Grass unloading point setting method and device, grass unloading equipment and computer program product

Abstract

The invention provides a grass unloading point setting method and device, grass unloading equipment and a computer program product, and the method comprises the steps: obtaining boundary information and a spacing threshold value of a grass unloading region, and then determining a target grass unloading point in the grass unloading region according to the boundary information and the spacing threshold value. Wherein the interval threshold value is larger than or equal to the length of the grass unloading equipment, the interval between any two target grass unloading points is larger than or equal to the interval threshold value, and the target grass unloading points are used for dumping grass clippings for the grass unloading equipment. According to the scheme, the grass unloading area space can be fully utilized, and the grass unloading efficiency of the grass unloading equipment is improved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a method and device for setting a grass unloading point, grass unloading equipment and a computer program product. Background Art

[0002] As an efficient weeding tool, lawn mowers are widely used in urban greening, household weeding, garden pruning, etc. With the rapid development of artificial intelligence technology, various intelligent automatic lawn mowers have gradually emerged. Automatic lawn mowers can complete weeding work autonomously without direct human control and operation, which can greatly reduce labor costs.

[0003] When the current automatic lawn mower performs a weeding operation in the mowing area (operating area), the trimmed grass clippings are first temporarily collected in the grass collecting device (such as a grass collecting box / basket) of the lawn mower, and then when it is necessary to unload the grass, the lawn mower moves to the center of the unloading area to unload the grass, thereby clearing the grass clippings in the grass collecting device. Since the above-mentioned lawn mower only unloads grass at a fixed point in the center of the unloading area, the utilization rate of the unloading area is very low, and after multiple unloading operations, the grass clippings will be piled up too high at the fixed point, thereby triggering the lawn mower to lift up, thereby affecting the unloading efficiency of the lawn mower. Summary of the invention

[0004] The present application provides a grass unloading point setting method, device, grass unloading equipment and computer program product, which can fully utilize the grass unloading area space and improve the grass unloading efficiency of the grass unloading equipment.

[0005] In a first aspect, the present application provides a method for setting a grass unloading point, the method comprising: obtaining boundary information and a spacing threshold of a grass unloading area, and determining a target grass unloading point in the grass unloading area according to the boundary information and the spacing threshold. The spacing threshold is greater than or equal to the length of the grass unloading equipment, the spacing between any two target grass unloading points is greater than or equal to the spacing threshold, and the target grass unloading point is used to dump grass clippings to the grass unloading equipment.

[0006] In the above scheme, by obtaining the boundary information and spacing threshold of the grass unloading point, and then determining the target grass unloading point in the grass unloading area according to the above information, the space of the grass unloading area can be fully utilized to improve the grass unloading efficiency of the grass unloading equipment. In addition, since the spacing between the target grass unloading points is greater than or equal to the length of the grass unloading equipment, when the grass unloading equipment is unloading grass at one target grass unloading point, it is not easy to hit the grass piles at other target grass unloading points, thereby ensuring the safety of the grass unloading equipment and the cleanliness of the grass unloading area.

[0007] Based on the first aspect, in a possible implementation, location information of multiple candidate grass unloading points is determined in multiple grass unloading areas according to boundary information, and then a target grass unloading point is determined according to a spacing threshold and the location information. The number of the multiple candidate grass unloading points is greater than or equal to the number of the target grass unloading points, and the number of the target grass unloading points is greater than one.

[0008] That is, a plurality of candidate grass unloading points may be generated first according to the boundary information of the grass unloading area. Here, the plurality of candidate grass unloading points may be generated randomly or evenly. Then, the target grass unloading point may be determined by combining the spacing threshold and the candidate grass unloading points.

[0009] Based on the first aspect, in a possible implementation, based on the spacing threshold and the position information, multiple candidate grass unloading points are filtered to obtain a target grass unloading point, wherein the number of the multiple candidate grass unloading points is greater than the number of the target grass unloading points. In other words, the candidate grass unloading points can be filtered based on the spacing threshold, and the candidate grass unloading points that do not meet the spacing threshold requirement are filtered out, and the candidate grass unloading points that meet the spacing threshold requirement (that is, the spacing of the target grass unloading point is greater than or equal to the spacing threshold) are retained, and then the remaining candidate grass unloading points are used as the target grass unloading points.

[0010] Based on the first aspect, in a possible implementation, when the distance between the first candidate grass unloading point and the second candidate grass unloading point among the multiple candidate grass unloading points is less than the distance threshold, at least one of the first candidate grass unloading point and the second candidate grass unloading point is filtered out from the multiple candidate grass unloading points. That is, when the distance between two candidate grass unloading points does not meet the distance threshold requirement, one of the two candidate grass unloading points can be selected for filtering, or both candidate grass unloading points can be filtered out.

