic diagram illustrating a scenario where a weeding device performs a weeding unloading operation, as provided in an embodiment of this application. Figure 5 As shown, Figure 5 The area shown is the work area, and lawn area 501 is a shaded area. It can be seen that the first location information corresponding to the weeding device 502 is not found in the second location information corresponding to any lawn area 501. At this time, the terminal device will send a first movement command to the weeding device 502, instructing it to move to the pre-determined unloading position 503. Assume... Figure 5 Since both lawn areas 501 are target areas, the terminal device will then send a second movement command to the weeding device 502, instructing it to move from the unloading position 503 to each lawn area 501, and record the movement path traversed by the weeding device 502 when it moves to the boundary of the lawn area 501 (i.e., Figure 5 (504 and 505 in the text). Finally, the weeding device 502 will return carrying the movement path (i.e. Figure 5 The terminal device saves the movement path (i.e., the response messages for 504 and 505) in the 504 and 505 messages. Figure 5 The relevant data corresponding to 504 and 505 in the table.

[0064] As can be seen in this example, different movement path recording operations are performed based on the relationship between the current position of the weeding device and the target area, which improves the efficiency and flexibility of the terminal device in controlling the weeding device to record the movement path.

[0065] In one possible embodiment, controlling the weeding device to record and save the movement path between the target area and the unloading position based on the first location information includes: if any second location information contains the first location information and the lawn area where the first location information is located is the target area, then obtaining the boundary information of the target area; determining the target boundary position of the target area with the shortest distance to the unloading position based on the boundary information; sending a third movement command to the weeding device; after the weeding device is located at the target boundary position, sending a fourth movement command to the weeding device; and after receiving a second response message sent back by the weeding device in response to the fourth movement command, saving the movement path carried in the second response message.

[0066] The third movement command is used to instruct the weeding equipment to move to the target boundary position, the fourth movement command is used to instruct the weeding equipment to move to the unloading position, and the movement path traversed by the weeding equipment when moving to the unloading position is recorded.

[0067] In this example, the weeding equipment is located in a lawn area, which is also a target area. In this case, the weeding equipment is controlled to first reach the target boundary of the target area, and then move from the target boundary to the unloading position to record the movement path. Similar to the previous embodiment, the movement path should be recorded beforehand to ensure the safety of the weeding equipment's movement. It is important to note that when the weeding equipment moves from the boundary of the target area to the unloading position, there may be obstacles, roads, etc., outside the lawn area that could affect its movement. Therefore, to ensure the safety of the weeding equipment's movement, the user can remotely control the weeding equipment via a terminal device to record the movement path, so that the weeding equipment can automatically perform the unloading operation based on the movement path. Alternatively, visual analysis can be performed using a camera on the weeding equipment to identify areas or obstacles that need to be bypassed to safely reach the destination. When there are multiple target areas, after recording the movement path in the previous target area, the terminal device will control the weeding equipment to move to the boundary of the next target area, and then continue to move to the unloading position to record a new movement path, until the movement path for each target area is recorded and saved.

[0068] As can be seen in this example, different movement path recording operations are performed based on the relationship between the current position of the weeding device and the target area, which improves the efficiency and flexibility of the terminal device in controlling the weeding device to record the movement path.

[0069] In one possible embodiment, the control method based on the grass collection function described in this application further includes: if a grass unloading request for the grass-cutting device is detected, sending a grass unloading instruction carrying a movement path to the grass-cutting device.

[0070] The unloading command is used to instruct the weeding equipment to move along the movement path to the unloading position and perform the unloading operation.

[0071] After recording the movement paths for all target areas, the terminal device saves each path. Simultaneously, the weeding equipment returns to its starting point based on its initial location and begins weeding operations in the designated work area.

[0072] The request to unload grass from the weeding equipment can be triggered by several factors. First, the equipment may send a request when its weight or capacity detection module detects that it can no longer collect grass. Second, the equipment may send a request when it detects that all lawn areas have been mowed. Third, the request may be sent by the user via a terminal device, thus forcing the equipment to unload grass. When a user forces the equipment to unload, the equipment will first move to the nearest target area and then, based on a pre-recorded path corresponding to that target area, move to the unloading position to perform the unloading operation. This improves the flexibility of data processing on the terminal device and enhances the safety of the weeding operation.

