Method of unloading grass, processing device, electronic device, and storage medium

Abstract

The application discloses a grass unloading method, a processing device, an electronic device and a storage medium. The method comprises the following steps: in response to a grass unloading request sent by a grass unloading device, a plurality of candidate sub-areas are determined in a plurality of sub-areas in a grass unloading area; the priority of each candidate sub-area is determined based on the position information of each sub-area in the grass unloading area; the target sub-area is determined in the plurality of candidate sub-areas based on the priority of each candidate sub-area; and the information of the target sub-area is sent to the grass unloading device, so that the grass unloading device goes to the target sub-area for grass unloading. By using the method, the problem that the grass unloading device only unloads grass clippings to the central area of the grass unloading area is solved, and the grass unloading efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a method for unloading grass, a processing device, an electronic device, and a storage medium. Background Technology

[0002] With the development of technology, more and more automated machines have brought convenience to people's work and life. Among them, lawnmowers have been widely used in agricultural production, greening maintenance, daily weeding, and other fields. Lawnmowers can drive the mowing blades to rotate through the output shaft of the engine, trimming and weeding the grass within the rotation range of the blades, and move on the grass through the wheels to mow the grass in the working area.

[0003] Currently, lawnmowers are equipped with unloading devices, including a grass collection unit, to collect the grass clippings cut by the lawnmower. When the grass collection unit is full, an unloading command is received, or a preset unloading time is reached, the unloading device will proceed to a designated unloading area to unload the grass clippings from the collection unit. This unloading device can also be integrated into the lawnmower itself. In this case, if the grass collection unit is full, an unloading command is received, or a preset unloading time is reached, the lawnmower will proceed to the designated unloading area to unload the grass clippings from the collection unit, thus integrating the functions of mowing, collecting, and unloading grass into one unit.

[0004] However, current hay unloading equipment only dumps hay clippings into the center of the unloading area. After multiple unloadings, the hay clippings tend to accumulate too high, causing the unloading equipment or mower to lift up and affecting unloading efficiency. Summary of the Invention

[0005] This application provides a method, apparatus, electronic device, and storage medium for unloading hay, which can solve the problem that unloading equipment only dumps hay clippings into the center of the unloading area, thereby improving unloading efficiency.

[0006] In a first aspect, a method for unloading straw provided for embodiments of this application includes:

[0007] In response to the unloading request sent by the unloading equipment, multiple candidate sub-regions are identified in multiple sub-regions of the unloading area;

[0008] Based on the location information of each sub-region in the unloading area, the priority of each candidate sub-region is determined;

[0009] Based on the priority of each candidate sub-region, a target sub-region is determined from the plurality of candidate sub-regions;

[0010] The information of the target sub-region is sent to the unloading device, so that the unloading device goes to the target sub-region to unload grass.

[0011] As can be seen, this method pre-divides the unloading area into multiple sub-areas, thereby planning multiple unloading zones. Then, when the unloading equipment needs to unload, after identifying multiple candidate sub-areas suitable for the mower, the priority of each candidate sub-area is determined based on its location within the unloading area. Based on these priorities, the target sub-area is further identified. Finally, the unloading equipment is instructed to proceed to the target sub-area for unloading. Thus, by establishing multiple unloading zones, the problem of the unloading equipment only dumping hay clippings into the center of the unloading area is solved. Furthermore, by prioritizing areas, the unloading equipment can select more suitable areas for unloading, further improving unloading efficiency and fully utilizing the space within the unloading area.

[0012] Secondly, a processing apparatus provided for embodiments of this application includes:

[0013] The response module is used to respond to the unloading request sent by the unloading equipment and determine multiple candidate sub-regions in multiple sub-regions of the unloading area;

[0014] The determination module is used to determine the priority of each candidate sub-region based on the location information of each sub-region in the unloading area, and to determine the target sub-region among the multiple candidate sub-regions based on the priority of each candidate sub-region.

[0015] The sending module is used to send the information of the target sub-area to the unloading device, so that the unloading device can go to the target sub-area to unload grass.

[0016] Thirdly, an electronic device provided in the embodiments of this application includes a processor, a memory, and a computer program or instructions stored in the memory, wherein the processor executes the computer program or instructions to implement the steps in the method designed in the first or second aspect described above.

[0017] Fourthly, an embodiment of this application provides a computer-readable storage medium storing a computer program or instructions that, when executed, implement the steps of the method designed in the first or second aspect described above. For example, the computer program or instructions are executed by a processor.