[0011] Based on the first aspect, in a possible implementation, after obtaining the target unloading point in the manner described above, the position of the target unloading point in the unloading area can be further adjusted, wherein the distribution uniformity of the adjusted target unloading point in the unloading area is higher than the distribution uniformity of the target unloading point in the unloading area before the adjustment.

[0012] Based on the first aspect, in a possible implementation manner, the plurality of candidate unloading points are randomly generated, or the plurality of candidate unloading points are evenly distributed.

[0013] In a second aspect, the present application further provides a grass unloading point setting device, comprising an acquisition module and a processing module. The acquisition module is used to acquire boundary information and a spacing threshold of the grass unloading area, and the spacing threshold is greater than or equal to the length of the grass unloading equipment. The processing module is used to determine a target grass unloading point in the grass unloading area according to the boundary information and the spacing threshold, wherein the spacing between any two target grass unloading points is greater than or equal to the spacing threshold, and the target grass unloading point is used to dump grass clippings to the grass unloading equipment.

[0014] The above-mentioned grass unloading point setting device is specifically used to execute the method of the first aspect or any possible implementation method of the first aspect, which will not be described in detail here.

[0015] In a third aspect, the present application further provides a grass unloading device, comprising a processor and a memory, wherein the processor is configured to execute instructions stored in the memory so that the grass unloading device executes a method as in the first aspect or any possible implementation manner of the first aspect.

[0016] In a fourth aspect, the present application further provides a computer program product comprising instructions, which, when executed on a grass unloading device, enables the grass unloading device to execute the method of the first aspect or any possible implementation manner of the first aspect.

[0017] In a fifth aspect, the present application also provides a chip, comprising a processor and an interface, the interface being used to communicate with an external device or module of the chip, and the processor being used to execute a method as in the first aspect or any possible implementation manner of the first aspect.

[0018] Based on the implementation methods provided in the above aspects, this application can also be further combined to provide more implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present application, the following briefly introduces the drawings required for describing the embodiments.

[0020] Figure 1 This is a schematic diagram of the positional relationship between a mowing area and a grass unloading area in an embodiment of the present application;

[0021] Figure 2 is another schematic diagram of the positional relationship between the mowing area and the unloading area in an embodiment of the present application;

[0022] Figure 3 It is a flow chart of a method for setting a grass unloading point according to an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of determining candidate grass unloading points in a triangular grass unloading area based on a grid method according to an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of determining candidate grass unloading points in a circular grass unloading area based on a grid method in an embodiment of the present application;

[0025] Figure 6 It is a schematic diagram of filtering candidate unloading points based on the Delaunay triangulation method in an embodiment of the present application;

[0026] Figure 7 It is a structural schematic diagram of a grass unloading point setting device according to an embodiment of the present application;

[0027] Figure 8 It is a structural schematic diagram of a grass unloading device according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] To facilitate understanding of the technical solution of the present application, the mowing area and the unloading area involved in the present application are briefly introduced below.

[0029] See also Figure 1 , Figure 1 It is a schematic diagram of the positional relationship between a mowing area and a grass unloading area provided in an embodiment of the present application, and the grass unloading area is located inside the mowing area.

[0030] Figure 1 The mowing area is the operating area of ​​the unloading equipment, and the unloading equipment with a weeding function can perform weeding operations in the mowing area. It should be understood that the unloading equipment with a weeding function is sometimes also called a lawn mower, a lawn mower, a weeder, a mowing equipment, a mowing robot, etc. This application does not limit this, as long as it is a device that can achieve the weeding function.

[0031] The present application does not specifically limit the type of mowing area. For example, the mowing area may be an urban green space, a family garden, a stadium lawn, a field green space, or a garden, an agricultural and forestry area, a livestock farm, or the like.

[0032] The present application does not make any specific restrictions on the shape and size of the mowing area. For example, the mowing area can be a regular shape such as a circle, an ellipse, a sector, a triangle, a rectangle, or other polygons, or the mowing area can be an irregular shape.

[0033] Figure 1 The grass unloading area is used to dump the clippings to the grass unloading device. Specifically, when performing a weeding operation, the grass unloading device can temporarily collect the clippings through its own grass collecting device (such as a grass collecting basket / grass collecting box), and then when it is necessary to unload the grass (such as when the grass clippings stored in the grass collecting device reach a certain amount or are full, or when the grass unloading device obtains a grass unloading instruction), the grass unloading device goes to the grass unloading area to perform the unloading operation, thereby removing the grass clippings stored in the grass collecting device.