[0073] visible, Figure 2 This is a flowchart illustrating a control method based on the grass collection function provided in this application embodiment. In this application embodiment, the terminal device determines the appropriate grass unloading position according to the work area, and then records the movement path in advance according to the actual work situation, thereby improving the grass collection efficiency and stability of the weeding equipment, as well as improving the work efficiency of the weeding equipment and the continuity of regional operations.

[0074] The following are embodiments of the apparatus of this application. These embodiments of the apparatus and the embodiments of the method of this application belong to the same concept and are used to execute the methods described in the embodiments of this application. For ease of explanation, only the parts related to the apparatus embodiments of this application are shown in the embodiments of this application. For specific technical details not disclosed, please refer to the description of the embodiments of the method of this application, which will not be repeated here.

[0075] This application provides a control device based on a grass collection function, applied to... Figure 1 The terminal device 110 in the illustrated operation control system 100, specifically, is a control device based on the grass collection function used to execute the steps described by the terminal device 110 in the above-described control method based on the grass collection function. The control device based on the grass collection function provided in this application embodiment may include modules corresponding to the respective steps.

[0076] This application embodiment can divide the control device based on the grass collection function into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. The module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation. When dividing the functional modules according to each function... Figure 6This is a functional unit block diagram of a control device based on grass collection function provided in an embodiment of this application; it is a terminal device applied in an operation control system, which also includes a weeding device, and the weeding device is communicatively connected to the terminal device; the control device 60 based on grass collection function includes: a first determining unit 601, used to determine predicted operation information based on image information of the operation area to be weeded and the first position information corresponding to the weeding device, the operation area including multiple lawn areas; a second determining unit 602, used to determine a target area based on the predicted operation information, the target area being the lawn area where the weeding device needs to move to the unloading position, the unloading position being determined by the terminal device based on image information, the unloading position being a preset range within the operation area and outside the multiple lawn areas; and a control unit 603, used to control the weeding device to record and save the movement path between the target area and the unloading position based on the first position information.

[0077] In one possible embodiment, in determining the predicted operation information based on the image information of the work area where the weeding operation is to be performed and the first location information corresponding to the weeding equipment, the first determining unit 601 is specifically configured to: determine the area and second location information of multiple lawn areas within the work area based on the image information; determine whether the weeding equipment is located in any lawn area based on the first location information and the second location information; if the weeding equipment is located in any lawn area, determine the operation sequence number of the reference lawn area where the weeding equipment is located as the starting sequence number; and, based on the starting sequence number and the first location distance, sequentially sort the operation sequence numbers of the remaining lawn areas other than the reference lawn area to determine the operation order for multiple lawn areas, wherein the first location distance is the interval distance between the second location information and the first location information corresponding to the remaining lawn areas; determine the operation time corresponding to each lawn area based on multiple areas and the average weeding rate of the weeding equipment, wherein the average weeding rate is the ratio of the historical lawn area corresponding to the weeding operation performed by the weeding equipment within a preset time to the historical operation time; and determine the predicted operation information based on the operation order and each operation time.

[0078] In one possible embodiment, before determining the operation time corresponding to each lawn area based on multiple areas and the average weeding rate of the weeding equipment, after determining whether the weeding equipment is located within any lawn area based on the first location information and the second location information, the first determining unit 601 is further configured to: if the weeding equipment is not located within a lawn area, determine the third location information of the center area of ​​the operation area based on the image information; if there are any two lawn areas with the same second location distance and an area difference greater than a preset difference, determine the area of ​​any two lawn areas as a reference area, and the second location distance is the interval distance between the center area and each lawn area determined based on the second location information and the third location information; determine The first priority indicates that the operation sequence number of the lawn area corresponding to the smaller reference area takes precedence over the operation sequence number of the lawn area corresponding to the larger reference area; or, if there are any two lawn areas with the same second location distance and an area difference less than or equal to a preset difference, then the boundary lengths of the two lawn areas are obtained; the second priority is determined based on the boundary lengths, indicating that the operation sequence number of the lawn area corresponding to the longer boundary length takes precedence over the operation sequence number of the lawn area corresponding to the shorter boundary length; the operation sequence numbers of multiple lawn areas are sorted from smallest to largest according to the second location distance, the first priority, or the second priority to determine the operation order.

