Unloading method, loading equipment, electronic equipment and computer readable storage medium

Abstract

The invention provides a discharging method, loading equipment, electronic equipment and a computer readable storage medium. The discharging method comprises the steps that a preset number of discharging points are determined in a discharging area according to information of to-be-discharged materials and parameters of the loading equipment; determining a target unloading point according to the priority sequence of the preset number of unloading points; and the loading equipment is controlled to reach the target unloading point for unloading operation. According to the unloading method provided by the invention, the number of the unloading points in the unloading area is determined according to the information of the to-be-unloaded materials and the parameters of the loading equipment, and the materials are unloaded according to the priority sequence of the unloading points, so that the loading equipment can unload the materials into the unloading area in a dispersed manner, the materials can be prevented from being stacked too high, and the unloading efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a discharge method, a loading device, an electronic device, and a computer-readable storage medium. Background Art

[0002] At present, a loading device is configured to cooperate with the work of the lawn mower, and the loading device includes a grass collecting component to collect grass clippings cut by the lawn mower. When the grass clippings fill the grass collecting component, or receive a grass unloading instruction, or reach a preset grass unloading time, the loading device will go to a preset grass unloading area to unload the grass clippings in the grass collecting component in the grass unloading area. The loading device can also be integrated into the lawn mower. In this case, if the grass clippings fill the grass collecting component, or receive a grass unloading instruction, or reach a preset grass unloading time, the lawn mower will go to the preset grass unloading area to unload the grass clippings in the grass collecting component in the grass unloading area, so as to integrate the functions of mowing, collecting and unloading.

[0003] After mowing the grass, the operator needs to control the mower to collect and unload grass clippings on the grass. The existing mower only selects a fixed location to unload grass. After unloading grass multiple times, the grass pile will be too high, which will trigger the mower to lift up, affecting the unloading efficiency and failing to fully utilize the grass collection point space. Summary of the invention

[0004] The present application provides an unloading method, a loading device, an electronic device and a computer-readable storage medium, which can solve the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a discharge method, the discharge method comprising:

[0006] Determine a preset number of discharge points in the discharge area according to the information of the material to be discharged and the parameters of the loading equipment;

[0007] Determining a target discharge point according to the priority order of the preset number of discharge points; and

[0008] Control the loading equipment to reach the target unloading point to perform unloading operations.

[0009] In a second aspect, the present application provides a loading device, the loading device comprising:

[0010] A first determination module is used to determine a preset number of discharge points in the discharge area according to information of the material to be discharged and parameters of the loading equipment;

[0011] A second determination module is used to determine a target discharge point according to a priority order of the preset number of discharge points; wherein the preset number is determined based on information of the material to be discharged and parameters of the loading equipment; and

[0012] The control module is used to control the loading equipment to reach the target unloading point for unloading operation.

[0013] In a third aspect, the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to execute the unloading method described in the first aspect.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is called by a processor to execute the unloading method described in the first aspect.

[0015] The present application discloses a discharge method, a loading device, an electronic device, and a computer-readable storage medium. The discharge method is used to control a loading device to discharge loaded materials, and the discharge method includes determining a preset number of discharge points in a discharge area according to information of the materials to be discharged and parameters of the loading device, determining a target discharge point according to the priority order of the preset number of discharge points, and controlling the loading device to reach the target discharge point to perform a discharge operation. The present application determines the number of discharge points in a discharge area according to information of the materials to be discharged and parameters of the loading device, and discharges the materials according to the priority order of the discharge points, so that the loading device can disperse the materials into the discharge area, avoid excessive accumulation of materials, and improve the discharge efficiency.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of an application scenario of the loading device in an embodiment of the present application.

[0018] Figure 2 It is a flow chart of the unloading method in an embodiment of the present application.

[0019] Figure 3a to 3e It is a schematic diagram of the unloading area in an embodiment of the present application.

[0020] Figure 4 It is a schematic diagram of the structure of the loading device in the embodiment of the present application.

[0021] Figure 5 It is a schematic diagram of the structure of an electronic device in an embodiment of the present application.

[0022] Figure Number:

[0023] Loading device-100; first determination module-11; second determination module-12; control module-13; electronic device-10; memory-14; processor-15; unloading area-300; unloading point-32.

[0024] The following specific implementation methods will illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] In the description of the embodiments of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings. The term "connection" in this application, unless otherwise specified, mainly refers to a physical structural connection, and may also include meanings such as direct connection or indirect connection when specified. The terms "first" and "second" in the specification and claims of this application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "includes" and any variations thereof are intended to cover non-exclusive inclusions.

