Unloading control method, self-moving equipment and storage medium

Abstract

The invention provides an unloading control method, self-moving equipment and a storage medium, and the method comprises the steps: responding to an unloading instruction, searching in a plurality of unloading positions in a material collection area according to a descending order of priorities, and stopping searching until an available unloading position is obtained, the priority of the discharging position of the outer ring in the multiple discharging positions is higher than that of the discharging position in the outer ring, and the priority of the discharging position farther from the inlet position of the material collecting area in the discharging positions in the outer ring is higher; and determining a target unloading position according to the unloading position with the available state, and controlling self-moving equipment to move to the target unloading position to execute an unloading task. By using the method, the operation effect of the self-moving equipment can be ensured.

Description

Technical Field

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

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

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

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

[0005] On the one hand, the present application provides a material unloading control method, which includes: responding to a material unloading instruction, searching among a plurality of material unloading positions within a material collection area in order of priority from high to low, until a material unloading position with a status of available is obtained, and stopping the searching, wherein the priority of the material unloading positions in an outer circle among the plurality of material unloading positions is higher than the priority of the material unloading positions inside the outer circle, and among the material unloading positions inside the outer circle, the farther the material unloading position is from an entrance position of the material collection area, the higher the priority of the material unloading position, determining a target material unloading position based on the material unloading position with a status of available, and controlling the self-mobile equipment to move to the target material unloading position to perform the material unloading task.

[0006] On the other hand, the present application provides a self-moving device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the self-moving device implements the unloading control method.

[0007] On the other hand, the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the unloading control method when executed by a processor in a mobile device.

[0008] Considering that if materials are already piled up at the unloading position inside the outer circle, the self-moving equipment may need to travel a long way to avoid obstacles, resulting in a longer driving distance of the self-moving equipment. In the unloading control method of the present embodiment, since the priority of the unloading position of the outer ring is higher than that of the unloading position inside the outer ring, and among the unloading positions inside the outer ring, the farther the unloading position is from the entrance position, the higher the priority is, therefore, according to the order of priority from high to low, it is possible to preferentially determine whether the unloading positions of the outer ring include unloading positions with an available status, and when the unloading positions of the outer ring do not include unloading positions with an available status, then determine whether the unloading positions inside the outer ring include unloading positions with an available status according to the order of distance from far to near, so that the self-moving equipment can preferentially unload at the unloading position of the outer ring, and then unload at the unloading position inside the outer ring according to the order of distance from far to near, thereby avoiding the obstruction of the self-moving equipment due to the materials piled at the unloading position inside the outer ring, causing the self-moving equipment to travel a long way to avoid obstacles, and avoiding the problem of the self-moving equipment being obstructed by the materials piled at the unloading position closer to the entrance position, thereby shortening the driving distance of the self-moving equipment and ensuring the unloading efficiency of the self-moving equipment. In addition, since the aggregate area includes multiple unloading locations, the self-moving equipment can perform dispersed unloading at multiple unloading locations, thereby reducing the weight, height or volume of materials piled at each unloading location and avoiding the problem of the self-moving equipment stopping working due to triggering lifting detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of a self-moving device provided by an embodiment of the present application.

[0010] Figure 2 It is a flow chart of a discharge control method provided in one embodiment of the present application.

[0011] Figure 3 It is a schematic diagram of the aggregate area provided in one embodiment of the present application.

[0012] Figure 4 It is a schematic diagram of the aggregate area provided in another embodiment of the present application.

[0013] Figure 5 It is a schematic diagram of the distribution of multiple unloading locations within the aggregate area provided in one embodiment of the present application.

[0014] Figure 6 It is a schematic diagram of the distribution of multiple unloading locations within the aggregate area provided in another embodiment of the present application.

[0015] Figure 7 It is a schematic diagram of a connection path provided in an embodiment of the present application.

[0016] Figure 8It is a structural schematic diagram of a self-moving device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0019] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0020] In the field of self-moving equipment, unreasonable operation planning often affects the operation efficiency of self-moving equipment. This irrationality may be reflected in aspects such as unreasonable task scheduling planning. Taking a lawn mower as an example, after the grass box is filled with grass clippings, the lawn mower often needs to go to the unloading position to unload the grass. If the unloading position of the lawn mower cannot be reasonably planned, it will affect the smooth execution of the unloading task, thereby affecting the mowing efficiency of the lawn mower. In order to solve the above problems, the present application provides a unloading control method that can ensure the unloading efficiency of the self-moving equipment.