[0018] Fifthly, a computer program product provided for embodiments of this application includes a computer program or instructions, wherein when the computer program or instructions are executed, the steps in the method designed in the first or second aspect described above are performed. For example, the computer program or instructions are executed by a processor.

[0019] The beneficial effects of the technical solutions in the second to fifth aspects can be found in the technical effects of the technical solution in the first aspect, and will not be repeated here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A schematic diagram of a grass unloading system provided for an embodiment of this application;

[0022] Figure 2 A schematic diagram of the unloading area in an unloading method provided for an embodiment of this application;

[0023] Figure 3 A schematic diagram of a circular unloading area provided for an embodiment of this application;

[0024] Figure 4 A schematic diagram illustrating the division of a circular unloading area for an embodiment of this application;

[0025] Figure 5 A schematic diagram of a grass unloading point in a circular grass unloading area provided for the embodiments of this application;

[0026] Figure 6 A flowchart illustrating a method for unloading straw provided in this application embodiment;

[0027] Figure 7 A schematic diagram of a processing apparatus provided for an embodiment of this application;

[0028] Figure 8 This is a schematic diagram of the structure of an electronic device provided for an embodiment of this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] It should be understood that the terms "first," "second," etc., used in the embodiments of this application are used to distinguish different objects, rather than 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, software, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may also include steps or units not listed, or may also include other steps or units inherent to these processes, methods, products, or devices.

[0031] The term "implementation" as used in the embodiments of this application means that a specific feature, structure, or characteristic described in connection with an implementation may be included in at least one implementation of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same implementation, nor is it a separate or alternative implementation mutually exclusive with other implementations. It will be explicitly and implicitly understood by those skilled in the art that the implementations described herein can be combined with other implementations.

[0032] In the embodiments of this application, "and / or" describes the relationship between associated objects, indicating that three relationships can exist.

[0033] In this embodiment of the application, the symbol " / " can indicate that the preceding and following related objects have an "or" relationship.

[0034] In the embodiments of this application, "at least one item" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items, which means one or more, and "multiple" means two or more.

[0035] In this application, "higher than" can be used interchangeably with "greater than," "lower than" can be used interchangeably with "less than," "not lower than" can be used interchangeably with "higher than or equal to" or "greater than or equal to," and "not higher than" can be used interchangeably with "lower than or equal to" or "less than or equal to." In this application, for the same solution, "equal to" can be used with "less than" or "greater than," but not simultaneously with both. When "equal to" is used with "less than," it applies to the technical solution adopted by "less than." When "equal to" is used with "greater than," it applies to the technical solution adopted by "greater than."

[0036] In the embodiments of this application, the terms "of", "corresponding / relevant", "corresponding", "indicated", and "associated" can be used interchangeably.

[0037] In the embodiments of this application, the terms "association", "corresponding", "is", "of", "belonging to", "as", and "considered as" may sometimes be used interchangeably.

[0038] In the embodiments of this application, "connection" refers to various connection methods such as direct connection or indirect connection to realize communication between devices, and no limitation is made in this regard.

[0039] In the embodiments of this application, "network" can be expressed as the same concept as "system," and a communication system is a communication network.

[0040] The following describes the relevant content, concepts, meanings, technical problems, technical solutions, and beneficial effects involved in the implementation of this application.

[0041] First, refer to Figure 1 , Figure 1 This is a schematic diagram of a grass unloading system proposed in an embodiment of this application. Figure 1 As shown, the model training system may include a grass unloading device, a processing device, and a database.

[0042] In this embodiment, the unloading equipment triggers its unloading action when the collecting device is full of hay, receives an unloading command, or reaches a preset unloading time. At this time, the unloading equipment sends an unloading request to the processing equipment. Responding to the unloading request, the processing equipment retrieves the unloading area corresponding to the unloading equipment and its area division from a database. Then, the processing equipment identifies multiple candidate sub-areas within the unloading area. Based on the location information of each sub-area within the unloading area, it determines the priority of each candidate sub-area and, based on the priority of each candidate sub-area, identifies a target sub-area from among the candidate sub-areas. Finally, the processing equipment sends the target sub-area information to the unloading equipment, causing the unloading equipment to proceed to the target sub-area for unloading.

[0043] Understandable, Figure 1 The form and quantity of the unloading equipment, processing equipment and database shown are for illustrative purposes only and do not constitute a limitation on the implementation of this application.