[0027] Understandably, Figure 1 The forms and quantities of the loading devices, processing devices and databases shown in the figure are for illustrative purposes only and do not constitute limitations on the implementation modes of the present application.

[0028] In this embodiment, the processing device may be a device with a communication function, which may be called a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal equipment, vehicle-mounted terminal equipment, industrial control terminal equipment, UE unit, UE station, mobile station, remote station, remote terminal equipment, mobile equipment, UE terminal equipment, wireless communication equipment, UE agent or UE device, etc. The processing device may be fixed or mobile. It should be noted that the processing device may support at least one wireless communication technology, such as LTE, new radio (NR), wideband code division multiple access (WCDMA), etc. For example, the processing device may be a mobile phone, a tablet computer (pad), a desktop computer, a laptop computer, an all-in-one computer, an in-vehicle terminal, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a wearable device, a terminal device in a future mobile communication network, or a terminal device in a future evolved public mobile land network (PLMN), etc. In some embodiments of the present application, the processing device may also be a device with a transceiver function, such as a chip system, wherein the chip system may include a chip and may also include other discrete devices.

[0029] In this embodiment, the processing device may also be a server, for example, it may be an independent server, or it may be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms. This application does not make specific limitations on this.

[0030] In this embodiment, the processing device can also be a chip or controller with communication functions and data processing integrated on the loading device, such as a central processing unit (CPU), a single-chip microcomputer (Single-Chip Microcomputer), a field programmable gate array (Field-Programmable Gate Array, FPGA), etc. This application does not make specific limitations on this.

[0031] In this embodiment, the database may also be a server, or a memory that provides data storage services, such as: a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, and this application does not make any specific limitations on this.

[0032] In this embodiment, the database may also be a storage unit integrated in the training device and / or the terminal device, and may be a component of the training device and / or the terminal device.

[0033] In this embodiment, the loading device can be an independent device with communication function. Specifically, the loading device may include: running wheels, a loading device and a communication component, wherein the running wheels are used to drive the loading device to move, the loading device is used to load materials, and the communication component is used to communicate with external devices such as processing equipment, and then send requests and receive instructions.

[0034] In this embodiment, the loading device can also be integrated on the lawn mower.

[0035] See also Figure 2 The present application provides a discharging method, which is used to control a loading device to discharging loaded materials, and the discharging method comprises the following steps:

[0036] Step S1, determining a preset number of discharge points 32 in the discharge area 300 according to information of the material to be discharged and parameters of the loading equipment;

[0037] Step S2, determining a target discharge point 32 according to the priority order of the preset number of discharge points 32; and,

[0038] Step S3, controlling the loading equipment to reach the target unloading point 32 to perform unloading operations.

[0039] The preset number of discharge points 32 are dispersed in the discharge area 300 .

[0040] The unloading method provided in the present application determines the number of unloading points 32 in the unloading area 300 according to the information of the material to be unloaded and the parameters of the loading equipment, and unloads the material according to the priority order of the unloading points 32, so that the loading equipment can unload the material in a dispersed manner into the unloading area 300, thereby avoiding excessive accumulation of materials and improving the unloading efficiency.

[0041] In some embodiments, determining the target discharge point 32 according to the priority order of the preset number of discharge points 32 includes:

[0042] Determine a candidate discharge point 32 from among the preset number of discharge points 32 where no material has been discharged; and,

[0043] The unloading point 32 with the highest priority among the candidate unloading points 32 is determined as the target unloading point 32 .

[0044] Thus, it can be ensured that each discharge point 32 can discharge material at least once, making the material discharge more dispersed.

[0045] In some embodiments, the preset number of discharge points 32 are evenly distributed in the discharge area 300 .

[0046] Thus, the loading equipment can be controlled to evenly discharge the materials in the discharge area 300, so that the material pile is arranged more neatly and has a better appearance.

[0047] In some embodiments, the distance between any two adjacent discharge points 32 is greater than the length of the loading device.

[0048] Thereby, it can be ensured that the loading device will not hit an adjacent material pile when discharging materials at any discharging point 32 .

[0049] In some embodiments, the information of the material to be discharged includes the total amount of the material to be discharged, and the parameters of the loading equipment include the capacity of the loading equipment.

[0050] Determining a preset number of discharge points 32 in the discharge area 300 according to the information of the material to be discharged and the parameters of the loading equipment includes:

[0051] A target value is obtained by dividing the total amount of the material to be discharged by the capacity of the loading device, and the preset quantity is obtained according to the target value.