[0021] The unloading control method provided in the embodiment of the present application can be applied to one or more self-moving devices. The self-moving devices can be lawn mowers, cleaners, harvesters, loading and unloading forklifts, and automated guided vehicles (AGVs), etc. The present application does not limit the specific types of self-moving devices.

[0022] For example, Figure 1 , which is a schematic diagram of a self-moving device provided in one embodiment of the present application.

[0023] Figure 1The self-moving device is a lawn mower, which can travel in the lawn and perform the mowing task according to a preset mowing path. When performing the mowing task, the lawn mower can collect the cut grass and the like into a grass collecting device such as a grass collecting box, or the lawn mower can collect the grass in the lawn into the grass collecting device after the mowing task is completed. During the grass collecting process, the lawn mower can trigger a grass unloading instruction at a preset time interval, and in response to the grass unloading instruction, the lawn mower can go to the grass collecting area to unload the grass.

[0024] Figure 1 The lawn mower in the figure is only an example of a self-moving device. In actual application, the self-moving device can also be a cleaning machine or other equipment.

[0025] like Figure 2 , which is a flow chart of a discharge control method provided by an embodiment of the present application. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The discharge control method is applied to a self-moving device.

[0026] S11, in response to the unloading instruction, searching among multiple unloading positions in the material collection area in descending order of priority until an unloading position with an available status is obtained, and then the searching is stopped.

[0027] In some embodiments of the present application, the unloading instruction may be a command or signal instructing the mobile device to unload the material in the material collecting device. The material may be fodder, garbage, goods, dust, etc., and the material collecting device may be a material collecting box and a material collecting bag, etc. The present application does not limit the types of the material and the material collecting device.

[0028] The present application does not limit the timing of collecting grass by the self-moving device. For example, if the self-moving device is a lawn mower, the lawn mower can collect the grass cut into a grass collecting device such as a grass collecting box while performing the mowing task along the mowing path in the working area. Alternatively, the lawn mower can collect the grass cut in the working area into the grass collecting device after mowing.

[0029] In some embodiments of the present application, the self-moving device can automatically trigger the unloading instruction during the material collection process, or the self-moving device can receive and trigger the unloading instruction from an external device that communicates with the self-moving device. Among them, there can be multiple ways to automatically trigger the unloading instruction. For example, during the material collection process, the self-moving device can trigger the unloading instruction according to a preset time interval, wherein the preset time interval can be customized. Alternatively, during the material collection process, if the detector of the self-moving device detects that the material parameter corresponding to the material collection device of the self-moving device reaches a preset threshold, the self-moving device can generate and trigger the unloading instruction. Among them, the detector includes but is not limited to a visual detector, a pressure detector, a gravity sensor, etc. Material parameters include but are not limited to at least one of material volume, material weight, material height, etc. The preset threshold can be customized, and this application does not limit this.

[0030] In other embodiments, the unloading instruction may also be triggered by the user. For example, the mobile device may generate and trigger the unloading instruction in response to the user turning on or pressing the unloading switch. The above examples of the triggering method or generation method of the unloading instruction are only examples and are not limited to this in actual applications.

[0031] The aggregate area is an area for storing or storing materials. The aggregate area has a corresponding entrance position. The entrance position may be the coordinates of the entrance of the aggregate area. The entrance position may be obtained through map information of the aggregate area or may be obtained through user input.

[0032] The aggregate area is located outside the operating area of ​​the self-moving device, and the aggregate area and the operating area can be connected by a connecting path. The self-moving device can reach the entrance position of the aggregate area along the connecting path, and enter the aggregate area from the entrance position of the aggregate area. If there are multiple candidate aggregate areas, the self-moving device can determine the aggregate area from multiple candidate aggregate areas based on the distance between the self-moving device and each candidate aggregate area, wherein the distance between the self-moving device and each candidate aggregate area can be the distance between the device position of the self-moving device and the center position of the candidate aggregate area. The device position can be the coordinates or coordinate range of the self-moving device when the unloading instruction is triggered, generated or received, and the center position of the candidate aggregate area can be the coordinates of the center point of the candidate aggregate area. For example, the self-moving device can determine the candidate aggregate area closest to the self-moving device among multiple candidate aggregate areas as the aggregate area.

