Grass unloading method, processing device, equipment and storage medium

Abstract

The invention discloses a grass unloading method, a processing device, equipment and a storage medium, and the method comprises the steps: responding to a grass unloading instruction, determining a plurality of candidate grass unloading points in a target grass unloading region, and enabling the target grass unloading region to be located in a working region; a plurality of first priorities are obtained based on the plurality of candidate grass unloading points and a target boundary, the plurality of first priorities are in one-to-one correspondence with the plurality of candidate grass unloading points, and the target boundary is determined in the operation area based on the grass unloading points in the target grass unloading area; based on the plurality of first priorities, determining a target grass unloading point in the plurality of candidate grass unloading points; and controlling the grass unloading equipment to move to the target grass unloading point to unload grass. The grass unloading efficiency of the grass unloading equipment can be improved.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a grass unloading method, a processing device, equipment and a storage medium. Background Art

[0002] With the development of science and technology, more and more automated machines have brought convenience to people's work and life. Among them, lawn mowers have been widely used in agricultural production, greening maintenance, lawn mowing, and other fields. The lawn mower can drive the mowing blade to rotate through the engine output shaft, trim and cut the grass within the rotation range of the mowing blade, and move on the grass through the walking wheels to mow the grass in the working area.

[0003] The lawn mower needs to be equipped with a grass unloading device to work. The grass unloading device includes a grass collecting device, which can collect the grass clippings cut by the lawn mower. When the volume of grass clippings in the grass collecting device reaches the maximum volume that the grass collecting device can accommodate or when an unloading instruction is received, the grass unloading device will go to the grass unloading point in the grass unloading area to unload the grass, and then carry out subsequent mowing and grass collecting work. The grass unloading device can also be integrated into the lawn mower. When the volume of grass clippings in the grass collecting device reaches the maximum volume that the grass collecting device can accommodate or when an unloading instruction is received, the lawn mower can go to the grass unloading point in the grass unloading area to unload the grass, so as to integrate the functions of mowing, collecting and unloading.

[0004] However, when the grass unloading equipment unloads grass multiple times at a fixed grass unloading point or the grass unloading space corresponding to the grass unloading point, grass clippings will accumulate at the grass unloading point or the grass unloading space corresponding to the grass unloading point, affecting subsequent grass unloading and resulting in low grass unloading efficiency of the grass unloading equipment. Summary of the invention

[0005] In order to solve the above-mentioned problems existing in the prior art, the embodiments of the present application provide a grass unloading method, a processing device, an equipment and a storage medium, by determining multiple candidate grass unloading points in a target grass unloading area in an operation area, and determining the target grass unloading point according to the priority of the candidate grass unloading points, so that the grass unloading equipment goes to the target grass unloading point to unload grass. After the grass clippings at the current target grass unloading point are full, a new target grass unloading point can be determined, and the grass unloading equipment can be controlled to go to the new target grass unloading point to unload grass, thereby solving the problem that grass clippings accumulate at the unloading point due to unloading at one grass unloading point, affecting subsequent grass unloading work, and improving the grass unloading efficiency of the grass unloading equipment.

[0006] In a first aspect, an embodiment of the present application provides a grass unloading method, comprising:

[0007] In response to the grass unloading instruction, a plurality of candidate grass unloading points are determined in a target grass unloading area, wherein the target grass unloading area is located in the working area;

[0008] Based on the multiple candidate grass unloading points and the target boundary, a plurality of first priorities are obtained, wherein the multiple first priorities correspond to the multiple candidate grass unloading points one by one, and the target boundary is determined in the operation area based on the grass unloading points in the target grass unloading area;

[0009] Based on the plurality of first priorities, determining a target grass unloading point among the plurality of candidate grass unloading points;

[0010] The grass unloading equipment is controlled to go to the target grass unloading point to unload the grass.

[0011] In a second aspect, an embodiment of the present application provides a processing device, the processing device comprising a processing module and a control module;

[0012] The processing module is used to determine a plurality of candidate grass unloading points in a target grass unloading area in response to a grass unloading instruction, wherein the target grass unloading area is located in an operation area;

[0013] Based on the multiple candidate grass unloading points and the target boundary, a plurality of first priorities are obtained, wherein the multiple first priorities correspond to the multiple candidate grass unloading points one by one, and the target boundary is determined in the operation area based on the grass unloading points in the target grass unloading area;

[0014] Based on the plurality of first priorities, determining a target grass unloading point among the plurality of candidate grass unloading points;

[0015] The control module is used to control the grass unloading equipment to go to the target grass unloading point to unload the grass.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory, the processor being connected to the memory, the memory being used to store a computer program, and the processor being used to execute the computer program stored in the memory, so that the electronic device performs the method described in the first aspect.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method described in the first aspect.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program, and the computer program is executed by a processor to implement the method described in the first aspect.