[0044] In this embodiment, the processing device can be a device with communication capabilities, and may be referred to as a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal device, vehicle-mounted terminal device, industrial control terminal device, UE unit, UE station, mobile station, remote station, remote terminal device, mobile device, UE terminal device, wireless communication device, UE agent, or UE device, etc. The processing device can be fixed or mobile. It should be noted that the processing device can support at least one wireless communication technology, such as LTE, New Radio (NR), and Wideband Code Division Multiple Access (WCDMA). For example, processing devices can be mobile phones, tablets, desktop computers, laptops, all-in-one computers, in-vehicle terminals, virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to a wireless modem, wearable devices, terminal devices in future mobile communication networks, or terminal devices in future evolved public land mobile networks (PLMNs), etc. In some embodiments of this application, the processing device may also be a transceiver device, such as a chip system. The chip system may include chips, and may also include other discrete devices.

[0045] In this embodiment, the processing device can also be a server. For example, it can be a standalone server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms. This application does not specifically limit it in this regard.

[0046] In this embodiment, the processing device may also be a chip or controller with communication and data processing functions integrated into the grass unloading device, such as a central processing unit (CPU), a single-chip microcomputer, a field-programmable gate array (FPGA), etc. This application does not specifically limit it.

[0047] In this embodiment, the database may also be a server, or a storage device that provides data storage services, such as: read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. This application does not specifically limit this as well.

[0048] In this embodiment, the database may also be a storage unit integrated into the training device and / or terminal device, and is a component of the training device and / or terminal device.

[0049] In this embodiment, the unloading device can be an independent device with communication function. Specifically, the unloading device can include: wheels, a grass collection device, and a communication component. The wheels are used to drive the unloading device to move, the grass collection device is used to collect grass clippings cut by the mower, and the communication component is used to communicate with external devices such as processing equipment to send requests and receive instructions.

[0050] In this embodiment, the unloading device can also be integrated into the lawnmower.

[0051] Secondly, see Figure 2 , Figure 2 This is a schematic diagram of the unloading area in a grass unloading method proposed in this application. For example... Figure 2 As shown, the unloading area is located within the working area of ​​the unloading equipment, and the unloading equipment can enter the mowing area from any position within the working area.

[0052] In this embodiment, the shape of the unloading area can be any shape, such as rectangle, circle, triangle, fan, etc., and a working area can contain one or more unloading areas.

[0053] In this embodiment, the unloading area is divided into multiple sub-areas, allowing the unloading equipment to select one of these sub-areas for unloading, thus addressing the problem of the unloading equipment only dumping hay clippings into the central area of ​​the unloading area. Furthermore, at least one unloading point can be set up in each sub-area to further optimize the aforementioned issues.

[0054] For example, the unloading area can be divided into multiple grid-like sub-areas, with at least one unloading point set in each sub-area. Specifically, a location point can be randomly selected as the first unloading point within each sub-area, or a location point can be randomly selected on the boundary of each sub-area as the first unloading point. Then, using the first unloading point as a reference point, the positions of the remaining unloading points in each sub-area are determined according to a preset rule. This preset rule includes at least the following: the distance between any two unloading points is greater than or equal to a first threshold. For example, when the unloading equipment is a lawnmower, considering that the lawnmower needs to rotate around the unloading point to dump the hay into the corresponding area, in order to avoid hitting haystacks on other unloading points during rotation, the distance between any two unloading points in the unloading area must be greater than or equal to the length of the lawnmower. Therefore, the value of the first threshold can be the length of the lawnmower. That is, if the length of the lawnmower is 0.5m, then the distance between any two unloading points in the unloading area must be greater than or equal to 0.5m. This allows for the setting of at least one unloading point in each sub-region.

[0055] In this embodiment, the unloading area can also be divided according to its shape. For example, when the unloading area is circular, it can be divided into multiple concentric circles to obtain multiple sub-areas, and at least one unloading point is determined in each sub-area. The method for determining at least one unloading point is similar to the method for determining at least one unloading point in the grid-like sub-areas described above. Specifically, firstly, a location point is determined within each sub-area as a second unloading point, or a location point is determined on the boundary of each sub-area as a second unloading point. Then, using the second unloading point as a reference point, the positions of the remaining unloading points are determined in each sub-area according to a preset rule, so that each sub-area includes multiple unloading points. The following will use a circular unloading area within a working area as an example to illustrate an unloading method provided in this application.

