Discharging method, discharging device, loading equipment and computer readable storage medium

Abstract

The invention provides a discharging method, a discharging device, loading equipment and a computer readable storage medium. The unloading method is used for controlling loading equipment to unload materials and comprises the steps that in response to an unloading instruction, a target unloading point is determined according to the priority sequence of a preset number of unloading points included in an unloading area, the unloading area is located outside a working area where the loading equipment loads the materials, and a connecting channel is arranged between the unloading area and the working area; the target unloading point is an available unloading point in the preset number of unloading points; and controlling the loading equipment to move from the working area to the entrance of the unloading area through the connecting channel, and further moving from the entrance to the target unloading point for unloading operation. When the unloading method is used for controlling the loading equipment to unload the materials, the unloading efficiency can be improved, and the space utilization rate of the unloading area can also be improved.

Description

Technical Field

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

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

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

[0004] The present application aims to solve at least one of the problems existing in the prior art. To this end, the present application provides a discharge method, a discharge device, a loading device and a computer-readable storage medium, wherein the discharge method is applied to control a loading device such as a lawn mower to discharge materials, which can not only improve the discharge efficiency, but also improve the space utilization of the discharge area.

[0005] In order to achieve the above-mentioned purpose, in a first aspect, the present application provides a discharging method for controlling a loading device to discharge materials, the discharging method comprising:

[0006] In response to the unloading instruction, a target unloading point is determined according to the priority order of a preset number of unloading points included in the unloading area; wherein the unloading area is located outside the working area where the loading equipment loads the material, and a connecting passage is provided between the unloading area and the working area, and the target unloading point is one of the available unloading points among the preset number of unloading points;

[0007] The loading device is controlled to move from the working area to the entrance of the unloading area through the connecting passage, and further moved from the entrance to the target unloading point to perform the unloading operation.

[0008] In a second aspect, the present application provides a discharge device, the discharge device comprising:

[0009] a determination unit, configured to respond to a discharge instruction to determine a target discharge point according to a priority order of a preset number of discharge points included in a discharge area; wherein the discharge area is located outside a working area for loading materials of the discharge device, and a connecting passage is provided between the discharge area and the working area, and the target discharge point is one of the available discharge points among the preset number of discharge points; and

[0010] A control unit is used to control the unloading device to move from the working area to the entrance of the unloading area through the connecting channel, and further move from the entrance to the target unloading point to perform the unloading operation.

[0011] In a third aspect, the present application provides a loading device, which includes a processor and a memory, wherein a computer program is stored in the memory, and the processor runs the computer program to execute the above-mentioned unloading method.

[0012] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is called by a processor to execute the above-mentioned unloading method.

[0013] In the unloading method, unloading device, loading equipment and computer-readable storage medium provided in the present application, the unloading method is applied to control loading equipment such as a lawn mower to unload materials. Based on the unloading instruction, the loading equipment is triggered to determine the target unloading point according to the priority order of a preset number of unloading points included in the unloading area, and the loading equipment is controlled to move from the working area to the target unloading point to perform the unloading operation. In this way, it can be ensured that the loading equipment can disperse and unload the materials to different unloading points in the unloading area according to the priority order of the preset number of unloading points, avoiding the materials from being unloaded at the same unloading point and piling up too high, which can not only improve the unloading efficiency, but also improve the space utilization of the unloading area.

[0014] Additional aspects and advantages of the present application will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the implementation will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a flow chart of the unloading method provided in an embodiment of the present application.

[0017] Figure 2 It is a schematic diagram of an application scenario of the unloading method provided in one embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of an application scenario of a discharge method provided in another embodiment of the present application.

[0019] Figure 4 It is a schematic diagram of a discharge area and a discharge point in another embodiment of the present application.

[0020] Figure 5 It is a schematic diagram of a discharge area and its discharge point in yet another embodiment of the present application.

[0021] Figure 6 It is a framework diagram of the unloading device provided in an embodiment of the present application.

[0022] Figure 7 It is a framework diagram of the loading device provided in an embodiment of the present application.

[0023] Figure 8 It is a framework diagram of the computer-readable storage medium provided in an embodiment of the present application.

