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, determining a target unloading position group from a plurality of unloading position groups according to the arrangement sequence of priorities of the plurality of unloading position groups, the target unloading position groups comprise unloading positions in available states, and the multiple unloading position groups are obtained by grouping multiple unloading positions in a material collecting area; if a plurality of discharging positions with available states exist in the target discharging position group, determining a target discharging position from the discharging positions with the available states according to the distance between each discharging position in the discharging positions with the available states and the equipment position of the self-moving equipment; and the self-moving device is controlled to move to the target discharging position, and a discharging task is executed. By means of the method, the unloading efficiency 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 task scheduling planning.

[0005] On the one hand, the present application provides an unloading control method, which is applied to a self-moving device, and the method includes: in response to an unloading instruction, determining a target unloading position group from the multiple unloading position groups according to the arrangement order between the priorities of the multiple unloading position groups, wherein the target unloading position group includes unloading positions with an available status, and the multiple unloading position groups are obtained by grouping multiple unloading positions in an aggregate area. If there are multiple unloading positions with an available status in the target unloading position group, the target unloading position is determined from the unloading positions with an available status according to the distance between each unloading position in the unloading positions with an available status and the device position of the self-moving device, and the self-moving device is controlled to move to the target unloading position to perform the 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 when directly selecting the unloading position closest to the self-moving equipment for unloading from all unloading positions, the unloading positions in the periphery are closer to the self-moving equipment, so the unloading positions in the periphery are often given priority, resulting in excessive accumulation of materials at the unloading positions in the periphery, forming obstacles, making it impossible for the self-moving equipment to enter the unloading positions inside the periphery for unloading. In the unloading control method of the present embodiment, by setting each unloading position group with a corresponding priority and determining the target unloading position group according to the arrangement order between the priorities of multiple unloading position groups, it can be ensured that the unloading positions in the periphery and inside the periphery have the possibility of being selected first, so that when there are multiple unloading positions in the target unloading position group that are in the available state, according to the distance between each unloading position and the equipment position, the unloading position that is closer to the self-moving equipment among the available unloading positions can be preferentially selected as the target unloading position, so that the unloading can be dispersed at the unloading positions in the periphery and inside the periphery, dispersing the unloading pressure that may have been concentrated at the unloading positions in the periphery, and thus avoiding the problem that when selecting the unloading positions that are closer to the self-moving equipment, the unloading positions selected each time are all peripheral unloading positions, resulting in that after the peripheral unloading positions are overused, the materials stacked at the peripheral unloading positions hinder the travel of the self-moving equipment, resulting in the self-moving equipment being unable to enter the unloading positions inside the periphery for unloading. The unloading position that is closer to the self-moving device among the available unloading positions is preferentially selected as the target unloading position, which can shorten the travel distance and thus improve the unloading efficiency. In addition, since the gathering 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 piled at each unloading position, and avoiding the problem of the self-moving device stopping working due to triggering the 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 6It 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 8 It is a structural 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. Figure 1 The 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.

[0023] 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.

[0024] 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.

[0025] S11, in response to the unloading instruction, determining a target unloading position group from the multiple unloading position groups according to the arrangement order between the priorities of the multiple unloading position groups, wherein the target unloading position group includes unloading positions with a status of available.

[0026] 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.

[0027] 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.

[0028] In some embodiments of the present application, the self-moving device can automatically trigger a discharge instruction during the material collection process, or the self-moving device can receive and trigger a discharge instruction from an external device that communicates with the self-moving device. There are multiple ways to automatically trigger a discharge instruction. Exemplarily, during the material collection process, the self-moving device can trigger a discharge instruction based on 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 first preset value, the self-moving device can generate and trigger a discharge instruction. The detector includes but is not limited to a visual detector, a pressure detector, a gravity sensor, etc. The material parameters include but are not limited to at least one of material volume, material weight, material height, etc. The first preset value can be customized, and the present application does not impose any restrictions on this.

[0029] 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.

[0030] The aggregate area is an area used to store or store materials. The aggregate area is located within the operating area of ​​the self-moving equipment, so the self-moving equipment can enter the aggregate area from any direction.