[0034] The present application does not specifically limit the shape and size of the grass unloading area. For example, the grass unloading area can be a regular shape such as a circle, an ellipse, a sector, a triangle, a rectangle, or other polygons, or the grass unloading area can be an irregular shape.

[0035] It should be understood that due to Figure 1 The unloading area is located inside the mowing area, so when the unloading equipment needs to unload grass, it can enter the unloading area from any position and in any direction in the mowing area, and this application does not limit this.

[0036] See also Figure 2 , Figure 2 This is another schematic diagram of the positional relationship between a mowing area and a grass unloading area provided in an embodiment of the present application. The grass unloading area is located outside the mowing area, and the grass unloading area and the mowing area are connected by a passage.

[0037] Optionally, the grass unloading area and the grass mowing area may be connected by one channel or by multiple channels. The present application does not make any specific limitation on the starting and ending positions of the channels.

[0038] It should be understood that due to Figure 2 The unloading area is located outside the mowing area. Therefore, when the unloading equipment located in the mowing area needs to unload grass, the unloading equipment must first come to the intersection area of ​​the mowing area and the channel, and then travel along the channel direction to the intersection area of ​​the unloading area and the channel, and then the unloading equipment performs the unloading operation in the unloading area.

[0039] It should be noted that the unloading device described in this application can be a device with both weeding and unloading functions, or a device with unloading functions but without weeding functions. For unloading devices with only unloading functions, the unloading device is used to collect grass clippings in the mowing area and then dump the collected grass clippings into the unloading area. It should also be noted that Figure 1 and Figure 2 The sizes, shapes and positional relationships of the mowing area and the unloading area given are only examples and do not constitute specific limitations. In actual scenarios, the mowing area and the unloading area may also be of other sizes and shapes, and the mowing area and the unloading area may also have other positional relationships, such as when only part of the mowing area and the unloading area overlap.

[0040] Based on the foregoing description, an embodiment of the method for setting a grass unloading point provided by the present application is introduced below.

[0041] See also Figure 3 , Figure 3 It is a flow chart of a method for setting a grass unloading point provided in an embodiment of the present application, including steps S301 to S302.

[0042] S301: Obtain boundary information and a spacing threshold of a grass unloading area, wherein the spacing threshold is greater than or equal to a length of a grass unloading device.

[0043] It should be understood that the boundary information of the grass unloading area is used to indicate the boundary of the grass unloading area.

[0044] Optionally, boundary information of the unloading area is generated based on information input by the user.

[0045] For example, the user can specify the shape of the grass unloading area as a circle in the user interface of the grass unloading device, and specify the coordinates of the center of the circle and the radius. Then, the above information specified by the user is used as the boundary information of the grass unloading area, and the boundary of the grass unloading area can be determined according to the boundary information.

[0046] For another example, the user can specify what kind of polygon (such as a triangle, rectangle, pentagon, hexagon, etc.) the grass unloading area is in the user interface of the grass unloading device, and enter the position coordinates of each vertex of the polygon in the user interface. The position coordinates can be longitude and latitude in a geographic coordinate system, Mercator projection coordinates, or coordinates in a plane coordinate system, etc., and this application does not make specific limitations on this. Then, the above information entered by the user is used as the boundary information of the grass unloading area, and the boundary of the grass unloading area can be determined based on the boundary information.

[0047] For another example, by displaying a map on the user interface of the unloading device, the user can directly draw / circle the boundary of the unloading area on the map, and then automatically generate boundary information of the unloading area based on the above operations of the user and the map information to indicate the boundary of the unloading area.

[0048] It should be noted that the user interface of the above-mentioned grass unloading device can be displayed on the grass unloading device. For example, assuming that the grass unloading device is provided with a display screen, the display screen can directly display the user interface of the grass unloading device, so that the user can operate on the user interface. The user interface of the grass unloading device can also be displayed on other devices other than the grass unloading device (such as smart phones, computers, smart large screens, etc.). For example, assuming that the user interface of the grass unloading device is displayed through a mobile phone, the user can directly operate on the mobile phone to generate boundary information of the grass unloading area.

[0049] Optionally, the boundary information of the grass unloading area may be determined by the user by controlling the grass unloading device to move along the boundary of the grass unloading area.

[0050] For example, assuming that the grass unloading device has a boundary recording mode, the grass unloading device can record the location where it has traveled based on its own positioning module (such as a satellite positioning system) in this mode, and then use it as the boundary information of the grass unloading area.