[0024] Description of main reference numerals:

[0025] 100-loading equipment; 200-working area; 300-unloading area; 350-unloading point; 400-connecting channel; 400a-first connecting channel; 400b-second connecting channel; 450-entrance; 500-unloading device; 510-determination unit; 520-control unit. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0027] It should be noted that in the description of this application, the terms "first", "second", "third", etc. are used to distinguish different objects rather than to describe a specific order, and therefore cannot be understood as a limitation on this application. In addition, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through other elements, or the internal connection of two elements; it can be a communication connection or an electrical connection, wherein both communication connection and electrical connection also include direct connection or indirect connection through other elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0028] Please combine Figure 1 and Figure 2 The embodiment of the present application provides a method for unloading materials, which is used to control a loading device 100 to unload materials. The loading device 100 may be, but not limited to, a mowing vehicle or a muck vehicle, and correspondingly, the materials may be, but not limited to, grass clippings or muck.

[0029] Specifically, Figure 1 and Figure 2 As shown, in an embodiment of the present application, the unloading method comprises the following steps:

[0030] Step S1, in response to a discharge instruction, determining a target discharge point 350 according to the priority order of a preset number of discharge points 350 included in the discharge area 300. Figure 2 As shown, in an embodiment of the present application, the unloading area 300 is located outside the working area 200 where the loading equipment 100 loads the material, and a connecting passage 400 is provided between the unloading area 300 and the working area 200, and the target unloading point 350 is one of the available unloading points 350 among the preset number of unloading points 350.

[0031] Step S2, controlling the loading device 100 to move from the working area 200 to the entrance 450 of the unloading area 300 through the connecting passage 400, and further moving from the entrance 450 to the target unloading point 350 to perform the unloading operation. Figure 2 As shown, in the embodiment of the present application, the entrance 450 is a portion of the discharge area 300 adjacent to the connecting channel 400 .

[0032] In the unloading method provided in the embodiment of the present application, the loading device 100 is triggered based on the unloading instruction to determine the target unloading point 350 according to the priority order of a preset number of unloading points 350 included in the unloading area 300, and the loading device 100 is controlled to move from the working area 200 to the target unloading point 350 to perform the unloading operation. In this way, it can be ensured that the loading device 100 discharges the materials to different unloading points 350 in the unloading area 300 in accordance with the priority order of the preset number of unloading points 350, avoiding the materials from being unloaded at the same unloading point 350 and stacking too high, which can not only improve the unloading efficiency, but also improve the space utilization rate of the unloading area 300.

[0033] Alternatively, if Figure 2 As shown, in one embodiment of the present application, there is only one connecting passage 400, and the loading device 100 can only move from the working area 200 to the entrance 450 of the unloading area 300 through the connecting passage 400. Figure 2 In the example of , the connecting channel 400 is a straight channel, and the connecting channel 400 is the shortest channel connecting the working area 200 and the unloading area 300. The time for the loading device 100 to move from the working area 200 to the entrance 450 through the connecting channel 400 is the shortest, which can further improve the unloading efficiency. Figure 2 In the example of FIG. 1 , the connecting channel 400 can be provided at one end of the corresponding part of the working area 200 and the discharge area 300 as required (eg Figure 2 The lower end as shown in the figure) can also be set in the middle of the corresponding parts of the working area 200 and the unloading area 300 as needed, which is not limited to this.

[0034] Optionally, see Figure 3 In another embodiment of the present application, at least two connecting channels 400 (e.g., a first connecting channel 400a and a second connecting channel 400b) are provided between the unloading area 300 and the working area 200, and the first end of each connecting channel 400 is connected to the entrance 450, and the second ends of the at least two connecting channels 400 intersect with the working area 200 at at least two different sub-areas. Figure 3 In the example of step S2, the control of the loading device 100 to move from the working area 200 to the entrance 450 of the unloading area 300 through the connecting passage 400 includes the following two steps:

[0035] Step S21 , determining a target connection channel according to the distances between the at least two sub-areas and the current position of the loading device 100 ; wherein the target connection channel is the connection channel 400 with the shortest distance.

[0036] Step S22 , controlling the loading device 100 to move from the current position to the target connecting channel, and further moving to the entrance 450 through the target connecting channel.

[0037] That is, in Figure 3 In the example, the loading device 100 can select the nearest connecting channel 400 as the target connecting channel according to its current position in the working area 200, and then move to the entrance 450 through the target connecting channel. In this way, the loading device 100 can move from the working area 200 to the entrance 450 through the connecting channel 400 closest to the current position, which takes the least time and can further improve the unloading efficiency.