[0031] If there are multiple candidate aggregate areas, the self-mobile device can determine the aggregate area from the multiple candidate aggregate areas based on the distance between the self-mobile device and each candidate aggregate area, wherein the distance between the self-mobile device and each candidate aggregate area can be the distance between the device position of the self-mobile device and the center position of the candidate aggregate area. The device position can be the coordinates or coordinate range of the self-mobile device when the unloading instruction is triggered, generated, or received. 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-mobile device can determine the candidate aggregate area closest to the self-mobile device among multiple candidate aggregate areas as the aggregate area.

[0032] 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.

[0033] 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 R.

[0034] like Figure 4 , which is a schematic diagram of an aggregate area provided by another embodiment of the present application. Figure 4 In , the aggregate area is a rectangular area with a length of L and a width of W.

[0035] 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 peripheral unloading built-in positions and peripheral internal unloading positions. 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 customized, and the present application does not limit this. The distance between the peripheral unloading position and the center position of the aggregate area is greater than the distance between the peripheral internal unloading position and the center position of the aggregate area. The peripheral unloading position 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 limit this.

[0036] 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 peripheral unloading positions, and unloading position 9, unloading position 10, unloading position 11, unloading position 12, unloading position 13 and unloading position 14 are unloading positions inside the periphery.

[0037] 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 In the figure, unloading position 1, unloading position 2, unloading position 3, unloading position 4, unloading position 5, unloading position 8, unloading position 9, unloading position 12, unloading position 13, unloading position 14, unloading position 15, and unloading position 16 located on the boundary of the aggregate area are peripheral unloading positions, and unloading position 6, unloading position 7, unloading position 10, and unloading position 11 are peripheral internal unloading positions.

[0038] 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.

[0039] 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.

[0040] In some embodiments of the present application, the plurality of unloading position groups can be obtained by grouping the plurality of unloading positions in the aggregate area. The plurality of unloading positions can be grouped according to preset rules or randomly. For example, the preset rules can be customized, and the present application does not limit this. The above examples of grouping methods are only examples and are not limited to this in actual applications.

[0041] Exemplarily, a corresponding priority may be defined for each of the multiple unloading positions, and the unloading positions with the same priority may be divided into the same group, thereby obtaining multiple unloading position groups.

[0042] Exemplarily, the multiple unloading positions may be grouped according to the distance between each unloading position and the boundary of the aggregate area. For example, unloading positions whose distances to the boundary of the aggregate area are within a first preset interval or unloading positions whose distances to the boundary of the aggregate area are the same may be grouped into the same group, and different unloading position groups have different distances to the boundary of the aggregate area, wherein the first preset interval may be customizable.

[0043] Exemplarily, the unloading positions whose distance from the center position of the aggregate area is within the second preset interval or whose distance from the center position of the aggregate area is within the second preset interval or whose distance from the center position of the aggregate area is the same can be divided into the same group, and different unloading position groups have different distances from the center position of the aggregate area, wherein the second preset interval can be customized.

[0044] Exemplarily, if the aggregate area is a rectangular area formed by multiple boundaries, one boundary of the aggregate area can be used as a baseline, and the unloading positions whose distances from the baseline are in a third preset interval or are the same as the baseline are divided into the same group, and different unloading position groups have different distances from the baseline, where the third preset interval can be customized.

[0045] For example, if the aggregate area is a rectangular area, a preset number of unloading positions closest to each vertex of the aggregate area can be divided into the same group to obtain a unloading position group corresponding to each vertex, thereby obtaining multiple unloading position groups, wherein the preset number can be customized and is not limited in this application. For example, the preset number is 4.

[0046] The above grouping methods are only examples and are not limited to them in practical applications.

[0047] In some embodiments of the present application, the priority of each unloading position group can be customized. Materials stacked by the self-moving device at the unloading position group corresponding to a higher priority will not affect the self-moving device from unloading to the unloading position group corresponding to a lower priority.

[0048] For example, following the above embodiment, if unloading positions with the same priority are divided into the same group, the priority can be determined as the priority of the unloading position group.

[0049] For example, following the above embodiment, if the multiple unloading positions are grouped according to the distance between each unloading position and the boundary of the aggregate area, the priority of the unloading position group that is closer to the boundary of the aggregate area can be set to be lower.