[0051] Specifically, the user can send a recording instruction to the grass unloading device through a certain device (such as a smart phone, computer, smart large screen, wearable device, etc.). After receiving the recording instruction, the grass unloading device enters the boundary recording mode. At this time, the user can control the grass unloading device to drive along the boundary of the desired grass unloading area. At the same time, the grass unloading device records the passing position through the positioning module during driving. When the grass unloading device drives a circle along the boundary of the grass unloading area, the grass unloading device also obtains the boundary information of the grass unloading area, and then the user can instruct the grass unloading device to exit the boundary entry mode through the above device. The grass unloading device can also send the obtained boundary information to the device for determining the target grass unloading point in the grass unloading area.

[0052] It should be understood that the spacing threshold is used to limit the spacing between target unloading points set in the unloading area, and the target unloading points are used to dump grass clippings to the unloading equipment. In order to prevent the unloading equipment from hitting the existing grass piles at other target unloading points when unloading grass at one target unloading point, the spacing threshold is usually required to be greater than or equal to the length of the unloading equipment.

[0053] Optionally, the spacing threshold may be set by the user or may be a default value, or may be determined in combination with information such as boundary information of the unloading area and the number of target unloading points to be set, and this application does not make any specific limitation on this.

[0054] For example, assuming that the length of the grass unloading equipment is 0.5 m, the user may set the spacing threshold to a value greater than or equal to 0.5 m.

[0055] For another example, assuming that the unloading area is a square area with a side length of 2.4 meters, and the user specifies to evenly set 9 target unloading points (3×3) in the unloading area, then the side length 2.4÷(3+1)=0.6 can be used, and then 0.6 meters can be set as the spacing threshold. The spacing threshold is greater than the length of the unloading equipment 0.5, which meets the requirements.

[0056] For other information about the unloading area, please refer to Figure 1 and Figure 2 The relevant description is not repeated here.

[0057] S302: determining a target grass unloading point in the grass unloading area according to the boundary information and the spacing threshold, wherein the spacing between any two target grass unloading points is greater than or equal to the spacing threshold, and the target grass unloading point is used to dump grass clippings to the grass unloading equipment.

[0058] The number of target unloading points is greater than or equal to 1. The number of target unloading points may be set by the user, may be a default value, or may be automatically determined according to information such as the area and shape of the unloading area, and this application does not make any specific limitation on this.

[0059] For example, the user may actively set the number of target unloading points to 10, and then 10 target unloading points will be determined in the unloading area.

[0060] For another example, assuming that the number of target unloading points is 5 by default, only 5 target unloading points will be determined in any unloading area, and the position coordinates of these 5 unloading points in the unloading area will be recorded.

[0061] For another example, suppose that one unloading point is required per square meter (i.e., the distribution density of the target unloading point is 1 per square meter), and the unloading area is a rectangular area with a side length of 2 meters. Since the area of ​​the rectangular area is 2×2=4 square meters, 4÷1=4 target unloading points can be set in the rectangular area.

[0062] For another example, the unloading times of the unloading equipment (referring to the number of times the unloading equipment goes to the unloading area to unload grass) can be determined based on the lawn information of the mowing area and the parameters of the unloading equipment, and then the number of target unloading points that need to be set in the unloading area can be determined based on the unloading times. The target number of unloading points can be an integer multiple of the unloading times. For example, if the target number of unloading points is equal to the unloading times, the unloading equipment unloads the grass clippings in the grass collecting device at one unloading point at one time. If the target number of unloading points is twice the unloading times, the unloading equipment can divide the grass clippings in the grass collecting device into two unloading points for unloading, and each of the two unloading points only piles up half of the grass clippings in the grass collecting device. Alternatively, the unloading times is an integer multiple of the target number of unloading points. For example, assuming that the unloading times is 20 times, and each target unloading point can be used for unloading twice, then the number of target unloading points is 10.

[0063] The lawn information includes the lawn area A and lawn density D (i.e., the volume of grass clippings produced after the grass per unit area is cut, usually in square meters) of the mowing area, and the grass unloading equipment parameters include the capacity V of the grass collecting device and the mowing height H of the grass unloading equipment. Therefore, the number of grass unloading times can be calculated according to the following formula (1):

[0064]

[0065] In a possible implementation, the location information of multiple candidate unloading points can be first determined in the unloading area based on the boundary information of the unloading area, and then the target unloading point can be determined in the unloading area based on the location information of the multiple candidate unloading points and the spacing threshold. The number of the multiple candidate unloading points is greater than or equal to the number of target unloading points, and the amount of data of the target unloading points is greater than 1. The number of candidate unloading points can be set by the user, or it can be a default value, or it can be automatically determined based on the area, shape and other information of the unloading area. This application does not make specific restrictions on this. For example, assuming that the distribution density of the candidate unloading points is 2 per square meter, therefore, for an unloading area of ​​10 square meters, 2×10=20 candidate unloading points need to be generated.

[0066] The following first introduces how to generate multiple candidate unloading points in the unloading area.