[0038] In some embodiments of the present application, in step S1, determining the target discharge point 350 according to the priority order of a preset number of discharge points 350 included in the discharge area 300 includes:

[0039] Step S11, determining candidate discharge points 350 that have not currently discharged materials among the preset number of discharge points 350; and step S12, determining the discharge point 350 with the highest priority among the candidate discharge points 350 as the target discharge point 350.

[0040] That is, in some embodiments of the present application, each of the discharge points 350 is set to discharge material only once, which can avoid the accumulation of the material and make the discharge of the material more dispersed.

[0041] Specifically, in some embodiments of the present application, in step S12, the determining of the unloading point 350 with the highest priority among the candidate unloading points 350 as the target unloading point 350 includes: when only one candidate unloading point 350 has the highest priority, determining the candidate unloading point 350 with the highest priority as the target unloading point 350; when at least two candidate unloading points 350 have the highest priority, determining any one of the at least two candidate unloading points 350 as the target unloading point 350.

[0042] Of course, in other embodiments of the present application, when each of the unloading points 350 is set to be able to unload materials at least once and there are at least two candidate unloading points 350 with the highest priority, the candidate unloading point 350 with the largest amount of unloading materials can be determined as the target unloading point 350 according to the amount of unloading materials of the at least two candidate unloading points 350. In this way, it can be ensured that the target unloading point 350 has a sufficient amount of unloading materials, so that the materials currently required to be unloaded by the loading device 100 can be unloaded at one unloading point 350.

[0043] Optionally, in some embodiments of the present application, the unloading method further includes: determining the priority order of the preset number of unloading points 350 included in the unloading area 300. That is, after responding to the unloading instruction, the loading device 100 may first determine the priority order of the preset number of unloading points 350, and then determine the target unloading point 350 according to the priority order of the preset number of unloading points 350.

[0044] For details, please refer to Figure 2 In one embodiment of the present application, determining the priority order of the preset number of discharge points 350 included in the discharge area 300 includes:

[0045] Based on the distance between the preset number of unloading points 350 and the entrance 450, the priority of each of the unloading points 350 is determined; wherein, the greater the distance between the unloading point 350 and the entrance 450, the higher the priority of the unloading point 350.

[0046] exist Figure 2 In the example of FIG. 1 , the unloading area 300 includes 7 unloading points 350, and each of the unloading points 350 is at a different distance from the entrance 450. Thus, the 7 unloading points 350 are divided into 7 priorities (corresponding to Figure 2 1 to 7 as shown), wherein the unloading point 350 farthest from the entrance 450 is the unloading point 350 with the highest priority. It is easy to understand that, as mentioned above, when at least two unloading points 350 are at the same distance from the entrance 450, the priorities of the at least two unloading points 350 are the same, and any one of the at least two unloading points 350 can be determined as the target unloading point 350, which will not be described in detail.

[0047] See also Figure 4 In another embodiment of the present application, the preset number of discharge points 350 are distributed in the discharge area 300 in a preset order, and each of the discharge points 350 has a corresponding serial number (corresponding to Figure 4The step of determining the priority order of the preset number of discharge points 350 included in the discharge area 300 comprises:

[0048] Based on the serial numbers corresponding to the preset number of unloading points 350 , the priority of each of the unloading points 350 is determined; wherein, the smaller the serial number of the unloading point 350 , the higher the priority of the unloading point 350 .

[0049] exist Figure 4 In the example, the unloading area 300 includes 9 unloading points 350, and the 9 unloading points 350 are arranged in multiple columns in the order from top to bottom and then from left to right, and the corresponding serial numbers are 1 to 9, so that the unloading point 350 with the smallest serial number is the unloading point 350 with the highest priority.

[0050] In other embodiments, the preset number of discharge points 350 in the discharge area 300 may also be arranged in other orders, such as but not limited to being arranged in multiple columns from bottom to top and then from left to right, or being arranged in multiple rows from left to right and then from top to bottom, without limitation. Of course, the preset number of discharge points 350 may also be arranged in a serpentine or "bow" shape in a specific order, which will not be described in detail.

[0051] Of course, in other embodiments of the present application, the priority order of the preset number of unloading points 350 included in the unloading area 300 can also be directly pre-stored in the memory of the loading device 100, and can be directly obtained by the control unit (or processor) of the loading device 100, thereby eliminating the need to execute the step of determining the priority order of the preset number of unloading points 350, thereby simplifying the process of the unloading method.