[0050] For example, following the above embodiment, if the multiple unloading positions are grouped according to the distance between each unloading position and the center position of the aggregate area, the priority of the unloading position group that is closer to the center position of the aggregate area can be set higher.

[0051] For example, following the above embodiment, if the multiple unloading positions are grouped according to the distance between each unloading position and the baseline, the priority of the unloading position group that is closer to the baseline can be set higher.

[0052] For example, continuing with the above embodiment, if the multiple unloading positions are grouped according to the distance between each unloading position and a vertex, the priority of each vertex can be predefined, wherein the priority of each vertex is different, and the priority of the vertex is determined as the priority of the unloading position group corresponding to the vertex.

[0053] The above examples of setting the priority of each unloading position group are only examples and are not limited to this in actual applications.

[0054] For example, in Figure 5 Among the unloading positions 1, 2, ..., 14 in the aggregate area shown, the unloading positions 1, 2, ..., 14 can be divided into three unloading position groups, the first unloading position group can include unloading position 1, 2, ..., 8, the second unloading position group can include unloading position 9, 10, 11, and 12, and the third unloading position group can include unloading position 13 and 14. Among them, the priority of the first unloading position group to the third unloading position group can be increased in sequence.

[0055] For example, in Figure 6 In the unloading position 1, unloading position 2 ... unloading position 16 in the aggregate area shown, unloading position 1, unloading position 2 ... unloading position 16 can be divided into 4 unloading position groups, the first unloading position group can include unloading position 1, unloading position 2, unloading position 3 and unloading position 4, the second unloading position group includes unloading position 5, unloading position 6, unloading position 7 and unloading position 8, the third unloading position group includes unloading position 9, unloading position 10, unloading position 11 and unloading position 12, and the fourth unloading position group can include unloading position 13, unloading position 14, unloading position 15 and unloading position 16. Among them, the priority of the first unloading position group to the fourth unloading position group can be reduced in sequence.

[0056] Or, in Figure 6Among the unloading positions 1, 2, ..., 16 in the aggregate area shown, unloading positions 9, 10, 13, and 14 can be divided into the first unloading position group, unloading positions 1, 2, 5, and 6 can be divided into the second unloading position group, unloading positions 3, 4, 7, and 8 can be divided into the third unloading position group, and unloading positions 11, 12, 15, and 16 can be divided into the fourth unloading position group. Among them, the priority of the first unloading position group to the fourth unloading position group can be reduced in sequence.

[0057] In some embodiments of the present application, the self-mobile device determines a target unloading position group from the multiple unloading position groups according to the arrangement order of the priorities of the multiple unloading position groups, including: searching in the multiple unloading position groups in sequence according to the arrangement order of the priorities of the multiple unloading position groups from high to low until the target unloading position group is determined, and stopping the searching, wherein the actual unloading number of the available unloading positions is less than the corresponding preset unloading number.

[0058] The unloading positions in each unloading position group can be searched in batches or one by one. The number of unloading positions to be searched in batches can be customized. For example, all unloading positions in each unloading position group can be searched at the same time, or two at a time.

[0059] 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.

[0060] 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.

[0061] For example, take over Figure 5For multiple unloading positions in the aggregate area shown, the self-mobile equipment can first determine one by one or in batches whether unloading positions 13 and 14 in the third unloading position group include unloading positions with an available status. When unloading positions with an available status are found, the first unloading position group is determined as the target unloading position group; if unloading positions 13 and 14 do not include unloading positions with an available status, the self-mobile equipment can determine one by one or in batches whether unloading positions 9, 10, 11 and 12 in the second unloading position group include unloading positions with an available status. When unloading positions with an available status are found, the second unloading position group is determined as the target unloading position group; if unloading positions 9, 10, 11 and 12 do not include unloading positions with an available status, the self-mobile equipment can determine unloading positions with an available status from unloading positions 1, 2 ... 8 in the first unloading position group one by one or in batches.