[0067] Optionally, the above-mentioned multiple candidate unloading points can be randomly generated or evenly distributed, and the present application does not specifically limit the method for generating the candidate unloading points.

[0068] For example, suppose a random generation method is used to generate candidate grass unloading points: first determine the boundary of the grass unloading area (determined according to boundary information), and set the number of candidate grass unloading points to be generated, and then randomly generate multiple candidate grass unloading points that meet the above number requirements in the grass unloading area, and obtain the position information of these multiple candidate grass unloading points. Among them, the position of each candidate grass unloading point is randomly determined, and the position information of each candidate grass unloading point is used to indicate the position of the candidate grass unloading point in the grass unloading area. For example, the coordinates of the candidate grass unloading point in a certain coordinate system can be used as the position information, and this application does not limit this.

[0069] For another example, assuming that the Poisson distribution method is used, multiple candidate unloading points with uniform distribution can be generated according to the following steps 1 to 5:

[0070] Step 1: Determine the boundary of the unloading area (determined according to the boundary information) and set the average density of the candidate unloading points;

[0071] Step 2: randomly generate a starting point in the grass unloading area, add the starting point to the candidate grass unloading point set, and use the starting point as the current point;

[0072] Step 3: With the current point as the center, generate a neighborhood of Poisson distribution with the above average density as the parameter;

[0073] Step 4: randomly generate a new point in the neighborhood. If the distance between the new point and the existing points in the candidate unloading point set is greater than or equal to the spacing threshold, the new point is added to the candidate unloading point set and the new point is used as the current point (i.e., the current point is updated).

[0074] Step 5: Repeat steps 3 to 4 until no new points can be generated or the number of points in the candidate unloading point set has reached the required number of candidate unloading points. Finally, all points in the candidate unloading point set are used as candidate unloading points.

[0075] For another example, suppose the grid method is used to generate candidate unloading points: first determine the boundary of the unloading area (determined according to the boundary information), and set the grid size (that is, the side length of each square grid), then divide the unloading area into multiple grids according to the set grid size, and then use the grid intersections / grid centers in the unloading area as candidate unloading points.

[0076] The following uses the triangular grass unloading area as an example to illustrate the above grid method. Figure 4 As shown in the figure, it is assumed that the grass unloading area is a right triangle with side lengths of 1.5 meters, 2 meters and 2.5 meters respectively, and the spacing threshold d is set to 0.5 meters. Taking the spacing threshold as the side length of the square grid, the grass unloading area can be divided into multiple square grids, and then it is determined whether each grid intersection is located inside the grass unloading area, and then the grid intersection located inside the grass unloading area is used as a candidate grass unloading point (only the points inside the grass unloading area are retained). Here, a total of 3 candidate grass unloading points can be determined ( Figure 4 are indicated by dots).

[0077] It should be understood that whether a point is located inside the unloading area can be determined by ray method, area and discrimination method, angle and discrimination method, vector cross multiplication method, etc., and this application does not make specific limitations on this.

[0078] (1) Ray method: Draw a ray from a point in a fixed direction (usually horizontal, but can be left or right), and then calculate the number of intersections between this ray and the edge of the polygonal unloading area. If the number of intersections is an odd number, the point is inside the unloading area. If the number of intersections is an even number, the point is outside the unloading area.

[0079] (2) Area Sum Judgment Method: Calculate the sum of the areas of the triangles formed by a point and each side of the polygonal grass unloading area. If the sum of the above areas is equal to the area of ​​the grass unloading area, then the point is determined to be inside the grass unloading area.

[0080] (3) Angle sum judgment method: Calculate the sum of the angles between a point and each side of the polygonal unloading area. If the sum of the angles is equal to 360 degrees, the point is determined to be inside the unloading area.

[0081] (4) Vector cross multiplication method: By calculating the vector cross product between a point and each vertex of the polygonal unloading area, if all the cross product results point in the same direction, it is determined that the point is inside the unloading area.

[0082] Next, we will take the circular grass unloading area as an example to illustrate the above grid method. Figure 5 As shown, assuming that the unloading area is a circular area with a diameter of 2 meters, the spacing threshold d is set to 0.5 meters, and the spacing threshold is used as the side length of the square grid. Therefore, the circular unloading area can be divided into 4×4=16 grids, and then the grid intersection points inside the unloading area are used as candidate unloading points (only points inside the unloading area are retained). Here, a total of 9 candidate unloading points A, B, C, D, E, F, G, H, and I can be determined.

[0083] It should be noted that the shapes of the unloading areas and the methods of generating candidate unloading points in the above examples are only examples and do not constitute limitations. In actual application scenarios, the unloading areas can also be other shapes, and other methods can be used to generate candidate unloading points, which are not specifically limited in this application.