[0056] See Figure 3 , Figure 3 This is a schematic diagram of a circular hay unloading area according to an embodiment of this application. In this embodiment, the hay unloading area is divided into multiple sub-areas. Specifically, using... Figure 3 Taking the circular hay unloading area shown as an example, the area can be divided into multiple concentric circles around the center, with a circular area nested outwards into multiple annular areas. These circular and annular areas can then be considered as sub-areas of the original hay unloading area. Alternatively, it can be done as follows... Figure 4 As shown, the unloading area is randomly divided into multiple sub-regions.

[0057] In this embodiment, after dividing the area into sub-regions, at least one unloading point can be set in each sub-region. For example, the unloading point can be set within the area, such as... Figure 4 As shown, it can also be set on the boundary of the area, such as... Figure 3 As shown. Figure 4 and Figure 3 Each black dot represents a hay unloading point, which is set on the boundary of the area or randomly in each sub-area.

[0058] In this embodiment, the distance between any two unloading points in each sub-region is greater than or equal to a first threshold. Therefore, the unloading points in each sub-region can be set according to this preset condition. For example, using... Figure 3 Taking the circular hay unloading area shown as an example, as Figure 5 As shown, assuming the radius of each circular boundary in the unloading area is R, the chord length L between two unloading points located on the same circular boundary can be expressed by formula ①:

[0059]

[0060] Where θ represents the central angle between the two unloading points.

[0061] Therefore, when the chord length L needs to be greater than or equal to the first threshold, the central angle θ between two unloading points can be deduced from the chord length L. For example, when L is greater than or equal to 0.5m and R is equal to 1m, substituting into formula ①, we can calculate that θ≥28.96°. This means that when setting unloading points on a circular boundary with a radius of 1m, the central angle between any two unloading points needs to be greater than or equal to 28.96°. Thus, at most 360° / 28.96°≈12 (rounded down) unloading points can be set on this circular boundary.

[0062] The following will provide a detailed description of a method for unloading grass provided in this application, incorporating the above-mentioned content.

[0063] See Figure 6 , Figure 6 This is a flowchart illustrating a method for unloading straw according to an embodiment of this application. The method is applied to... Figure 1 The hay unloading system shown can be implemented by processing equipment within the hay unloading system. For example... Figure 6 As shown, the method includes:

[0064] 601: In response to a grass unloading request sent by the grass unloading device, identify multiple candidate sub-regions in multiple sub-regions of the grass unloading area.

[0065] In this embodiment, the unloading device will trigger its unloading action when the collecting device is full of hay, receives an unloading command, or reaches a preset unloading time. At this time, the unloading device sends an unloading request to the processing device. Upon receiving the unloading request, the processing device will respond by retrieving the unloading area corresponding to the unloading device from the database and determining multiple candidate sub-areas within the multiple sub-areas of the unloading area.

[0066] In this embodiment, multiple candidate sub-regions can be determined based on the unloading status of multiple sub-regions within the unloading area. Specifically, the unloading equipment first determines whether there is a usable unloading point in each sub-region. A usable unloading point can be understood as an unloading point with available unloading space that has not been allocated to other unloading equipment. If a usable unloading point exists in a certain sub-region, that sub-region is determined as a candidate sub-region.

[0067] 602: Determine the priority of each candidate sub-region based on the location information of each sub-region in the unloading area.

[0068] In this embodiment, the priority of each candidate sub-region can be determined based on a first distance from the center point of each sub-region to the center point of the unloading area. Specifically, the smaller the first distance, the higher the priority of the sub-region corresponding to that first distance; that is, the closer the sub-region is to the center of the unloading area, the higher its priority. The sub-region closest to the center of the unloading area has the highest priority, while the sub-region farthest from the center of the unloading area has the lowest priority. According to this order, multiple sub-regions in the unloading area can be arranged in ascending order of the first distance from the center point of each sub-region to the center point of the unloading area, and the priority of each sub-region can be determined based on its position in the arrangement. Since multiple candidate sub-regions are determined from these multiple sub-regions, the priority of each candidate sub-region is also determined after the priority of each sub-region is determined.

[0069] In this embodiment, when the first distance from the center point of each sub-region to the center point of the unloading area is equal, the priority of each sub-region decreases sequentially along the radial direction from the center point of the unloading area. Specifically, during region division, the special shape of the divided sub-regions may cause the first distance from the center point of each sub-region to the center point of the unloading area to be equal. For example: Figure 3 In the hay unloading area shown, the center points of each sub-region coincide with the center point of the hay unloading area, resulting in equal initial distances between the center points of each sub-region and the center point of the hay unloading area. Therefore, the strategy of prioritizing regions closer to the center of the hay unloading area can be continued, and the priority of each sub-region can be sequentially decreased along the radial direction from the center point of the hay unloading area.