[0033] The aggregate area may have a corresponding shape, and the present application does not limit the shape of the aggregate area. For example, the aggregate area may be a circular, rectangular, triangular, or other shaped area.

[0034] In order to avoid the problem that the entrance of the aggregate area is blocked by materials, resulting in the self-moving device being unable to enter the aggregate area for unloading, a prohibited operation area can be set at the entrance position of the aggregate area, and the unloading position is not included in the prohibited operation area. In the prohibited operation area, the self-moving device is prohibited from performing the unloading task. Exemplarily, the prohibited operation area can be a circular area with the entrance position as the center and the first preset value as the radius. Among them, the first preset value can be customized, and this application does not limit this.

[0035] For example, Figure 3 , which is a schematic diagram of the aggregate area provided by an embodiment of the present application. Figure 3 In the figure, the aggregate area is a circular area with a radius of R1, the entrance position is a circle, and the circular area with a radius of R2 is a prohibited area. The prohibited area does not include the unloading position. In the prohibited area, the self-moving equipment is prohibited from performing the unloading task.

[0036] like Figure 4 , which is a schematic diagram of an aggregate area provided by another embodiment of the present application. Figure 4 In the figure, the aggregate area is a rectangular area with a length of L and a width of W. The circular area with the entrance position as a circle and a radius of R3 is the prohibited area. The prohibited area does not include the unloading position. In the prohibited area, the self-moving equipment is prohibited from performing the unloading task.

[0037] The unloading position may be the coordinates or coordinate range of an area or device for storing materials in the aggregate area, and each unloading position may be obtained through the map information of the aggregate area, or may be obtained by user input. Among the multiple unloading positions in the aggregate area, at least two unloading positions have different distances from the center position of the aggregate area. For example, based on the direction from outside to inside, the multiple unloading positions in the aggregate area may be divided into unloading positions inside the outer circle and unloading positions inside the outer circle. The peripheral unloading position may be an unloading position or a set of unloading positions whose distance from the boundary of the aggregate area is less than or equal to a second preset value, wherein the second preset value may be custom set, and the present application does not impose any restrictions on this. The unloading position of the outer circle may be located on the boundary of the aggregate area, or may be located within the boundary of the aggregate area, and the present application does not impose any restrictions on this.

[0038] For example, take over Figure 3 Aggregate area shown, Figure 5 FIG. 1 is a schematic diagram of the distribution of multiple unloading locations within the aggregate area provided in one embodiment of the present application. Figure 5 In the figure, unloading position 1, unloading position 2...unloading position 8 located on the boundary of the aggregate area are the unloading positions of the outer ring, and unloading position 9, unloading position 10, unloading position 11, unloading position 12, unloading position 13 and unloading position 14 are the unloading positions inside the outer ring.

[0039] For example, take over Figure 4 Aggregate area shown, Figure 6 FIG. 1 is a schematic diagram of the distribution of multiple unloading locations within the aggregate area provided by another embodiment of the present application. Figure 6 , unloading position 1, unloading position 2 ... unloading position 8 are unloading positions of the outer ring, and unloading position 9, unloading position 10, unloading position 11, unloading position 12, unloading position 13, unloading position 14 and unloading position 15 are unloading positions inside the outer ring.

[0040] In some embodiments of the present application, the priority of the unloading position of the outer ring is higher than the priority of the unloading position inside the outer ring, and among the unloading positions inside the outer ring, the unloading position farther from the entrance position of the aggregate area has a higher priority. The distance between the entrance position and each unloading position is a straight-line distance or a distance along a preset direction. Among them, the preset direction can be customized, and the present application does not limit this. Exemplarily, the preset direction can be the direction of the straight line passing through the entrance position and the center position of the aggregate area, or the preset direction can be the horizontal direction of the aggregate area, or the preset direction can be the vertical direction of the aggregate area, wherein the horizontal direction can be the x-axis direction of the coordinate system constructed with the surface of the aggregate area as the reference plane, and the vertical direction can be the y-axis direction of the coordinate system. The above examples of preset directions are only examples and are not limited to this in actual applications.