[0079] In one possible embodiment, in determining the target area based on the predicted operation information, the second determining unit 602: determines the number of areas corresponding to the lawn areas within the operation area; if the number of areas is less than a preset number, then, based on the operation sequence and operation time, determines the lawn areas that meet preset conditions as target areas, wherein the preset conditions are that the single operation time corresponding to the lawn area exceeds a preset time, or that the operation sequence number corresponding to the lawn area is the last sequence number; the preset number is associated with the total area of ​​the operation area, and the preset time is associated with the container loading efficiency corresponding to the weeding equipment, wherein the container loading efficiency is the weight of hay loaded per unit time after the weeding equipment activates the hay collection function; if the number of areas is greater than or equal to the preset number, then, according to the operation sequence, the operation time corresponding to each lawn area is accumulated sequentially; and, when the accumulated time is an integer multiple of the preset time, the lawn area corresponding to the currently accumulated operation time is determined as the target area; or, the lawn area with the corresponding operation sequence number as the last sequence number is determined as the target area.

[0080] In one possible embodiment, after determining the target area based on the predicted operation information and before controlling the weeding equipment to record and save the connection path between the target area and the unloading position based on the first location information, the second determining unit 602 is further configured to: acquire historical video data for the operation area, wherein the historical video data is video data of the corresponding time period within a preset number of days that is the same as the current time period; determine the pedestrian activity area and obstacle position based on the historical video data; determine the obstacle area based on the obstacle position and a preset interval distance; determine the grass collection and placement area based on the pedestrian activity area, obstacle area, and operation area; and determine the position with the smallest total distance to each lawn area in the grass collection and placement area as the unloading position based on the second location information.

[0081] In one possible embodiment, in controlling the weeding device to record and save the movement path between the target area and the unloading position based on the first location information, the control unit 603 is specifically configured to: if any second location information contains the first location information and the lawn area where the first location information is located is not the target area, or if no second location information contains the first location information, then send a first movement command to the weeding device, the first movement command being used to instruct the weeding device to move to the unloading position; after detecting that the weeding device is at the unloading position, send a second movement command to the weeding device, the second movement command being determined by the terminal device based on the target location information corresponding to the target area, the second movement command being used to instruct the weeding device to move to the target area, and to record the movement path traversed by the weeding device when moving to the boundary of the target area; after receiving a first response message sent back by the weeding device in response to the second movement command, save the movement path carried in the first response message.

[0082] In one possible embodiment, in controlling the weeding device to record and save the movement path between the target area and the unloading position based on the first location information, the control unit 603 is specifically configured to: if any second location information contains the first location information, and the lawn area where the first location information is located is the target area, then acquire the boundary information of the target area; determine the target boundary position of the target area with the shortest distance to the unloading position based on the boundary information; send a third movement command to the weeding device, the third movement command being used to instruct the weeding device to move to the target boundary position; after the weeding device is located at the target boundary position, send a fourth movement command to the weeding device, the fourth movement command being used to instruct the weeding device to move to the unloading position, and record the movement path traversed by the weeding device when moving to the unloading position; and after receiving a second response message sent back by the weeding device in response to the fourth movement command, save the movement path carried in the second response message.

[0083] When using integrated units, such as Figure 7 As shown, Figure 7This is a functional unit block diagram of another control device based on grass collection function provided in an embodiment of this application. Figure 7 In this document, the control device 60 based on the grass-collecting function includes a processing module 702 and a communication module 701. The processing module 702 is used to control and manage the actions of the control device based on the grass-collecting function, such as the steps of the first determining unit 601, the second determining unit 602, and the control unit 603, and / or to execute other processes of the technology described herein. The communication module 701 is used to support interaction between the control device based on the grass-collecting function and other devices. Figure 7 As shown, the control device based on the grass collection function may include a storage module 703, which is used to store the program code and data of the control device based on the grass collection function.

[0084] The processing module 702 can be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication module 701 can be a transceiver, RF circuitry, or a communication interface, etc. The storage module 703 can be a memory.

[0085] All relevant content in each scenario involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here. The control device 60 based on the grass-collecting function described above can all perform the above... Figure 2 The control method shown is based on the grass collection function.

[0086] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0087] Figure 8 This is a structural block diagram of a weeding device provided in an embodiment of this application. Figure 8 As shown, the terminal device 80 may include one or more of the following components: a processor 801 and a memory 802 coupled to the processor 801, wherein the memory 802 may store one or more computer programs 803, and the one or more computer programs 803 may be configured to implement the methods described in the above embodiments when executed by one or more processors 801. The terminal device 80 may be the terminal device 110 in the above embodiments.