[0070] 603: Based on the priority of each candidate sub-region, determine the target sub-region among the plurality of candidate sub-regions.

[0071] In this embodiment, the highest priority candidate sub-region among multiple candidate sub-regions can be determined as the target sub-region. That is, each time selection is performed, the sub-region closest to the center of the unloading area is selected for unloading. As a result, the unloading equipment will first fill the sub-regions close to the center of the unloading area, and then sequentially fill the sub-regions far from the center, thereby avoiding the situation where unloading occurs in sub-regions far from the center, which would cause the hay piles in those sub-regions to block the path to the sub-regions close to the center of the unloading area.

[0072] In an optional implementation, if multiple candidate sub-regions with the highest priority are identified, a second distance can be determined between each candidate sub-region and the unloading device. The candidate sub-region with the shortest second distance is then identified as the target sub-region. That is, when multiple candidate sub-regions with the highest priority are identified, the sub-region closest to the unloading device is selected as the target sub-region, thereby shortening the unloading device's travel distance and improving unloading efficiency.

[0073] 604: Send the information of the target sub-region to the unloading equipment, so that the unloading equipment can go to the target sub-region to unload grass.

[0074] In this embodiment, as described above regarding the sub-regions, each sub-region includes at least one unloading point. Therefore, a target unloading point can be determined from at least one unloading point in the target sub-region, and the information of the target unloading point can be sent to the unloading equipment, enabling the unloading equipment to directly proceed to the target unloading point for unloading.

[0075] In this embodiment, a priority can be assigned to each unloading point in each sub-region, thereby causing the unloading equipment to preferentially unload hay at the higher-priority unloading points. For example, the priority of unloading points within the same sub-region can be determined based on the distance of each unloading point from the center point of the unloading region. Specifically, the method for determining this priority is similar to the method for determining the priority of each candidate sub-region in step 602, and will not be repeated here. After determining the priority of each unloading point, the available unloading point with the highest priority among all available unloading points in that sub-region can be selected as the target unloading point. This available target unloading point refers to an unloading point that still has unloading space and / or has not been allocated to other unloading equipment. Similarly, when there are multiple available unloading points with the highest priority, the closest unloading point can be selected as the target unloading point based on the determined distance between each unloading point and the unloading equipment.

[0076] In an optional implementation, the priority of all unloading points in the same sub-region can be set to the same value, meaning that each unloading point in the same sub-region has the same priority, or no priority can be set. In this case, all available unloading points in the sub-region can be obtained to get multiple candidate unloading points. Then, one unloading point can be randomly selected from these multiple candidate unloading points as the target unloading point, or the unloading point closest to the unloading equipment can be selected from these multiple candidate unloading points as the target unloading point.

[0077] In summary, this method pre-divides the unloading area into multiple sub-regions, thus planning multiple unloading zones. When the unloading equipment needs to unload, after identifying multiple candidate sub-regions within these sub-regions, the priority of each candidate sub-region is determined based on its location within the unloading area. Based on these priorities, a target sub-region is further identified. Finally, the unloading equipment is instructed to proceed to the target sub-region for unloading. Therefore, by establishing multiple unloading zones, the problem of the unloading equipment only dumping hay into the center of the unloading area is solved. Furthermore, by prioritizing sub-regions closer to the center, the unloading equipment proceeds to the corresponding sub-regions in descending order of priority. This makes the path planning of the unloading equipment more rational, avoiding situations where unloading occurs in sub-regions far from the center, causing hay piles in those sub-regions to block the path to sub-regions closer to the center. This also further improves unloading efficiency and fully utilizes the space within the unloading area.

[0078] See Figure 7 , Figure 7 This is a schematic diagram of a grass unloading device provided for an embodiment of this application. The grass unloading device 700 can be a device for implementing any of the above embodiments. Specifically, the grass unloading device 700 includes:

[0079] The response module 701 is used to respond to the unloading request sent by the unloading device and determine multiple candidate sub-regions in multiple sub-regions of the unloading area;

[0080] The determining module 702 is used to determine the priority of each candidate sub-region based on the location information of each sub-region in the unloading area, and to determine the target sub-region among the multiple candidate sub-regions based on the priority of each candidate sub-region;

[0081] The sending module 703 is used to send the information of the target sub-area to the unloading device, so that the unloading device can go to the target sub-area to unload grass.