[0041] For example, if the preset direction is the direction of the straight line passing through the entrance position and the center position of the aggregate area, the distance between the entrance position and each unloading position in the preset direction may be the distance between each unloading position and the straight line passing through the entrance position and the center position of the aggregate area. Alternatively, if the preset direction is the horizontal direction of the aggregate area, the distance between the entrance position and each unloading position in the preset direction may be the distance between each unloading position and the straight line extending in the horizontal direction. Alternatively, if the preset direction is the vertical direction of the aggregate area, the distance between the entrance position and each unloading position in the preset direction may be the distance between each unloading position and the straight line extending in the vertical direction.

[0042] Each unloading position has a corresponding preset unloading number, and the preset unloading number corresponding to each unloading position may be the number of times the self-moving device is allowed to unload at the unloading position. The preset unloading number may be determined based on the aggregate parameters of the aggregate device of the self-moving device, and the aggregate parameters include but are not limited to: the capacity, volume and height of the aggregate device. Exemplarily, for each unloading position, the preset unloading number of the self-moving device corresponding to the larger aggregate parameter at the unloading position may be greater than the preset unloading number of the self-moving device corresponding to the smaller aggregate parameter at the unloading position. In other embodiments, the preset unloading number may also be customized, and the present application does not limit this.

[0043] In some embodiments of the present application, the self-moving device can first search the unloading positions in the outer circle to determine whether the unloading positions in the outer circle include an unloading position with a status of available. When an unloading position with a status of available is found, the search can be stopped. If the unloading positions in the outer circle do not include an unloading position with a status of available, the unloading positions inside the outer circle can be searched for an unloading position with a status of available according to the rule that the farther the unloading position is from the entrance position, the higher the priority.

[0044] Among them, the distance can be Manhattan distance, Euclidean distance, etc., and this application does not limit the type of distance. For unloading locations with the same priority, you can search them in batches or one by one. For example, the unloading locations in the outer circle have the same priority, and you can search them in batches or one by one. The number of unloading locations for batch search can be customized. For example, you can search all the unloading locations in the outer circle at the same time, or you can search them two at a time.

[0045] When the status of the unloading position is available, the self-moving device can unload at the unloading position, or, when the status of the unloading position is unavailable, the self-moving device cannot unload at the unloading position. The actual unloading number of the unloading position is the number of times the unloading position is unloaded. Exemplarily, if the actual unloading number of a unloading position is less than the corresponding preset unloading number, the status of the unloading position is available, or, if the actual unloading number of the unloading position reaches the corresponding preset unloading number, the status of the unloading position is unavailable.

[0046] In some embodiments of the present application, the statistics of the actual unloading times of the unloading positions can be realized by a counter. For example, each unloading position can correspond to a counter, and the counter is used to count the actual unloading times of the corresponding unloading position. By comparing the actual unloading times of multiple unloading positions, the unloading positions that are in an available state can be quickly determined.

[0047] For example, in Figure 5 Among the multiple unloading positions shown, the self-equipment device can first determine in batches or one by one whether the unloading position 1, unloading position 2...unloading position 8 of the outer circle include an unloading position with a status of available, and stop searching when an unloading position with a status of available is found; if unloading position 1, unloading position 2...unloading position 8 do not include an unloading position with a status of available, since the distances between unloading position 9, unloading position 10, unloading position 13, unloading position 12, unloading position 14 and unloading position 11 and the entrance position 10 decrease successively, it can be determined in turn whether the status of unloading position 9, unloading position 10, unloading position 13, unloading position 12, unloading position 14 and unloading position 11 are available, and stop searching when an unloading position with a status of available is found.

[0048] In some embodiments of the present application, the distance between adjacent unloading positions among the multiple unloading positions in the material collection area may be greater than or equal to the length of the self-moving device, so as to reduce the influence of the materials piled at the adjacent unloading positions on the unloading and / or self-rotation of the self-moving device. For example, if the self-moving device is a lawn mower, the unloading instruction may be a grass unloading instruction, the material collection area may be a grass collection area, and the unloading position may be a grass unloading position. If the lawn mower needs to self-rotate before unloading the grass, when the distance between adjacent unloading positions is greater than or equal to the length of the lawn mower, it can be avoided that the lawn mower collides with the grass piled at the adjacent grass unloading position when it self-rotates at a grass unloading position. For example, in a case such as Figure 5 In the unloading position shown, the distance between the unloading position 5 and the unloading position 6 can be greater than the length of at least one self-moving device, and the distance between the unloading position 5 and the unloading position 6 is referenced Figure 5 The distance between the double arrows in . Figure 5 The distances shown are examples only.