[0088] Processor 801 may include one or more processing cores. Processor 801 connects to various parts within the terminal device 80 using various interfaces and lines, and performs various functions and processes data of the terminal device 80 by running or executing instructions, programs, code sets, or instruction sets stored in memory 802, and by calling data stored in memory 802. Optionally, processor 801 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). Processor 801 may integrate one or more of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into processor 801 and may be implemented separately using a communication chip.

[0089] The memory 802 may include random access memory (RAM) or read-only memory (ROM). The memory 802 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 802 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described above. The data storage area may also store data created by the terminal device 80 during use.

[0090] It is understood that the terminal device 80 may include more or fewer structural elements than those shown in the above block diagram, and this is not limited here.

[0091] This application also provides a computer storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements some or all of the steps of any of the methods described in the above method embodiments.

[0092] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

[0093] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0094] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and other division methods may exist in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0095] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0096] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0097] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, volatile memory, or non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM), etc., which are various media capable of storing program code.

[0098] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of the present invention, and various modifications and alterations can be made, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of the present invention.

Claims

1. A control method based on grass collection function, characterized in that, A terminal device used in a job control system, the job control system further including a weeding device, the weeding device being communicatively connected to the terminal device; the method includes: Based on the image information of the work area to be weeded and the first location information corresponding to the weeding equipment, predicted work information is determined. The work area includes multiple lawn areas, and the predicted work information includes the work sequence for the multiple lawn areas and the work time corresponding to each lawn area. Determining the target area based on the predicted operation information includes: determining the lawn area where the cumulative operation time of the weeding equipment reaches an integer multiple of a preset time as the target area based on the operation sequence and the operation time corresponding to each lawn area. The preset time represents the operation time required for the grass collection container of the weeding equipment to be filled, and is related to the container loading efficiency of the weeding equipment. The container loading efficiency is the weight of grass loaded per unit time after the weeding equipment activates the grass collection function. The target area is the lawn area where the weeding equipment needs to be moved to the unloading position. The unloading position is determined by the terminal device based on the image information. The unloading position is a preset range within the working area and outside the multiple lawn areas. Based on the first location information, the weeding equipment is controlled to record and save the movement path between the target area and the unloading location.

2. The method according to claim 1, characterized in that, The step of determining the predicted operation information based on the image information of the operation area to be weeded and the first location information corresponding to the weeding equipment includes: Based on the image information, determine the area and second location information of multiple lawn areas within the work area; Based on the first location information and the second location information, determine whether the weeding device is located within any of the lawn areas: If the weeding equipment is located within any of the lawn areas, then the operation sequence number of the reference lawn area where the weeding equipment is located is determined as the starting sequence number; and, Based on the starting number and the first position distance, the operation numbers of the remaining lawn areas other than the reference lawn area are sorted sequentially to determine the operation order for the multiple lawn areas. The first position distance is the interval distance between the second position information and the first position information corresponding to the remaining lawn areas. Based on the multiple areas and the average weeding rate of the weeding equipment, the operation time corresponding to each lawn area is determined, wherein the average weeding rate is the ratio of the historical lawn area to the historical operation time corresponding to the weeding operation performed by the weeding equipment within a preset time. The predicted job information is determined based on the job sequence and the time of each job.

3. The method according to claim 2, characterized in that, Before determining the operation time corresponding to each lawn area based on the plurality of areas and the average weeding rate of the weeding equipment, after determining whether the weeding equipment is located in any of the lawn areas based on the first location information and the second location information, the method further includes: If the weeding equipment is not located within the lawn area, then the third location information of the center area of ​​the work area is determined based on the image information; If there are any two lawn areas with the same second position distance and an area difference greater than a preset difference, then the area of ​​the two lawn areas is determined as the reference area, and the second position distance is the interval distance between the center area and each lawn area determined according to the second position information and the third position information. A first priority is determined, which indicates that the operation sequence number of the lawn area corresponding to the smaller reference area takes precedence over the operation sequence number of the lawn area corresponding to the larger reference area; or... If there are any two lawn areas that are the same distance from the second location and whose area difference is less than or equal to a preset difference, then obtain the boundary length of the area of ​​the two lawn areas. A second priority is determined based on the length of the area boundary. The second priority is used to indicate that the operation sequence number of the lawn area corresponding to the longer area boundary length is preferred over the operation sequence number of the lawn area corresponding to the shorter area boundary length. Based on the second location distance, the first priority, or the second priority, the multiple lawn areas are sorted by their operation numbers from smallest to largest to determine the operation order.