[0052] Among them, the target value obtained by dividing the total amount of materials to be unloaded by the capacity of the loading equipment may be a decimal value. In some embodiments, the preset number may be equal to the rounded-up value of the target value; in other embodiments, the preset number may also be equal to the rounded-up value of the target value plus 1, so as to retain a certain margin to avoid insufficient number of unloading points 32 due to calculation errors.

[0053] In some embodiments, the material includes grass clippings, the total amount of the material to be discharged includes the total amount of grass clippings to be cut from the lawn. The loading device is applied to a lawn mower, the loading device includes a grass collecting component for collecting grass clippings, and the capacity of the loading device includes the grass collecting volume of the grass collecting component.

[0054] The calculating the target value obtained by dividing the total amount of the material to be discharged by the capacity of the loading device, and obtaining the preset quantity according to the target value, comprises:

[0055] A target value is obtained by dividing the total amount of grass clippings by the grass collection volume, and the preset number is obtained according to the target value.

[0056] In some embodiments, before calculating the target value obtained by dividing the total amount of the material to be discharged by the capacity of the loading device and obtaining the preset quantity according to the target value, the discharge method further includes:

[0057] Obtaining the total area and lawn density of the lawn; and,

[0058] The total amount of grass clippings to be mowed from the lawn is determined according to the total area and lawn density of the lawn.

[0059] The total amount of grass clippings to be mowed on the lawn is positively correlated with the total area of ​​the lawn and the lawn density of the lawn, that is, the larger the total area of ​​the lawn, the larger the total amount of grass clippings to be mowed on the lawn, and the larger the lawn density of the lawn, the larger the total amount of grass clippings to be mowed on the lawn.

[0060] In some embodiments, determining the total amount of grass clippings to be cut from the lawn according to the total area and lawn density of the lawn includes:

[0061] Calculating the total amount of grass clippings to be cut from the lawn according to the total area and lawn density of the lawn and a first formula;

[0062] The first formula is S=A1*D, S represents the total amount of grass clippings to be cut from the lawn, D represents the lawn density of the lawn, and A1 represents the total area of ​​the lawn.

[0063] The lawn density is the volume of grass clippings produced after the lawn mower mows the lawn per unit area. For example, the total amount of grass clippings S to be mowed can be measured in m 3 The unit of measurement of the lawn density D of the lawn can be m 3 / m 2 The total area of ​​the lawn can be measured in m 2 , assuming that the lawn density of the lawn is 0.6m 3 / m 2 , which means that the lawn mower has a distance of 1m from the lawn. 2 The volume of grass clippings after mowing the area is 0.6m 3 Wherein, the lawn density may be a constant and may be obtained by measurement.

[0064] It should be noted that, in other embodiments of the present application, the first formula may also be S=A1*D*K, or S=A1*D+S1, or S=A1*D*K+S1, etc., wherein K is the margin coefficient, S1 is the offset, and illustratively, the value range of the margin coefficient K can be 1.0~1.2, and the value of the offset S1 can be determined according to the total area A1 of the lawn.

[0065] In some embodiments, the unloading area 300 is located within the lawn.

[0066] The obtaining of the total area and density of the lawn comprises:

[0067] Get the total area of ​​the lawn;

[0068] Controlling the lawn mower to mow the unloading area 300 in the lawn;

[0069] After the mowing vehicle has finished mowing the unloading area 300, the area of ​​the unloading area 300 and the volume of grass clippings mowed in the unloading area 300 are acquired; and,

[0070] The lawn density of the lawn is determined according to the area of ​​the discharge area 300 and the volume of grass clippings cut from the discharge area 300 .

[0071] Thus, the unloading area 300 is set within the lawn, and the lawn unloader does not need to move to an area outside the lawn when performing mowing, collecting and unloading tasks, which can prevent the lawn mower from colliding with external obstacles during operation, and is safer. In addition, before the lawn mower performs the unloading task, the unloading area 300 is mowed first, and the lawn density of the lawn is calculated based on the volume of grass clippings cut in the unloading area 300, and then the total amount of grass clippings to be cut on the lawn is calculated based on the lawn density of the lawn, and the accuracy of the calculation result is relatively high.

[0072] In some embodiments, determining the lawn density of the lawn according to the area of ​​the discharge area 300 and the volume of grass clippings cut from the discharge area 300 includes:

[0073] The lawn density of the lawn is calculated according to the area of ​​the unloading area 300 , the volume of grass clippings cut from the unloading area 300 , and the second formula.