[0049] Considering that if there are already materials piled up at the unloading position inside the outer circle, it may cause the self-moving equipment to travel a long way to avoid obstacles, resulting in a longer driving distance for the self-moving equipment. Figure 5 In the unloading position 1 in the figure, if there are materials piled up at unloading positions 9, 10, 11 and 12, the self-moving device may not be able to travel along the shortest path (e.g., a straight path) between the entrance position and unloading position 1 to unload at unloading position 1, but needs to travel along a circular path to unload at unloading position 1. The circular path can refer to Figure 5 Compared with the shortest path between the entry location and the unloading location 1, traveling along the circular path will cause the self-moving device to travel a longer distance.

[0050] In this embodiment, since the priority of the unloading position of the outer ring is higher than that of the unloading position inside the outer ring, and among the unloading positions inside the outer ring, the farther the unloading position is from the entrance position, the higher the priority is, therefore, according to the order of priority from high to low, it is possible to preferentially determine whether the unloading position of the outer ring includes the unloading position with an available status, and when the unloading position of the outer ring does not include the unloading position with an available status, it is then determined whether the unloading position inside the outer ring includes the unloading position with an available status according to the order of distance from far to near. In addition, since the collection area includes multiple unloading positions, the self-moving device can disperse the unloading at multiple unloading positions, thereby reducing the weight, height or volume of the materials stacked at each unloading position, and avoiding the problem of the self-moving device stopping working due to triggering the lifting detection. Exemplarily, if the self-moving device is a lawn mower, the collection area can be a grass collection area. When stepping on a high grass pile, the mower will trigger the lift detection mechanism. When it detects abnormal contact between the mower and the ground or the height between the mower and the ground is greater than or equal to the preset height threshold, the mower will automatically stop working to ensure safety. When the grass collection area includes multiple grass unloading positions, the mower can disperse the grass unloading at multiple grass unloading positions, thereby reducing the overall height of the grass pile, thereby avoiding the problem of the mower stopping working due to the triggering of the lift detection mechanism.

[0051] S12, determining a target unloading position according to the unloading position being in an available state, and controlling the mobile equipment to move to the target unloading position to perform the unloading task.

[0052] In some embodiments of the present application, determining the target unloading position based on the unloading position with the status of being available by the self-mobile device includes: if there is a single unloading position with the status of being available, determining the unloading position with the status of being available as the target unloading position; if there are multiple unloading positions with the status of being available, selecting one unloading position from the multiple unloading positions with the status of being available as the target unloading position.

[0053] The self-moving device may randomly select a discharge position from a plurality of discharge positions in an available state as the target discharge position, or the self-moving device may select a discharge position farthest from the entrance position from a plurality of discharge positions in an available state as the target discharge position. The above-mentioned example of selecting a target discharge position from a plurality of discharge positions in an available state is only an example and is not limited thereto in actual applications.

[0054] In some embodiments of the present application, the method for controlling the self-moving device to move to the target unloading position includes: controlling the self-moving device to move along the connecting path between the aggregate area and the working area, from the device position of the self-moving device to the entrance position, and from the entrance position to the target unloading position.

[0055] For example, Figure 7 , which is a schematic diagram of a connection path provided by an embodiment of the present application. Figure 7 In the figure, the connecting path connects the working area and the aggregate area, and the self-moving device can reach the intersection of the working area and the connecting path from the equipment position. Along the connecting path, the self-moving device can reach the entrance position of the aggregate area from the intersection of the working area and the connecting path.

[0056] In some embodiments of the present application, the self-moving device can move along the shortest path between the device position and the target unloading position. For example, if the target unloading position is Figure 5 At the unloading position 1, the self-moving device can move from the equipment position to the position where the working area and the connecting path intersect along the straight path between the equipment position and the position where the working area and the connecting path intersect, move from the position where the working area and the connecting path intersect to the entrance position of the aggregate area along the connecting path, and move from the entrance position to the unloading position 1 along the straight path between the entrance position.