[0052] Please refer again Figures 2 to 4 Preferably, in an embodiment of the present application, the distance between the two unloading points 350 is greater than or equal to a preset threshold value, so as to ensure that when the loading device 100 unloads the material at the target unloading point 350, it will not collide with the material already unloaded at other unloading points 350 adjacent to the target unloading point 350. For example, when the loading device 100 is a lawn mower with a grass collecting and unloading function, the distance between the two unloading points 350 is greater than or equal to the length of the lawn mower, so that when the lawn mower rotates around the target unloading point 350 to dump grass clippings at the target unloading point 350, the lawn mower will not collide with the grass piles already unloaded at other unloading points 350.

[0053] It is also preferred that Figures 2 to 4As shown, in one embodiment of the present application, the preset number of unloading points 350 are evenly distributed in the unloading area 300, so that the loading equipment 100 can evenly unload the materials in the unloading area 300, so that the material pile formed by unloading is arranged more neatly and more beautifully.

[0054] It should be noted that, in the embodiment of the present application, the discharge area 300 can be arranged in a first preset pattern (not limited to a square), and the preset number of discharge points 350 can be arranged in a second preset pattern (not limited to a dot matrix pattern). Figure 4 In the example, the first preset pattern of the discharge area 300 is a square, and the second preset pattern formed by the preset number of discharge points 350 is a matrix dot pattern; Figure 5 In the example, the first preset pattern of the discharge area 300 is a circle, and the second preset pattern formed by the preset number of discharge points 350 is a ring-shaped dot pattern; in this way, the first preset pattern and the second preset pattern are adapted to each other, which can bring a uniform visual effect. Of course, in other embodiments, the first preset pattern and the second preset pattern may not be adapted to each other, and this is not limited. Figure 5 In the example, the priority order of the preset number of unloading points 350 can be determined according to the distance between the unloading point 350 and the entrance 450. Of course, the preset number of unloading points 350 can also be arranged in a preset order and set corresponding serial numbers to determine the priority order according to the serial numbers, which will not be elaborated herein.

[0055] Further, in some embodiments of the present application, before determining the target unloading point 350 according to the priority order of the preset number of unloading points 350 included in the unloading area 300, the unloading method further includes: determining the preset number according to the information of the material to be unloaded and the parameters of the loading device 100. That is, in the present application, the number of the unloading points 350 can be determined based on the factors of both the material and the loading device 100, which helps to improve the rationality of setting the unloading points 350 in the unloading area 300 and make full use of the space of the unloading area 300.

[0056] Specifically, in one embodiment of the present application, the information of the materials to be discharged may include the total amount of the materials to be discharged, the parameters of the loading device 100 include the capacity of the loading device 100 (i.e., the amount of materials loaded in a single time), and the determining the preset quantity according to the information of the materials to be discharged and the parameters of the loading device 100 includes:

[0057] A target value is obtained by dividing the total amount of the material to be discharged by the capacity of the loading device 100, and the preset quantity is determined according to the target value.

[0058] It is not difficult to understand that the above-mentioned target value may be an integer or a non-integer, and the minimum positive integer greater than or equal to the target value is equivalent to the number of discharges required for the loading device 100 to discharge the total amount of the material to be discharged. Preferably, in one embodiment of the present application, the preset number is equal to the reference value, and the reference value is the minimum positive integer greater than or equal to the target value, that is, in this embodiment, the number of the discharge points 350 is the same as the number of discharges required by the loading device 100, so that each of the discharge points 350 is ensured to be used to discharge the material only once, thereby avoiding the problem of accumulation of the material.

[0059] In other embodiments of the present application, the preset number may also be smaller than the reference value, that is, the number of the unloading points 350 is smaller than the number of unloading times that the loading device 100 needs to perform, and at least one unloading point 350 needs to unload materials at least twice; of course, the preset number may also be greater than the reference value, that is, the number of the unloading points 350 is greater than the number of unloading times that the loading device 100 needs to perform, so as to reserve a certain margin to avoid insufficient number of unloading points 350 due to calculation errors.