[0074] The second formula is D=V2 / A2, V2 represents the volume of grass clippings cut in the discharge area 300, and A2 represents the area of ​​the discharge area 300.

[0075] The mowing vehicle includes a blade disc for mowing grass, and the retention height of the lawn can be adjusted by adjusting the height of the blade disc. In the present application, the mowing vehicle uses a preset blade disc height to mow the unloading area 300 and other areas, that is, the retention height of grass plants in all areas of the lawn after being mowed is the preset blade disc height. Therefore, the calculation result of the total amount of grass clippings to be mowed on the lawn is more accurate.

[0076] In some embodiments, obtaining the total area and lawn density of the lawn includes:

[0077] Get the total area of ​​the lawn;

[0078] Obtaining the density coefficient of the lawn and the length of grass clippings to be cut; and,

[0079] The density of the lawn is obtained by multiplying the density coefficient of the lawn and the length of the grass clippings to be cut.

[0080] The density coefficient of the lawn is the volume of grass clippings produced by the lawn mower after cutting the grass plants per unit length within the unit area of ​​the lawn. For example, assuming that the density coefficient of the lawn is 0.006m 3 / m 2 / cm, which means that the mowing vehicle will cut 1m of the lawn 2 The volume of grass clippings produced by cutting 1 cm of grass in the area is 0.006 m 3 .

[0081] In some embodiments, obtaining the density coefficient of the lawn and the length of grass clippings to be cut includes:

[0082] Acquire an image of a preset area in the lawn before being mowed;

[0083] Performing image analysis on the grass plant image in the image to obtain the density coefficient of the lawn and the total height of the grass plants in the lawn; and,

[0084] The total height of the grass plants in the lawn minus the height of the blade of the lawn mower during mowing is obtained to obtain the length of grass clippings to be mowed on the lawn.

[0085] The total height of the grass plants in the lawn may be an average value of the heights of a number of grass plants in the preset area.

[0086] Therefore, the density coefficient of the lawn and the length of the grass clippings to be cut can be detected by using image processing technology, so as to determine the lawn density of the lawn, and the detection is convenient.

[0087] In some embodiments, obtaining the density coefficient of the lawn and the length of grass clippings to be cut includes:

[0088] Controlling the mowing vehicle to mow a preset area of ​​the lawn according to a preset blade height, and detecting a real-time current value of a driving motor in the mowing vehicle during the mowing process;

[0089] Determining the density coefficient of the lawn according to the real-time current value of the driving motor in the lawn mower; and

[0090] After the mowing vehicle finishes mowing the preset area, the length of grass clippings to be mowed on the lawn is determined according to the length of grass clippings generated in the preset area.

[0091] The driving motor in the mowing vehicle is used to drive the blade to rotate and cut grass. It is found through experiments that during the mowing process, the current of the driving motor of the mowing vehicle is positively correlated with the density coefficient of the lawn, that is, the larger the density coefficient of the lawn, the larger the current of the driving motor. Therefore, the density coefficient of the lawn can be determined according to the real-time current value of the driving motor in the mowing vehicle.

[0092] In some embodiments, determining the density coefficient of the lawn according to the real-time current value of the driving motor in the lawn mower comprises:

[0093] Calculating the average current value of the driving motor in the lawn mower during mowing the preset area according to the real-time current value of the driving motor; and

[0094] The density coefficient of the lawn is determined according to the average current value and the corresponding relationship between the preset current value and the density coefficient.

[0095] The preset current value-density coefficient correspondence relationship records a one-to-one correspondence between multiple current values ​​and multiple density coefficients.

[0096] In some embodiments, after determining a preset number of discharge points 32 in the discharge area 300 according to the information of the material to be discharged and the parameters of the loading equipment, the discharge method further includes:

[0097] According to the target distribution pattern, the position of each of the preset number of discharge points 32 is determined in the discharge area 300, so that the preset number of discharge points 32 are arranged to form the target distribution pattern; wherein the target distribution pattern includes at least one of a matrix distribution pattern, a linear distribution pattern, a ring distribution pattern and a spiral distribution pattern; and,

[0098] According to the target distribution pattern, the priority order of each discharge point 32 is determined.

[0099] Thus, after the loading device has unloaded the materials, the material pile formed will form the target distribution pattern, which is more aesthetically pleasing.