[0057] In other embodiments of the present application, the self-moving device can move from the device position to the target unloading along other paths. For example, if the target unloading position is Figure 6 In order to avoid obstacles and reduce the damage to the aesthetics of the lawn in the working area, the self-moving device can first move from the device position to the boundary of the working area, then move from the boundary of the working area to the position where the working area and the connecting path intersect, then move from the position where the working area and the connecting path intersect to the entrance position of the aggregate area along the connecting path, and then move from the entrance position to the unloading position 2 along the straight path between the entrance position and the unloading position 2. The above examples of the moving paths of the self-moving device are only examples and are not limited to this in actual applications.

[0058] In the present embodiment, since it is preferentially determined whether the unloading positions of the outer ring include unloading positions with an available status, when the unloading positions of the outer ring do not include unloading positions with an available status, it is then determined whether the unloading positions inside the outer ring include unloading positions with an available status in order of distance from far to near. Therefore, the self-moving equipment can preferentially unload at the unloading positions of the outer ring, and then unload at the unloading positions inside the outer ring in order of distance from far to near. Therefore, the problem that the self-moving equipment needs to travel a long way to avoid obstacles due to obstruction of materials piled at the unloading positions inside the outer ring can be avoided, and the problem that the self-moving equipment is obstructed by materials piled at the unloading positions close to the entrance position can be avoided, thereby shortening the driving distance of the self-moving equipment and ensuring the unloading efficiency of the self-moving equipment.

[0059] In some embodiments of the present application, the self-moving device can perform a self-rotation operation, so that the discharge port of the material collecting device of the self-moving device rotates to a preset direction, and the material collecting device is controlled to discharge at the target unloading position. The preset direction can be customized, and the present application does not limit this. For example, the preset direction can be the direction of the line between the target unloading position and the center position of the material collecting area.

[0060] In this embodiment, by controlling the discharge port of the material collecting device of the mobile equipment to rotate to a preset direction, the direction of unloading can be controlled, thereby ensuring the aesthetics and neatness of the stacked materials.

[0061] In other embodiments of the present application, the self-moving device can unload at a position adjacent to the target unloading position, where the adjacent position can be a position whose distance from the target unloading position is less than or equal to a third preset value, and the third preset value can be customized.

[0062] Considering that if materials are already piled up at the unloading position inside the outer circle, the self-moving equipment may need to travel a long way to avoid obstacles, resulting in a longer driving distance of the self-moving equipment. In the unloading control method of the present embodiment, since the priority of the unloading position of the outer ring is higher than that of the unloading position inside the outer ring, and among the unloading positions inside the outer ring, the farther the unloading position is from the entrance position, the higher the priority is, therefore, according to the order of priority from high to low, it is possible to preferentially determine whether the unloading positions of the outer ring include unloading positions with an available status, and when the unloading positions of the outer ring do not include unloading positions with an available status, then determine whether the unloading positions inside the outer ring include unloading positions with an available status according to the order of distance from far to near, so that the self-moving equipment can preferentially unload at the unloading position of the outer ring, and then unload at the unloading position inside the outer ring according to the order of distance from far to near, thereby avoiding the obstruction of the self-moving equipment due to the materials piled at the unloading position inside the outer ring, causing the self-moving equipment to travel a long way to avoid obstacles, and avoiding the problem of the self-moving equipment being obstructed by the materials piled at the unloading position closer to the entrance position, thereby shortening the driving distance of the self-moving equipment and ensuring the unloading efficiency of the self-moving equipment. In addition, since the aggregate area includes multiple unloading locations, the self-moving equipment can perform dispersed unloading at multiple unloading locations, thereby reducing the weight, height or volume of materials piled at each unloading location and avoiding the problem of the self-moving equipment stopping working due to triggering lifting detection.

[0063] like Figure 8 , which is a schematic diagram of the structure of a self-moving device provided in one embodiment of the present application. Figure 8In the figure, the self-moving device 1 includes a body and a memory 11, a processor 12, a power supply 13, a sensor 14, an operating mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18 and a bus 19 arranged on the body. The processor 12 is coupled to the memory 11, the power supply 13, the sensor 14, the operating mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 through the bus 19.

[0064] The memory 11 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 12, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0065] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 12. The non-volatile memory may include a disk storage device and a flash memory.

[0066] The memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, the unloading control method executed on the self-moving device 1 can be implemented.

[0067] In other embodiments, the self-mobile device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-mobile device 1 .

[0068] The processor 12 may include one or more processing units, for example, the processor 12 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0069] The processor 12 provides computing and control capabilities. For example, the processor 12 is used to execute a computer program stored in the memory 11 to implement the above-mentioned unloading control method.