[0062] For example, take over Figure 6 For multiple unloading positions in the aggregate area shown, the self-mobile equipment can first determine one by one or in batches whether unloading position 1, unloading position 2, unloading position 3 and unloading position 4 in the first unloading position group include unloading positions with a status of available. When unloading positions with a status of available are found, the first unloading position group is determined as the target unloading position group; if unloading position 1, unloading position 2, unloading position 3 and unloading position 4 do not include unloading positions with a status of available, the self-mobile equipment can determine one by one or in batches whether unloading position 5, unloading position 6, unloading position 7 and unloading position 8 in the second unloading position group include unloading positions with a status of available. When unloading positions with a status of available are found, the second unloading position group is determined as the target unloading position group; if unloading position 5, unloading position 6, unloading position 7 and unloading position 8 do not include unloading positions with a status of available, the self-mobile equipment can determine one by one or in batches whether unloading position 9, unloading position 10, unloading position 11 and unloading position 12 in the third unloading position group include unloading positions with a status of available. When unloading positions with a status of available are found, the third unloading position group is determined as the target unloading position group; if unloading position 9, unloading position 10, unloading position 11 and unloading position 12 do not include unloading positions with a status of available, the self-mobile equipment can determine unloading positions with a status of available from unloading position 13, unloading position 14, unloading position 15 and unloading position 16 in the fourth unloading position group one by one or in batches.

[0063] In the unloading control method of this embodiment, by setting each unloading position group to have a corresponding priority, and determining the target unloading position group according to the arrangement order between the priorities of the multiple unloading position groups, it is possible to ensure that the unloading positions in the periphery and the inner periphery have the possibility of being selected first. 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 piled 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 higher grass pile, the lawn mower will trigger the lifting detection mechanism. When it is detected that there is an abnormal contact between the lawn mower and the ground or the height between the lawn mower and the ground is greater than or equal to the preset height threshold, the lawn mower will automatically stop working to ensure safety. When the grass collection area includes multiple unloading positions, the lawn mower can disperse the unloading at multiple unloading positions, so that the overall height of the grass pile can be reduced, thereby avoiding the problem of the lawn mower stopping working due to triggering the lifting detection mechanism.

[0064] S12, if there are multiple unloading positions in the target unloading position group that are in an available state, determine the target unloading position from the unloading positions in the available state according to the distance between each unloading position in the available state and the equipment position of the self-moving equipment.

[0065] In some embodiments of the present application, if there are multiple unloading positions in the target unloading position group that are in the available state, the self-moving device can determine the target unloading position from the unloading positions in the available state based on the distance between each unloading position in the available unloading position and the device position of the self-moving device, including: determining the unloading position corresponding to the distance less than or equal to the preset threshold or the unloading position corresponding to the minimum distance among the unloading positions in the available state as the target unloading position. Among them, the preset value can be customized, and the present application does not limit this. The distance between each unloading position in the available unloading position and the device position of the self-moving device can be Euclidean distance, Manhattan distance, etc., and the present application does not limit the type of distance.

[0066] In this embodiment, since both the unloading positions at the periphery and inside the periphery have the possibility of being selected preferentially, when there are multiple unloading positions in the target unloading position group that are in the available state, the unloading position corresponding to the distance less than or equal to the preset value or the unloading position corresponding to the smallest distance in the available unloading positions can be preferentially selected as the target unloading position, so that the unloading can be dispersed at the unloading positions at the periphery and inside the periphery, dispersing the unloading pressure that may originally be concentrated at the unloading positions at the periphery, thereby avoiding the problem that when selecting the unloading position closer to the self-moving device, the unloading position selected each time is the unloading position at the periphery, resulting in the problem that after the unloading position at the periphery is overused, the materials piled at the unloading position at the periphery hinder the travel of the self-moving device, causing the self-moving device to be unable to enter the unloading position at the periphery for unloading. Preferentially selecting the unloading position closer to the self-moving device among the unloading positions in the available state as the target unloading position can shorten the travel distance, thereby improving the unloading efficiency.

[0067] In other embodiments of the present application, if there is only one unloading position in the target unloading position group that is in the available state, the self-moving device may directly determine the unloading position in the available state as the target unloading position.

[0068] S13, controlling the mobile equipment to move to the target unloading position to perform the unloading task.