[0060] More specifically, in one embodiment of the present application, the loading device 100 includes a lawn mower with an integrated grass unloading function, the working area 200 is a lawn to be mowed, the material includes grass clippings, the total amount of the material to be unloaded includes the total amount of grass clippings to be cut from the lawn, and the capacity of the loading device 100 includes the grass collection volume of the lawn mower. In this embodiment, the calculation of the target value obtained by dividing the total amount of the material to be unloaded by the capacity of the loading device 100, and determining the preset quantity according to the target value, includes: calculating the target value obtained by dividing the total amount of grass clippings by the grass collection volume, and obtaining the preset quantity according to the target value.

[0061] Optionally, when the loading device 100 is a lawn mower, before calculating the target value obtained by dividing the total amount of the material to be unloaded by the capacity of the loading device 100 and determining the preset quantity according to the target value, the unloading method further includes:

[0062] Obtaining the total area and lawn density of the lawn; and

[0063] The total amount of grass clippings to be mowed from the lawn is determined according to the total area and lawn density of the lawn.

[0064] It is not difficult to understand that the total amount of grass clippings to be mowed on the lawn is positively correlated with the total area of ​​the lawn and the lawn density of the lawn, that is, the larger the total area of ​​the lawn, the larger the total amount of grass clippings to be mowed on the lawn, and the larger the lawn density of the lawn, the larger the total amount of grass clippings to be mowed on the lawn, and accordingly, the larger the preset number of the unloading points 350.

[0065] Specifically, in one embodiment of the present application, determining the total amount of grass clippings to be cut from the lawn according to the total area and lawn density of the lawn includes:

[0066] Calculating the total amount of grass clippings to be cut from the lawn according to the total area and lawn density of the lawn and a first formula;

[0067] The first formula is S=A1*D, S represents the total amount of grass clippings to be cut from the lawn, D represents the lawn density of the lawn, and A1 represents the total area of ​​the lawn.

[0068] It should be noted that, in other embodiments of the present application, the first formula may also be S=A1*D*K, or S=A1*D+S1, or A1*D*K+S1, etc., wherein K is a margin coefficient, S1 is an offset, and illustratively, the margin coefficient K may range from 1.0 to 1.2, and the offset S1 may be determined according to the total area A1 of the lawn.

[0069] It should also be noted that the lawn density is the volume of grass clippings produced after the grass is mowed per unit area of ​​the lawn. Generally, the unit of measurement of the total amount S of grass clippings to be mowed is m3, the unit of measurement of the total area of ​​the lawn is m2, and the unit of measurement of the lawn density D of the lawn is m3 / m2.

[0070] It can be understood that the lawn mower includes a cutter disc for mowing the grass, and the retained height of the lawn after being mowed can be adjusted by adjusting the height of the cutter disc. In an embodiment of the present application, the blade of the lawn mower is set to adopt a preset cutter disc height, so that after the lawn mower mows the lawn in the working area 200, the retained height of the grass plants in all areas of the lawn after being mowed is the preset cutter disc height, which has a high consistency and is conducive to improving the accuracy of the calculation result of the total amount of grass clippings to be mowed on the lawn.

[0071] Optionally, in one embodiment of the present application, before determining the total amount of grass clippings to be cut from the lawn according to the total area and lawn density of the lawn, the unloading method further comprises:

[0072] Controlling the loading device 100 to mow a preset sub-area in the working area 200, wherein the volume of grass clippings mowed in the preset sub-area is less than or equal to the capacity of the loading device 100;

[0073] The lawn density of the lawn is calculated according to the area of ​​the preset sub-area of ​​the working area 200, the volume of grass clippings cut in the preset sub-area, and a second formula;

[0074] The second formula is D=V / A2, V represents the volume of grass clippings cut in the preset sub-area, and A2 represents the area of ​​the preset sub-area.

[0075] That is, in one embodiment of the present application, the preset sub-area in the working area 200 can be mowed first, and the lawn density of the lawn can be calculated based on the volume of grass clippings mowed in the preset sub-area, and then the total amount of grass clippings to be mowed on the lawn can be calculated based on the lawn density of the lawn, and the calculation result has a high accuracy.

[0076] Of course, in other embodiments of the present application, the lawn density of the lawn can also be directly pre-stored in the memory of the lawn mower and can be directly obtained by the control unit (or processor) of the lawn mower, thereby eliminating the need to execute the step of calculating the lawn density of the lawn, thereby simplifying the process of the unloading method.