[0070] The power source 13 is used to power the self-moving device. In one embodiment of the present application, the power source 13 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, a wind power generation module, etc.

[0071] The sensor 14 is used to obtain information for the mobile device 1, such as obtaining environmental information and movement information of the mobile device 1. In an embodiment of the present application, the sensor 14 may include one or more sensors such as a laser radar, a camera, an infrared sensor, and an encoder.

[0072] The operating mechanism 15 is used to perform corresponding operating tasks, such as mowing, patrolling, sweeping and spraying pesticides. In some embodiments of the present application, the operating mechanism 15 may include a motor, a transmission mechanism, a cutter disc and a grass collecting box. In some embodiments of the present application, the motor can drive the cutter disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area. The grass collecting box can be used to collect fallen leaves and cut grass.

[0073] The communication module 16 is used to realize communication between the mobile device and other devices. In one embodiment of the present application, the communication module 16 can exchange data with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or more combinations of communication modes such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0074] The positioning module 17 is used to determine the position of the mobile device. In some embodiments of the present application, the positioning module 17 may include one or more positioning modules of the type of global positioning system (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0075] The driving wheel 18 is used to realize the movement of the self-moving device. In some embodiments of the present application, the driving wheel 18 can realize the movement function of the self-moving device according to the control of the processor 12. In some embodiments of the present application, the driving wheel 18 may include a left driving wheel and a right driving wheel.

[0076] The bus 19 is at least used to provide a channel for mutual communication among the memory 11 , the processor 12 , the power supply 13 , the sensor 14 , the operating mechanism 15 , the communication module 16 , the positioning module 17 , and the driving wheel 18 in the mobile device 1 .

[0077] In other embodiments of the present application, the self-moving device 1 may further include an anti-collision part and a steering assembly, etc. The anti-collision part may be used to prevent the driving wheel 18 from colliding with an obstacle in front of the self-moving device. The steering assembly may be used to enable the driving wheel 18 to adjust the driving direction.

[0078] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0079] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0080] The computer-readable storage medium may be an internal memory of the mobile device or electronic device described in the above embodiments, for example, a hard disk or memory of the mobile device or electronic device. The computer-readable storage medium may also be an external storage device of the mobile device or electronic device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc., equipped on the mobile device or electronic device.

[0081] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created based on the use of the mobile device or electronic device, etc.

[0082] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0083] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0084] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling unloading, characterized in that: The method comprises: In response to the unloading instruction, searching is performed in a plurality of unloading positions in the material collection area in descending order of priority until an unloading position with an available status is obtained, and the searching is stopped, wherein the priority of the unloading positions in the outer circle among the plurality of unloading positions is higher than the priority of the unloading positions inside the outer circle, and among the unloading positions inside the outer circle, the farther the unloading position is from the entrance position of the material collection area, the higher the priority; The target unloading position is determined according to the state as an available unloading position, and the mobile equipment is controlled to move to the target unloading position to perform the unloading task.

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

3. The unloading control method according to claim 1, characterized in that: Each unloading position has a corresponding preset unloading number, and the state is that the actual unloading number of the available unloading position is less than the corresponding preset unloading number.

4. The unloading control method according to claim 1, characterized in that: Determining the target unloading position according to the state as an available unloading position comprises: If the state is that there is only one unloading position available, determine the unloading position that is available as the target unloading position; If there are multiple unloading positions in the available state, one unloading position is selected from the multiple unloading positions in the available state as the target unloading position.

5. The unloading control method according to claim 1, characterized in that: The distance between the inlet position and each unloading position is a straight-line distance or a distance along a preset direction.

6. The unloading control method according to claim 1, characterized in that: At least two of the plurality of unloading positions have different distances from the center of the material collecting area.

7. The unloading control method according to claim 1, characterized in that: The material collection area is connected to the operating area of ​​the self-moving device via a communication path, and the method of controlling the self-moving device to move to the target unloading position includes: The self-moving device is controlled to move along the communication path from a device position of the self-moving device to the entrance position, and from the entrance position to the target unloading position.

8. The unloading control method according to claim 1, characterized in that: The method further comprises: A prohibited operation area is set at the entrance position, and the self-moving equipment is prohibited from performing the unloading task in the prohibited operation area.

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

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

Images