[0084] The above describes how to generate multiple candidate unloading points. The following describes how to determine the target unloading point based on multiple candidate unloading points.

[0085] Optionally, based on the spacing threshold and the location information of the plurality of candidate grass unloading points, the plurality of candidate grass unloading points are filtered to obtain the target grass unloading point, wherein the number of the candidate grass unloading points is greater than the number of the target grass unloading points.

[0086] As mentioned above, multiple candidate unloading points may be randomly generated or evenly distributed. Therefore, the distance between candidate unloading points may be greater than or equal to the distance threshold, or less than the distance threshold. Here, the multiple candidate unloading points are filtered based on the distance threshold, and only the candidate unloading points that meet the distance threshold are retained. Then, the remaining candidate unloading points after filtering are used as target unloading points. The distance between these target unloading points is greater than or equal to the distance threshold.

[0087] How to filter candidate unloading points? You can use the following methods:

[0088] If the distance between the first candidate grass unloading point and the second candidate grass unloading point among the multiple candidate grass unloading points is less than the distance threshold, at least one of the first candidate grass unloading point and the second candidate grass unloading point is filtered out from the multiple candidate nodes. The first candidate grass unloading point and the second candidate grass unloading point are two different candidate grass unloading points among the multiple candidate grass unloading points, and they can be any two candidate grass unloading points among the multiple candidate grass unloading points, or they can be specific two candidate grass unloading points among the multiple candidate grass unloading points, which is not limited in the present application.

[0089] That is, when the distance between two candidate grass unloading points is less than the distance threshold, both candidate grass unloading points can be filtered out, or only one of the two candidate grass unloading points can be filtered out. For example, one of the two candidate grass unloading points can be selected and filtered out, or one of the two candidate grass unloading points that is closer to the other candidate grass unloading points can be filtered out. According to the above method, the candidate grass unloading points that do not meet the distance threshold requirement among the multiple candidate grass unloading points can be filtered out, and then the remaining candidate grass unloading points after filtering are used as target grass unloading points.

[0090] For example, Figure 6 As shown in the figure, suppose that 7 candidate unloading points A, B, C, D, E, F, and G are randomly generated in a circular unloading area, and these 7 candidate unloading points can be connected by Delaunay triangulation. Among them, Delaunay triangulation is a method of connecting a given set of points on a plane into triangles, and ensuring that any point is not within the circumscribed circle of any triangle. Here, the 7 candidate unloading points are connected into multiple triangles by Delaunay triangulation, and the side length of each triangle reflects the spacing between the corresponding candidate unloading points (triangle vertices).

[0091] Then, according to the side lengths of these triangles, the candidate unloading points that do not meet the spacing threshold d are filtered out, that is, the relevant candidate unloading points whose spacing is less than the spacing threshold are filtered out. Figure 6 As shown in the figure, assuming that the length of the edge connecting candidate unloading point A and candidate unloading point G is less than the spacing threshold, it means that the spacing between candidate unloading point A and candidate unloading point G is less than the spacing threshold d, and the lengths of the remaining triangles are greater than or equal to the spacing threshold d, indicating that the spacing between other candidate unloading points meets the spacing threshold requirement (greater than or equal to d). Therefore, either candidate unloading point A or candidate unloading point G can be filtered out, or both can be filtered out. Here, it is assumed that candidate unloading point G is filtered out, and then the remaining 6 candidate unloading points A, B, C, D, E, and F are used as target unloading points.

[0092] Optionally, after obtaining the target unloading point in the manner described above, the position of the target unloading point in the unloading area can be further adjusted so that the distribution of the target unloading point in the unloading area is more even, that is, the distribution uniformity of the target unloading point in the unloading area after adjustment is higher than the distribution uniformity of the target unloading point in the unloading area before adjustment.

[0093] The present application does not make any specific limitation on the method of adjusting the distribution of target unloading points in the unloading area. For example, the optimal distribution of target unloading points in the unloading area can be found through genetic algorithms, simulated annealing algorithms, etc.

[0094] This application does not make any specific limitation on how to measure the uniformity of distribution of target unloading points in the unloading area. For example, the distance between each target unloading point and the nearest other target unloading point can be calculated, and then the smallest distance calculated can be used as an indicator to measure the uniformity of distribution of target unloading points in the unloading area. The larger the indicator, the more uniform the distribution of target unloading points. For another example, the standard deviation or variance of the distance from each target unloading point to the center of the unloading area can be calculated. The smaller the standard deviation or variance, the more uniform the distribution of target unloading points.