4. The method according to claim 2 or 3, characterized in that, Determining the target area based on the predicted job information includes: Determine the number of areas corresponding to the lawn area within the work area; If the number of areas is less than the preset number, then based on the work sequence and the work time, the lawn area that meets the preset conditions is determined as the target area. The preset conditions are that the single work time corresponding to the lawn area exceeds the preset time, or that the work sequence number corresponding to the lawn area is the last sequence number. The preset number is related to the total area of ​​the work area. If the number of areas is greater than or equal to the preset number, then the work time corresponding to each lawn area is accumulated sequentially according to the work order; or, The lawn area whose corresponding operation sequence number is the last number is identified as the target area.

5. The method according to claim 2 or 3, characterized in that, After determining the target area based on the predicted operation information and before controlling the weeding equipment to record and save the connection path between the target area and the unloading location based on the first location information, the method further includes: Acquire historical video data for the work area, wherein the historical video data is video data of the same time period as the current time period within a preset number of days; Based on the historical video data, determine the pedestrian activity area and the location of obstacles; The obstacle area is determined based on the location of the obstacle and the preset interval distance; The area for placing the collected grass is determined based on the pedestrian activity area, the obstacle area, and the work area; Based on the second location information, the location with the smallest total distance to each of the lawn areas in the grass collection and placement area is determined as the grass unloading location.

6. The method according to claim 5, characterized in that, The step of controlling the weeding device to record and save the movement path between the target area and the unloading position based on the first location information includes: If any of the second location information contains the first location information and the lawn area where the first location information is located is not the target area, or if no of the second location information contains the first location information, then a first movement command is sent to the weeding device. The first movement command is used to instruct the weeding device to move to the unloading position. Once the weeding device is detected to be located at the unloading position, a second movement command is sent to the weeding device. The second movement command is determined by the terminal device based on the target location information corresponding to the target area. The second movement command is used to instruct the weeding device to move to the target area and to record the movement path traversed by the weeding device when it moves to the boundary of the target area. After receiving the first response message sent back by the weeding device in response to the second movement command, the movement path carried in the first response message is saved.

7. The method according to claim 5, characterized in that, The step of controlling the weeding device to record and save the movement path between the target area and the unloading position based on the first location information includes: If any of the second location information contains the first location information, and the lawn area where the first location information is located is the target area, then the boundary information of the target area is obtained; Based on the boundary information, determine the target boundary position of the target area that is closest to the unloading location; Send a third movement command to the weeding device, the third movement command being used to instruct the weeding device to move to the target boundary position; After the weeding device is located at the target boundary position, a fourth movement command is sent to the weeding device. The fourth movement command is used to instruct the weeding device to move to the unloading position and to record the movement path taken by the weeding device when it moves to the unloading position. After receiving the second response message sent back by the weeding device in response to the fourth movement command, the movement path carried in the second response message is saved.

8. A control device based on grass collection function, characterized in that, A terminal device used in a job control system, the job control system further including a weeding device, the weeding device being communicatively connected to the terminal device; the device includes: The first determining unit is configured to determine predicted operation information based on the image information of the operation area to be weeded and the first location information corresponding to the weeding equipment. The operation area includes multiple lawn areas, and the predicted operation information includes the operation sequence for the multiple lawn areas and the operation time corresponding to each lawn area. The second determining unit is used to determine the target area based on the predicted operation information. The target area is the lawn area where the weeding equipment needs to be moved to the unloading position. The unloading position is determined by the terminal device based on the image information. The unloading position is a preset range within the operation area and outside the multiple lawn areas. The second determining unit is further configured to determine, based on the operation sequence and the operation time corresponding to each lawn area, the lawn area where the cumulative operation time of the weeding equipment reaches an integer multiple of a preset time as the target area, wherein the preset time represents the operation time required for the grass collection container of the weeding equipment to be filled, and is related to the container loading efficiency corresponding to the weeding equipment, wherein the container loading efficiency is the weight of grass loaded per unit time after the weeding equipment activates the grass collection function. The control unit is configured to control the weeding equipment to record and save the movement path between the target area and the unloading position based on the first location information.

9. A terminal device, characterized in that, The method includes a processor, a memory, a communication interface, and one or more programs, said programs being stored in the memory and configured to be executed by the processor, said programs including instructions for performing the steps of the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange is provided, wherein the computer program causes a computer to perform the method as described in any one of claims 1-7.

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