[0082] In one feasible implementation, regarding the determination of the priority of each candidate sub-region based on the location information of each sub-region in the unloading area, the determining module 702 is specifically used for:

[0083] The priority of each candidate sub-region is determined based on the first distance from the regional center point of each sub-region to the regional center point of the unloading area.

[0084] In one feasible implementation, the smaller the first distance, the higher the priority of the sub-region corresponding to the first distance.

[0085] In one feasible implementation, when the first distance is equal, the priority of each sub-region decreases sequentially along the radial direction of the region center point of the unloading area, wherein the sub-region closer to the region center point of the unloading area has a higher priority.

[0086] In one feasible implementation, regarding the determination of the target sub-region among the plurality of candidate sub-regions based on the priority of each candidate sub-region, the determination module 702 is specifically configured to:

[0087] The candidate sub-region with the highest priority among the multiple candidate sub-regions is determined as the target sub-region.

[0088] In one feasible implementation, if there are multiple candidate sub-regions with the highest priority, then a second distance between each of the multiple candidate sub-regions and the unloading device is determined.

[0089] The candidate sub-region with the shortest second distance is determined as the target sub-region.

[0090] In one feasible implementation, the target sub-region includes at least one unloading point. Regarding sending information about the target sub-region to the unloading device, causing the unloading device to proceed to the target sub-region for unloading, the sending module 703 is specifically used for:

[0091] Determine the target unloading point among the at least one unloading point;

[0092] The information of the target unloading point is sent to the unloading equipment, so that the unloading equipment goes to the target unloading point to unload the grass.

[0093] In one feasible implementation, regarding the determination of the target unloading point among the at least one unloading point, the sending module 703 is specifically configured to:

[0094] Among the at least one unloading point, multiple candidate unloading points with unloading space are identified;

[0095] The grass unloading point closest to the grass unloading equipment among the multiple candidate grass unloading points is determined as the target grass unloading point.

[0096] In one feasible implementation, the distance between any two unloading points in the target sub-region is greater than or equal to a first threshold.

[0097] In one feasible implementation, the determining module 702 is further configured to:

[0098] The unloading area is divided into a grid-like plurality of sub-regions;

[0099] A location point is determined as the first unloading point within each sub-region, or a location point is determined as the first unloading point on the boundary of each sub-region;

[0100] Based on the location of the first unloading point in each sub-region and a preset rule, the locations of the remaining unloading points in each sub-region are determined, such that each sub-region includes multiple unloading points, wherein the preset rule includes at least one rule that the distance between any two unloading points is greater than or equal to a first threshold.

[0101] In one feasible implementation, if the unloading area is a circular area, the determining module 702 is further configured to:

[0102] The unloading area is divided into multiple concentric circles to obtain the multiple sub-regions;

[0103] Identify at least one unloading point in each sub-region.

[0104] In one feasible implementation, regarding the determination of at least one unloading point in each sub-region, the determining module 702 is specifically configured to:

[0105] A location point determined within each sub-region is designated as the second unloading point, or a location point on the boundary of each sub-region is designated as the second unloading point;

[0106] Based on the location of the first unloading point in each sub-region and a preset rule, the locations of the remaining unloading points in each sub-region are determined, such that each sub-region includes multiple unloading points, wherein the preset rule includes at least one rule that the distance between any two unloading points is greater than or equal to a first threshold.

[0107] See Figure 8 , Figure 8 This is a schematic diagram of the structure of an electronic device provided for an embodiment of this application. For example... Figure 8 As shown, the electronic device 800 includes a processor 801 and a memory 802. They are connected via a bus 803. The memory 802 is used to store computer programs or instructions, as well as data, and can transfer data stored in the memory 802 to the processor 801.

[0108] Processor 801 is used to read the computer program in memory 802 and perform the following operations:

[0109] In response to the unloading request sent by the unloading equipment, multiple candidate sub-regions are identified in multiple sub-regions of the unloading area;

[0110] Based on the location information of each sub-region in the unloading area, the priority of each candidate sub-region is determined;

[0111] Based on the priority of each candidate sub-region, a target sub-region is determined from the plurality of candidate sub-regions;

[0112] The information of the target sub-region is sent to the unloading device, so that the unloading device goes to the target sub-region to unload grass.