[0077] Please refer again Figures 2 to 5 In one embodiment of the present application, after determining the preset quantity according to the information of the material to be discharged and the parameters of the loading device 100, the discharge method further includes:

[0078] According to the target distribution pattern, the position of each discharge point in the preset number of discharge points 350 is determined in the discharge area 300, so that the preset number of discharge points 350 are arranged to form the target distribution pattern. The target distribution pattern is also the aforementioned second preset pattern, which is not limited to a matrix dot pattern, a ring dot pattern, etc. By arranging the preset number of discharge points 350 into a target distribution pattern, the aesthetic appearance of the material after discharge can be improved.

[0079] For further information, please refer again to Figure 6 , an embodiment of the present application provides a discharge device 500, the discharge device 500 comprising:

[0080] The determination unit 510 is used to respond to the discharge instruction to determine the target discharge point 350 according to the priority order of the preset number of discharge points 350 included in the discharge area 300. Figure 2 The unloading device 500 and Figure 2Similar to the loading device 100 in FIG. 1 , the unloading area 300 is located outside the working area 200 where the unloading device 500 loads materials, and a connecting passage 400 is provided between the unloading area 300 and the working area 200, and the target unloading point 350 is one of the available unloading points 350 among the preset number of unloading points 350; and

[0081] The control unit 520 is used to control the unloading device 500 to move from the working area 200 to the entrance 450 of the unloading area 300 through the connecting channel 400, and further move from the entrance 450 to the target unloading point 350 to perform the unloading operation. Figure 2 As shown, the entrance 450 is a portion of the discharge area 300 adjacent to the connecting channel 400 .

[0082] The unloading device 500 provided in the embodiment of the present application determines the target unloading point 350 based on the unloading instruction and according to the priority order of a preset number of unloading points 350 included in the unloading area 300, and controls the unloading device 500 to move from the working area 200 to the target unloading point 350 to perform the unloading operation. In this way, it can be ensured that the unloading device 500 discharges the materials to different unloading points 350 in the unloading area 300 in a dispersed manner according to the priority order of the preset number of unloading points 350, avoiding the materials from being unloaded at the same unloading point 350 and stacking too high, which can not only improve the unloading efficiency, but also improve the space utilization rate of the unloading area 300.

[0083] It can be understood that the unloading device 500 also has other structures and features of the loading equipment 100 described in the above embodiment. For more details, please refer to the above-mentioned related content, which will not be repeated here.

[0084] For further information, see Figure 7 An embodiment of the present application provides a loading device 100, which includes a memory and a processor, and the memory stores a computer program. When the processor executes the computer program, it implements the corresponding steps of the unloading method described in any of the above embodiments. For more detailed content, please refer to the aforementioned related content, which will not be repeated here.

[0085] For further information, see Figure 8 An embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the steps of the unloading method described in any of the above embodiments are implemented. For more details, please refer to the aforementioned related content, which will not be repeated here.

[0086] It will be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through the computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0087] It should be noted that any reference to memory, storage, database or other media used in the embodiments of the present application includes non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory, and random access memory (RAM) is available in various forms, not limited to static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0088] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0089] In the description of this specification, the description with reference to the terms "embodiment", "specific embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0090] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for controlling a loading device to discharge materials, characterized in that: The unloading method comprises: In response to the unloading instruction, a target unloading point is determined according to the priority order of a preset number of unloading points included in the unloading area; wherein the unloading area is located outside the working area where the loading equipment loads the material, and a connecting passage is provided between the unloading area and the working area, and the target unloading point is one of the available unloading points among the preset number of unloading points; The loading device is controlled to move from the working area to the entrance of the unloading area through the connecting passage, and further moved from the entrance to the target unloading point to perform the unloading operation.

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

3. The unloading method according to claim 2, characterized in that: The step of determining the discharge point with the highest priority among the candidate discharge points as the target discharge point comprises: When only one candidate discharge point has the highest priority, determining the candidate discharge point with the highest priority as the target discharge point; When there are at least two candidate discharge points with the highest priority, any one of the at least two candidate discharge points is determined as the target discharge point.

4. The unloading method according to claim 1, characterized in that: The unloading method also includes: Determine the priority order of the preset number of discharge points included in the discharge area.

5. The unloading method according to claim 4, characterized in that: The determining the priority order of the preset number of discharge points included in the discharge area includes: Based on the distances between the preset number of discharge points and the entrance, the priority of each discharge point is determined; wherein, the greater the distance between the discharge point and the entrance, the higher the priority of the discharge point.