[0069] In some embodiments of the present application, since the self-moving device can enter the collection area from any direction, the self-moving device can flexibly move from the device position of the self-moving device to the target unloading position. The present application does not limit the moving path of the self-moving device. For example, the self-moving device can move to the target unloading position along the shortest path between the device position and the target unloading position. For example, if the target unloading position is Figure 5 The unloading position 1 in Figure 7 , which is a schematic diagram of a moving path provided by an embodiment of the present application, wherein the self-moving device can move from the device position to the unloading position 1 along a straight path between the device position and the unloading position 1 .

[0070] 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.

[0071] 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.

[0072] 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.

[0073] Considering that when directly selecting the unloading position closest to the self-moving equipment for unloading from all unloading positions, the unloading positions in the periphery are closer to the self-moving equipment, so the unloading positions in the periphery are often given priority, resulting in excessive accumulation of materials at the unloading positions in the periphery, forming obstacles, making it impossible for the self-moving equipment to enter the unloading positions inside the periphery for unloading. In the unloading control method of the present embodiment, by setting each unloading position group to have a corresponding priority, and determining the target unloading position group according to the arrangement order between the priorities of the multiple unloading position groups, it is possible to ensure that the unloading positions in the periphery and the inner periphery have the possibility of being selected first, so that when there are multiple unloading positions in the target unloading position group that are in the state of being available, the unloading position corresponding to the distance less than or equal to the preset value or the unloading position corresponding to the smallest distance in the available unloading position is preferentially selected as the target unloading position, so that the unloading can be dispersed at the unloading positions in the periphery and the inner periphery, dispersing the unloading pressure that may originally be concentrated at the unloading position in the periphery, thereby avoiding the problem that when selecting the unloading position closer to the self-moving device, the unloading position selected each time is the unloading position in the periphery, resulting in the problem that after the unloading position in the periphery is overused, the materials piled at the unloading position in the periphery hinder the travel of the self-moving device, causing the self-moving device to be unable to enter the unloading position in the periphery for unloading. The unloading position in the available unloading position that is closer to the self-moving device is preferentially selected as the target unloading position, which can shorten the driving distance and improve the unloading efficiency. 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.

[0074] like Figure 8 , which is a schematic diagram of the structure of a self-moving device provided by an embodiment of the present application. Figure 8 In 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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 .

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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).

[0085] 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.

[0086] 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.

[0087] 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 .

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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, a target unloading position group is determined from the multiple unloading position groups according to the arrangement order of priorities of the multiple unloading position groups, wherein the target unloading position group includes unloading positions with a status of available, and the multiple unloading position groups are obtained by grouping multiple unloading positions in the gathering area; If there are multiple unloading positions in the target unloading position group that are in the available state, determine the target unloading position from the unloading positions in the available state according to the distance between each unloading position in the available state and the device position of the self-moving device; Control the mobile device 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 according to the arrangement order of priorities among the multiple unloading position groups, determining a target unloading position group from the multiple unloading position groups includes: According to the descending order of priority of the multiple unloading position groups, the multiple unloading position groups are searched in sequence until the target unloading position group is determined, and the search is stopped, wherein the status is that the actual unloading number of the available unloading positions is less than the corresponding preset unloading number.

4. The unloading control method according to claim 1, characterized in that: The step of determining the target unloading position from the unloading positions that are available according to the distance between each unloading position in the unloading positions that are available and the device position of the self-moving device comprises: The unloading position corresponding to a distance less than or equal to a preset threshold or the unloading position corresponding to the smallest distance among the available unloading positions is determined as the target unloading position.

5. The unloading control method according to claim 1, characterized in that: If there is only one unloading position in the target unloading position group that is in the available state, the target unloading position is the unloading position in the available state.

6. The unloading control method according to claim 1, characterized in that: A distance between adjacent unloading positions among the plurality of unloading positions is greater than a length of the self-moving device.

7. The unloading control method according to claim 1, characterized in that: The execution method of the unloading task includes: The self-rotation operation is performed to rotate the discharge port of the material collecting device of the self-moving device to a preset direction, and the material collecting device is controlled to discharge at the target unloading position.

8. 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.

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.

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