[0113] In one feasible implementation, regarding the determination of the priority of each candidate sub-region based on the location information of each sub-region in the unloading area, processor 801 is specifically configured to perform the following operations:

[0114] The priority of each candidate sub-region is determined based on the first distance from the regional center point of each sub-region to the regional center point of the unloading area.

[0115] In one feasible implementation, the smaller the first distance, the higher the priority of the sub-region corresponding to the first distance.

[0116] In one feasible implementation, when the first distance is equal, the priority of each sub-region decreases sequentially along the radial direction of the region center point of the unloading area, wherein the sub-region closer to the region center point of the unloading area has a higher priority.

[0117] In one feasible implementation, regarding the determination of a target sub-region among the plurality of candidate sub-regions based on the priority of each candidate sub-region, processor 801 is specifically configured to perform the following operations:

[0118] The candidate sub-region with the highest priority among the multiple candidate sub-regions is determined as the target sub-region.

[0119] In one feasible implementation, if there are multiple candidate sub-regions with the highest priority, then a second distance between each of the multiple candidate sub-regions and the unloading device is determined.

[0120] The candidate sub-region with the shortest second distance is determined as the target sub-region.

[0121] In one feasible implementation, the target sub-region includes at least one unloading point. Regarding sending information about the target sub-region to the unloading device, causing the unloading device to proceed to the target sub-region for unloading, the processor 801 is specifically configured to perform the following operations:

[0122] Determine the target unloading point among the at least one unloading point;

[0123] The information of the target unloading point is sent to the unloading equipment, so that the unloading equipment goes to the target unloading point to unload the grass.

[0124] In one feasible implementation, in determining the target unloading point among the at least one unloading point, processor 801 is specifically configured to perform the following operations:

[0125] Among the at least one unloading point, multiple candidate unloading points with unloading space are identified;

[0126] The grass unloading point closest to the grass unloading equipment among the multiple candidate grass unloading points is determined as the target grass unloading point.

[0127] In one feasible implementation, the distance between any two unloading points in the target sub-region is greater than or equal to a first threshold.

[0128] In one feasible implementation, the processor 801 is also configured to perform the following operations:

[0129] The unloading area is divided into a grid-like plurality of sub-regions;

[0130] A location point is determined as the first unloading point within each sub-region, or a location point is determined as the first unloading point on the boundary of each sub-region;

[0131] Based on the location of the first unloading point in each sub-region and a preset rule, the locations of the remaining unloading points in each sub-region are determined, such that each sub-region includes multiple unloading points, wherein the preset rule includes at least one rule that the distance between any two unloading points is greater than or equal to a first threshold.

[0132] In one feasible implementation, if the unloading area is a circular area, the processor 801 is further configured to perform the following operations:

[0133] The unloading area is divided into multiple concentric circles to obtain the multiple sub-regions;

[0134] Identify at least one unloading point in each sub-region.

[0135] In one feasible implementation, regarding the determination of at least one unloading point in each sub-region, processor 801 is specifically configured to perform the following operations:

[0136] A location point determined within each sub-region is designated as the second unloading point, or a location point on the boundary of each sub-region is designated as the second unloading point;

[0137] Based on the location of the first unloading point in each sub-region and a preset rule, the locations of the remaining unloading points in each sub-region are determined, such that each sub-region includes multiple unloading points, wherein the preset rule includes at least one rule that the distance between any two unloading points is greater than or equal to a first threshold.

[0138] The above mainly describes the implementation scheme of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the electronic device 800 includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0139] This application also provides a computer-readable storage medium storing a computer program or instructions that, when executed by a processor, implement some or all of the steps of any of the grass removal methods described in the above method embodiments.

[0140] 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 grass removal methods described in the above method embodiments.

[0141] It should be noted that, for the sake of simplicity, the aforementioned methods are described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are optional, and the actions and modules involved are not necessarily essential to this application.

[0142] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0143] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. 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; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0144] 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, depending on actual needs.