[0100] In some embodiments, determining the priority order of each discharge point 32 according to the target distribution pattern includes:

[0101] According to the target distribution pattern, the preset number of discharge points 32 are sorted according to a preset sorting rule; and,

[0102] The priority order of each discharge point 32 is determined according to a preset priority determination rule.

[0103] In some embodiments, the preset sorting rule includes: the distribution positions of any two unloading points 32 with adjacent serial numbers are also adjacent.

[0104] The preset priority determination rule includes: the smaller the serial number value of the discharge point 32 is, the higher the priority of the discharge point 32 is.

[0105] In some embodiments, the preset sorting rule includes: when the target distribution pattern is a matrix distribution pattern, the serial numbers of the preset number of discharge points 32 are increased in sequence in the order of a “bow” shape;

[0106] When the target distribution pattern is a linear distribution pattern, the serial numbers of the preset number of discharge points 32 increase in sequence from one end to the other end of the linear distribution pattern;

[0107] When the target distribution pattern is a ring distribution pattern, the serial numbers of the preset number of discharge points 32 increase in sequence from the inner circle to the outer circle; and,

[0108] When the target distribution pattern is a spiral distribution pattern, the serial numbers of the preset number of discharge points 32 increase in sequence from the inner circle to the outer circle.

[0109] For example, Figure 3a to Figure 3c As shown, when the target distribution pattern is a matrix distribution pattern, assuming that the preset number is 16, the serial numbers of the 16 discharge points 32 can be increased in the order of the "bow" shape, or can be increased in the order from the inner circle to the outer circle. In other embodiments, the 16 discharge points 32 can also be arranged in multiple columns from top to bottom and then from left to right, or in multiple columns from bottom to top and then from left to right, or in multiple rows from left to right and then from top to bottom, without limitation. The shape of the discharge area 300 is not limited to a circle, a rectangle, a sector, etc., and is not limited here.

[0110] like Figure 3d As shown, when the target distribution pattern is a horizontally arranged linear distribution pattern, assuming that the preset number is 6, the serial numbers of the 6 unloading points 32 can be increased in sequence from left to right.

[0111] like Figure 3e As shown, when the target distribution pattern is a ring distribution pattern, assuming that the preset number is 9, the serial numbers of the 9 discharge points 32 can be increased in sequence from the inner circle to the outer circle.

[0112] See also Figure 4 , Figure 4Based on the same inventive concept, the present application also provides a loading device 100 , which includes a first determining module 11 , a second determining module 12 and a control module 13 .

[0113] The first determining module 11 is used to determine a preset number of discharge points 32 in the discharge area 300 according to the information of the material to be discharged and the parameters of the loading equipment.

[0114] The second determination module 12 is used to determine the target discharge point 32 according to the priority order of the preset number of discharge points 32.

[0115] The control module 13 is used to control the loading equipment to reach the target unloading point 32 for unloading operation.

[0116] The loading equipment 100 provided in the present application determines the number of unloading points 32 in the unloading area 300 according to the information of the materials to be unloaded and the parameters of the loading equipment, and unloads the materials according to the priority order of the unloading points 32. This allows the loading equipment to unload the materials in a dispersed manner into the unloading area 300, thereby avoiding excessive accumulation of materials and improving the unloading efficiency.

[0117] See also Figure 5 , Figure 5 Based on the same inventive concept, the present application also provides an electronic device 10, the electronic device 10 includes a processor 15 and a memory 14, the memory 14 stores a computer program, and the processor 15 runs the computer program to execute the unloading method described in any of the above embodiments.

[0118] The processor 15 may be a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The memory 14 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. For example, it may be, but is not limited to, a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. The processor 15 is connected to the memory 14.

[0119] The electronic device 10 provided in the present application determines the number of unloading points 32 in the unloading area 300 according to the information of the materials to be unloaded and the parameters of the loading equipment, and unloads the materials according to the priority order of the unloading points 32, so that the loading equipment can unload the materials in the unloading area 300 in a dispersed manner, thereby avoiding excessive accumulation of materials and improving the unloading efficiency.

[0120] Based on the same inventive concept, the present application also provides a computer-readable storage medium, in which a computer program is stored. The computer program is called by a processor to execute the unloading method described in any of the above embodiments.

[0121] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0122] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0123] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0124] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer or may be connected to an external computer (e.g., via the Internet using an Internet service provider) through any type of network, including a local area network (LAN) or a wide area network (WAN).