6. The unloading method according to claim 4, characterized in that: The preset number of discharge points are sequentially distributed in the discharge area according to a preset order, each of the discharge points has a corresponding sequence number, and the determining of the priority order of the preset number of discharge points included in the discharge area includes: Based on the serial numbers corresponding to the preset number of discharge points, the priority of each discharge point is determined; wherein, the smaller the serial number of the discharge point, the higher the priority of the discharge point.

7. The unloading method according to claim 1, characterized in that: The distance between any two of the unloading points is greater than or equal to a preset threshold, and / or the preset number of unloading points are evenly distributed in the unloading area.

8. The unloading method according to any one of claims 1 to 7, characterized in that: Before determining the target discharge point according to the priority order of a preset number of discharge points included in the discharge area, the discharge method further includes: The preset quantity is determined according to information of the material to be discharged and parameters of the loading equipment.

9. The unloading method according to claim 8, characterized in that: The information of the materials to be discharged includes the total amount of the materials to be discharged, and the parameters of the loading equipment include the capacity of the loading equipment; Determining the preset quantity according to the information of the material to be discharged and the parameters of the loading equipment includes: A target value is obtained by dividing the total amount of the material to be discharged by the capacity of the loading device, and the preset quantity is determined according to the target value.

10. The unloading method according to claim 9, characterized in that: The loading device comprises a lawn mower, the working area is a lawn to be mowed, the material comprises grass clippings, the total amount of material to be discharged comprises the total amount of grass clippings to be mowed from the lawn, and the capacity of the loading device comprises the grass collection volume of the lawn mower; The calculating the target value obtained by dividing the total amount of the material to be discharged by the capacity of the loading device, and determining the preset quantity according to the target value, comprises: A target value is obtained by dividing the total amount of grass clippings by the grass collection volume, and the preset number is obtained according to the target value.

11. The unloading method according to claim 9 or 10, characterized in that: The preset number is equal to a reference value, and the reference value is a minimum positive integer greater than or equal to the target value.

12. The unloading method according to claim 10, characterized in that: Before calculating the target value obtained by dividing the total amount of the material to be discharged by the capacity of the loading device and determining the preset quantity according to the target value, the discharge method further includes: Obtaining the total area and lawn density of the lawn; and The total amount of grass clippings to be mowed from the lawn is determined according to the total area and lawn density of the lawn.

13. The unloading method according to claim 12, characterized in that: Determining the total amount of grass clippings to be cut from the lawn according to the total area and lawn density of the lawn includes: Calculating the total amount of grass clippings to be cut from the lawn according to the total area and lawn density of the lawn and a first formula; The first formula is S=A1*D, S represents the total amount of grass clippings to be cut from the lawn, D represents the lawn density of the lawn, and A1 represents the total area of ​​the lawn.

14. The unloading method according to claim 12, characterized in that: Before determining the total amount of grass clippings to be cut from the lawn according to the total area and lawn density of the lawn, the unloading method further comprises: Controlling the loading device to mow a preset sub-area in the working area, wherein the volume of grass clippings mowed in the preset sub-area is less than or equal to the capacity of the loading device; Calculating the lawn density of the lawn according to the area of ​​the preset sub-area of ​​the working area, the volume of grass clippings cut from the preset sub-area, and a second formula; The second formula is D=V / A2, V represents the volume of grass clippings cut in the preset sub-area, and A2 represents the area of ​​the preset sub-area.

15. The unloading method according to claim 8, characterized in that: After determining the preset quantity according to the information of the material to be discharged and the parameters of the loading equipment, the discharge method further comprises: According to the target distribution pattern, the position of each of the preset number of discharge points is determined in the discharge area, so that the preset number of discharge points are arranged to form the target distribution pattern.

16. A discharge device, characterized in that: The unloading device comprises: a determination unit, configured to respond to a discharge instruction to determine a target discharge point according to a priority order of a preset number of discharge points included in a discharge area; wherein the discharge area is located outside a working area for loading materials of the discharge device, and a connecting passage is provided between the discharge area and the working area, and the target discharge point is one of the available discharge points among the preset number of discharge points; and A control unit is used to control the unloading device to move from the working area to the entrance of the unloading area through the connecting channel, and further move from the entrance to the target unloading point to perform the unloading operation.

17. A loading device, characterized in that: The loading device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor runs the computer program to execute the unloading method described in any one of claims 1-15.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is called by a processor to execute the unloading method described in any one of claims 1-15.

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