[0145] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0146] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0147] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0148] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for unloading straw, characterized in that, The method includes: In response to the unloading request sent by the unloading equipment, multiple candidate sub-regions are determined in the multiple sub-regions of the unloading area. Each candidate sub-region is a sub-region with unloading space that has not been assigned to an unloading point of other unloading equipment. Based on the location information of each sub-region in the unloading area, the priority of each candidate sub-region is determined; Based on the priority of each candidate sub-region, a target sub-region is determined from the plurality of candidate sub-regions; The information of the target sub-region is sent to the unloading device, so that the unloading device goes to the target sub-region to unload grass; The step of determining the priority of each candidate sub-region based on the location information of each sub-region in the unloading area includes: The priority of each candidate sub-region is determined based on the first distance from the regional center point of each sub-region to the regional center point of the unloading area. The smaller the first distance, the higher the priority of the sub-region corresponding to the first distance; The step of determining the target sub-region from the plurality of candidate sub-regions based on the priority of each candidate sub-region includes: Among the multiple candidate sub-regions, the candidate sub-region with the highest priority is determined as the target sub-region; If there are multiple candidate sub-regions with the highest priority, then the second distance between each of these multiple candidate sub-regions and the unloading device is determined respectively; The candidate sub-region with the shortest second distance is determined as the target sub-region.

2. The method according to claim 1, characterized in that, When the first distance is equal, the priority of each sub-region decreases sequentially along the radial direction of the region center point of the unloading area, wherein the sub-region closer to the region center point of the unloading area has a higher priority.

3. The method according to claim 1, characterized in that, The target sub-region contains at least one unloading point. Sending information about the target sub-region to the unloading device, causing the unloading device to proceed to the target sub-region for unloading, includes: Determine the target unloading point among the at least one unloading point; The information of the target unloading point is sent to the unloading equipment, so that the unloading equipment goes to the target unloading point to unload the grass.

4. The method according to claim 3, characterized in that, Determining the target unloading point among the at least one unloading point includes: Among the at least one unloading point, multiple candidate unloading points with unloading space are identified; The grass unloading point closest to the grass unloading equipment among the multiple candidate grass unloading points is determined as the target grass unloading point.

5. The method according to claim 3 or 4, characterized in that, The distance between any two unloading points in the target sub-region is greater than or equal to the first threshold.

6. The method according to claim 1, characterized in that, The method further includes: The unloading area is divided into a grid-like plurality of sub-regions; A location point is determined as the first unloading point within each sub-region, or a location point is determined as the first unloading point on the boundary of each sub-region; Based on the location of the first unloading point in each sub-region and a preset rule, the locations of the remaining unloading points in each sub-region are determined, such that each sub-region includes multiple unloading points, wherein the preset rule includes at least one rule that the distance between any two unloading points is greater than or equal to a first threshold.

7. The method according to claim 1, characterized in that, If the unloading area is circular, the method further includes: The unloading area is divided into multiple concentric circles to obtain the multiple sub-regions; Identify at least one unloading point in each sub-region.

8. The method according to claim 7, characterized in that, The step of determining at least one unloading point in each sub-region includes: A location point determined within each sub-region is designated as the second unloading point, or a location point on the boundary of each sub-region is designated as the second unloading point; Based on the location of the first unloading point in each sub-region and a preset rule, the locations of the remaining unloading points in each sub-region are determined, such that each sub-region includes multiple unloading points, wherein the preset rule includes at least one rule that the distance between any two unloading points is greater than or equal to a first threshold.

9. A processing apparatus, characterized in that, The device includes: The response module is used to respond to the unloading request sent by the unloading equipment and determine multiple candidate sub-regions in the multiple sub-regions of the unloading area. Each candidate sub-region is a sub-region where there is unloading space and the unloading point has not been assigned to other unloading equipment. The determination module is used to determine the priority of each candidate sub-region based on the location information of each sub-region in the unloading area, and to determine the target sub-region among the multiple candidate sub-regions based on the priority of each candidate sub-region. The sending module is used to send the information of the target sub-area to the unloading device, so that the unloading device can go to the target sub-area to unload grass; Specifically, in determining the priority of each candidate sub-region based on the location information of each sub-region in the unloading area, the determining module is used for: The priority of each candidate sub-region is determined based on the first distance from the regional center point of each sub-region to the regional center point of the unloading area. The smaller the first distance, the higher the priority of the sub-region corresponding to the first distance; In determining the target sub-region from the plurality of candidate sub-regions based on the priority of each candidate sub-region, the determining module is specifically configured to: Among the multiple candidate sub-regions, the candidate sub-region with the highest priority is determined as the target sub-region; If there are multiple candidate sub-regions with the highest priority, then the second distance between each of these multiple candidate sub-regions and the unloading device is determined respectively; The candidate sub-region with the shortest second distance is determined as the target sub-region.

10. An electronic device comprising a processor, a memory, and a computer program or instructions stored in the memory, characterized in that, The processor executes the computer program or instructions to implement the steps of the method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed, perform the steps of the method according to any one of claims 1-8.

Images