[0125] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application; in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for unloading, for controlling a loading device to unload loaded materials, characterized in that: The unloading method comprises: Determine a preset number of discharge points in the discharge area according to the information of the material to be discharged and the parameters of the loading equipment; Determining a target discharge point according to the priority order of the preset number of discharge points; and Control the loading equipment to reach the target unloading point to perform unloading operations.

2. The unloading method according to claim 1, characterized in that: The step of determining the target discharge point according to the priority order of the preset number of discharge points includes: Determining candidate discharge points from the preset number of discharge points where no material has been discharged; and The discharge point with the highest priority among the candidate discharge points is determined as the target discharge point.

3. The unloading method according to claim 1, characterized in that: The preset number of discharge points are evenly distributed in the discharge area.

4. The unloading method according to claim 1, characterized in that: The information of the materials to be discharged includes the total amount of the materials to be discharged, and the parameters of the loading equipment include the capacity of the loading equipment; The step of determining a preset number of discharge points in the discharge area according to the information of the material to be discharged and the parameters of the loading equipment includes: A target value is obtained by dividing the total amount of the material to be discharged by the capacity of the loading device, and the preset quantity is obtained according to the target value.

5. The unloading method according to claim 4, characterized in that: The material includes grass clippings, and the total amount of the material to be discharged includes the total amount of grass clippings to be cut from the lawn; the loading device is applied to a lawn mower, the loading device includes a grass collecting component for collecting grass clippings, and the capacity of the loading device includes the grass collecting volume of the grass collecting component; The calculating the target value obtained by dividing the total amount of the material to be discharged by the capacity of the loading device, and obtaining the preset quantity according to the target value, comprises: A target value is obtained by dividing the total amount of grass clippings by the grass collection volume, and the preset number is obtained according to the target value.

6. The unloading method according to claim 5, characterized in that: Before calculating the target value obtained by dividing the total amount of the material to be discharged by the capacity of the loading device and obtaining the preset quantity according to the target value, the discharge method further includes: Obtaining the total area and lawn density of the lawn; and The total amount of grass clippings to be mowed from the lawn is determined according to the total area and lawn density of the lawn.

7. The unloading method according to claim 6, characterized in that: Determining the total amount of grass clippings to be cut from the lawn according to the total area and lawn density of the lawn includes: Calculating the total amount of grass clippings to be cut from the lawn according to the total area and lawn density of the lawn and a first formula; The first formula is S=A1*D, S represents the total amount of grass clippings to be cut from the lawn, D represents the lawn density of the lawn, and A1 represents the total area of ​​the lawn.

8. The unloading method according to claim 7, characterized in that: The unloading area is located within the lawn; The obtaining of the total area and density of the lawn comprises: Get the total area of ​​the lawn; Controlling the mowing vehicle to mow the unloading area in the lawn; After the mowing vehicle has finished mowing the grass in the unloading area, obtaining the area of ​​the unloading area and the volume of grass clippings mowed in the unloading area; and The lawn density of the lawn is determined according to the area of ​​the discharge area and the volume of grass clippings cut from the discharge area.

9. The unloading method according to claim 8, characterized in that: The step of determining the lawn density of the lawn according to the area of ​​the discharge area and the volume of grass clippings cut from the discharge area comprises: Calculating the lawn density of the lawn according to the area of ​​the unloading area, the volume of grass clippings cut from the unloading area and a second formula; The second formula is D=V2 / A2, V2 represents the volume of grass clippings cut in the discharge area, and A2 represents the area of ​​the discharge area.

10. The unloading method according to claim 1, characterized in that: After determining a preset number of discharge points in the discharge area according to the information of the material to be discharged and the parameters of the loading equipment, the discharge method further includes: According to the target distribution pattern, determining the position of each of the preset number of discharge points in the discharge area so that the preset number of discharge points are arranged to form the target distribution pattern; wherein the target distribution pattern includes at least one of a matrix distribution pattern, a linear distribution pattern, a ring distribution pattern and a spiral distribution pattern; and According to the target distribution pattern, the priority order of each discharge point is determined.

11. A loading device, characterized in that: The loading device comprises: A first determination module is used to determine a preset number of discharge points in the discharge area according to information of the material to be discharged and parameters of the loading equipment; A second determination module is used to determine a target discharge point according to a priority order of the preset number of discharge points; wherein the preset number is determined based on information of the material to be discharged and parameters of the loading equipment; and The control module is used to control the loading equipment to reach the target unloading point for unloading operation.

12. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor runs the computer program to execute the unloading method described in any one of claims 1-10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is called by a processor to execute the unloading method described in any one of claims 1 to 10.

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