[0095] Continuing with the previous example, six target unloading points, A, B, C, D, E, and F, have been determined in the unloading area, and then the quality metrics of each Delaunay triangle formed by these six target unloading points are calculated. Among them, the quality metric can be the minimum angle, maximum angle, side length ratio, etc. of the triangle, which is not specifically limited in this application. Subsequently, the vertices of the triangles with poor quality are selected as the target points whose positions need to be adjusted. Here, it is assumed that the quality of the triangles with target unloading points A, B, and C as vertices is the worst, so the positions of the target unloading points A, B, and C need to be adjusted.

[0096] For each target unloading point that needs to be adjusted, a new position can be randomly selected, and then the distribution uniformity of the unloading area before and after the adjustment of the target unloading point is calculated. If the distribution uniformity after adjustment decreases compared to the distribution uniformity before adjustment, or the distance between the adjusted target unloading point and other target unloading points is less than the distance threshold, then the current position adjustment of the target unloading point is rejected. If the distribution uniformity after adjustment increases compared to the distribution uniformity before adjustment, and the distance between the adjusted target unloading point and other target unloading points is greater than or equal to the distance threshold, then the current position adjustment of the target unloading point is accepted.

[0097] In summary, in the grass unloading point setting method provided in the embodiment of the present application, by obtaining the boundary information and spacing threshold of the grass unloading area, the target grass unloading point is determined in the grass unloading area according to the boundary information and the spacing threshold, and the target grass unloading point is used to dump grass clippings to the grass unloading equipment, which helps to make full use of the space of the grass unloading area and improve the grass unloading efficiency of the grass unloading equipment. Among them, the spacing between any two target grass unloading points is greater than or equal to the spacing threshold, and the spacing threshold is greater than or equal to the length of the grass unloading equipment, which can prevent the grass unloading equipment from colliding with the grass piles at other target grass unloading points when unloading grass at one target grass unloading point.

[0098] In addition, the method is more flexible in setting the target unloading point. Whether it is a regular unloading area or an irregular unloading area, the method can be used to quickly set the target unloading point in the unloading area to meet actual usage needs. Users can also set the number of target unloading points, spacing thresholds, boundary information of the unloading area, etc. as needed, which can improve the user experience.

[0099] See also Figure 7 , Figure 7 It is a structural schematic diagram of a grass unloading point setting device 700 provided in an embodiment of the present application, including an acquisition module 710 and a processing module 720.

[0100] The acquisition module 710 is used to acquire boundary information and a spacing threshold of the grass unloading area, where the spacing threshold is greater than or equal to the length of the grass unloading equipment.

[0101] The processing module 720 is used to determine the target unloading point in the unloading area according to the boundary information and the spacing threshold, wherein the distance between any two target unloading points is greater than or equal to the spacing threshold, and the target unloading point is used to dump grass clippings to the unloading equipment.

[0102] Optionally, the processing module 720 is specifically used to: determine the location information of multiple candidate grass unloading points in multiple grass unloading areas according to the boundary information, and then determine the target grass unloading point according to the spacing threshold and the location information. The number of the multiple candidate grass unloading points is greater than or equal to the number of the target grass unloading points, and the number of the target grass unloading points is greater than one.

[0103] Optionally, the processing module 720 is specifically used to: based on the spacing threshold and the position information, filter multiple candidate grass unloading points to obtain the target grass unloading point, wherein the number of the multiple candidate grass unloading points is greater than the number of the target grass unloading points.

[0104] Optionally, the processing module 720 is specifically used to: when the distance between the first candidate grass unloading point and the second candidate grass unloading point among the multiple candidate grass unloading points is less than a distance threshold, filter out at least one of the first candidate grass unloading point and the second candidate grass unloading point from the multiple candidate grass unloading points.

[0105] Optionally, the processing module 720 is specifically used to: adjust the position of the target unloading point in the unloading area, wherein the distribution uniformity of the adjusted target unloading point in the unloading area is higher than the distribution uniformity of the target unloading point in the unloading area before the adjustment.

[0106] Optionally, the multiple candidate unloading points are randomly generated, or the multiple candidate unloading points are evenly distributed.

[0107] It should be noted that Figure 7The grass unloading point setting device 700 is only divided into an acquisition module 710 and a processing module 720 according to exemplary functions. In actual application scenarios, the grass unloading point setting device 700 may also include more or fewer modules, and this application does not specifically limit this. For example, any of the above modules can be split into multiple modules, or at least two of the above modules can be combined into one module. Modules with other functions can also be added to the grass unloading point setting device 700. Each functional module can be implemented by software and / or hardware, and this application does not limit this.

[0108] See also Figure 8 , Figure 8 800 is a structural diagram of a grass unloading device 800 provided in an embodiment of the present application, including a bus 802, a processor 804, a memory 806, and a communication interface 808. The processor 804, the memory 806, and the communication interface 808 communicate with each other through the bus 802. The present application also does not limit the number of processors 804 and memories 806 in the grass unloading device 800.

[0109] The bus 802 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 The bus 802 may include a path for transmitting information between various components of the degrassing device 800 (eg, the memory 806, the processor 804, and the communication interface 808).

[0110] The processor 804 may include any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0111] The memory 806 may include a volatile memory, such as a random access memory (RAM). The processor 804 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0112] The memory 806 stores executable program codes. The processor 804 executes the executable program codes to respectively implement Figure 7 The functions of the acquisition module 710 and the processing module 720 in the embodiment are implemented Figure 3 The operating steps in the method of setting the unloading point.

[0113] The communication interface 808 uses, for example but not limited to, a transceiver module such as a network interface card and a transceiver to implement communication between the grass unloading device 800 and other devices or a communication network.

[0114] The present application also provides a computer program product including instructions. The computer program product may be a software or program product including instructions that can be run on the grass unloading device or stored in any available medium. When the computer program product is run on the grass unloading device, the grass unloading device is caused to execute Figure 3 The operating steps in the method of setting the unloading point.

[0115] The present application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that can be stored / used by the grass unloading device 800. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk). The computer-readable storage medium includes instructions, which are specifically used to instruct the grass unloading device to execute Figure 3 The operating steps in the method of setting the unloading point.

[0116] The present application also provides a chip, which includes a processor and an interface, the interface is used to communicate with an external device or module of the chip, and the processor is used to execute Figure 3 The operating steps in the method of setting the unloading point.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify or arbitrarily combine the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the protection scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for setting a grass unloading point, characterized in that: The method comprises: Acquire boundary information and a spacing threshold of a grass unloading area, wherein the spacing threshold is greater than or equal to the length of the grass unloading equipment; A target grass unloading point is determined in the grass unloading area according to the boundary information and the spacing threshold, wherein the spacing between any two target grass unloading points is greater than or equal to the spacing threshold, and the target grass unloading point is used to dump grass clippings to the grass unloading equipment.

2. The method according to claim 1, characterized in that The step of determining a target grass unloading point in the grass unloading area according to the boundary information and the spacing threshold comprises: Determine location information of a plurality of candidate grass unloading points in the plurality of grass unloading areas according to the boundary information; The target unloading point is determined according to the spacing threshold and the position information, wherein the number of the plurality of candidate unloading points is greater than or equal to the number of the target unloading points, and the number of the target unloading points is greater than one.

3. The method according to claim 2, characterized in that The step of determining the target grass unloading point according to the spacing threshold and the position information includes: Based on the spacing threshold and the position information, the plurality of candidate grass unloading points are filtered to obtain the target grass unloading point, wherein the number of the plurality of candidate grass unloading points is greater than the number of the target grass unloading points.

4. The method according to claim 3, characterized in that The filtering of the plurality of candidate grass unloading points to obtain the target grass unloading point includes: When the distance between a first candidate grass unloading point and a second candidate grass unloading point among the plurality of candidate grass unloading points is less than the distance threshold, at least one of the first candidate grass unloading point and the second candidate grass unloading point is filtered out from the plurality of candidate grass unloading points.

5. The method according to claim 3, characterized in that: After filtering the plurality of candidate grass unloading points to obtain the target grass unloading point, the method further includes: The position of the target unloading point in the unloading area is adjusted, wherein the distribution uniformity of the target unloading point in the unloading area after the adjustment is higher than the distribution uniformity of the target unloading point in the unloading area before the adjustment.

6. The method according to any one of claims 2 to 5, characterized in that The multiple candidate unloading points are randomly generated, or the multiple candidate unloading points are evenly distributed.

7. The method according to any one of claims 1 to 5, characterized in that The boundary information is generated according to information input by a user.

8. A grass unloading point setting device, characterized in that: include: An acquisition module, used to acquire boundary information and a spacing threshold of a grass unloading area, wherein the spacing threshold is greater than or equal to the length of the grass unloading equipment; A determination module is used to determine a target unloading point in the unloading area according to the boundary information and the spacing threshold, wherein the distance between any two target unloading points is greater than or equal to the spacing threshold, and the target unloading point is used to dump grass clippings to the unloading equipment.

9. A grass unloading device, characterized in that: The invention comprises a processor and a memory, wherein the processor is used to execute instructions stored in the memory, so that the grass unloading device executes the method according to any one of claims 1 to 7.

10. A computer program product comprising instructions, characterized in that When the instruction is executed on the grass unloading device, the grass unloading device is caused to perform the method according to any one of claims 1 to 7.

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