[0019] Implementing the embodiments of the present application has the following beneficial effects:

[0020] In an embodiment of the present application, in response to an unloading instruction, a plurality of candidate unloading points are first determined in a target unloading area, and the target unloading area is located in an operating area. Then, based on the plurality of candidate unloading points and the target boundary, a plurality of first priorities are determined, wherein the plurality of first priorities correspond to the plurality of candidate unloading points one by one, and the target boundary is determined in the operating area based on the unloading points in the target unloading area. Further, based on the plurality of first priorities, the target unloading point can be determined from the plurality of candidate unloading points. Finally, the unloading equipment is controlled to go to the target unloading point for unloading. Thus, a plurality of candidate unloading points can be determined in the target unloading area, and the target unloading point can be determined according to the first priority corresponding to each candidate unloading point, and the unloading equipment is controlled to go to the target unloading point for unloading. Compared with unloading at a fixed unloading point, after the grass clippings at the target unloading point fill up the unloading space corresponding to the target unloading point, a new target unloading point can be determined based on the first priority corresponding to each candidate unloading point, so as to control the unloading equipment to go to the new target unloading point for unloading. The invention solves the problem that after the grass unloading equipment unloads grass multiple times at one unloading point, grass clippings accumulate too high and affect the subsequent unloading work, thereby improving the unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of an application scenario of a grass unloading method provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of a process of unloading grass provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of a target grass unloading area provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of a scenario of a method for determining a target grass unloading area provided in an embodiment of the present application;

[0026] Figure 5 A schematic diagram of a scenario of a method for determining the priority of grass unloading points provided in an embodiment of the present application;

[0027] Figure 6 A schematic diagram of another scenario of a method for determining the priority of grass unloading points provided in an embodiment of the present application;

[0028] Figure 7A schematic diagram of a processing device provided in an embodiment of the present application;

[0029] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0032] Reference to "embodiments" herein means that a particular feature, result, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] First, see Figure 1 , Figure 1 A schematic diagram of an application scenario of a grass unloading method provided in an embodiment of the present application. Figure 1 The application scenario shown includes a grass mowing and unloading system, which includes: a control device, a processing device and an unloading device.

[0034] In the embodiment of the present application, the processing device is a hardware device for receiving, reading and executing computer programs, instructions and data, and can control the grass unloading device to unload grass through data communication with the grass unloading device. The processing device can be a chip or controller with communication function and data processing integrated into the grass unloading device, such as a central processing unit (CPU), a single-chip microcomputer (Single-Chip Microcomputer), a field programmable gate array (Field-Programmable Gate Array, FPGA), etc. The processing device can also be an independent server with data processing and data forwarding functions, such as a rack server, a Web server, a domain name server, a cloud server, etc., and this application does not make specific restrictions on this. The following will be explained by taking the processing device as a server as an example. The processing method of the chip or controller of the grass unloading device is similar to the embodiment of the present application and will not be repeated. The grass unloading device is equipped with a chip or device with communication function, which can communicate with the processing device through Wi-Fi, Bluetooth, local area network, and other communication technologies. The control device is a remote controller of the grass unloading device, and can achieve remote communication with the processing device through radio communication technology, such as the fifth generation technology standard for cellular networks (5G) Wi-Fi, Bluetooth, Ethernet, etc. The control device may include, for example, a smart phone, a touch-screen mobile tablet, a portable personal computer, a desktop computer, and other electronic devices with communication functions and high-speed computing functions.

[0035] In an embodiment of the present application, a user can set working parameters of a mowing vehicle and a grass unloading device on a control device. For example, the working parameters may include: working area, mowing height, mowing time, grass unloading area, and the like. In response to the user operation, the control device may send a working instruction to the processing device, and the working instruction includes the working parameters of the mowing vehicle and the grass unloading device. In response to the working instruction, the processing device controls the mowing vehicle to perform mowing work in the working area. The mowing vehicle includes: mowing blades, running wheels, and the like. The mowing blades are used to trim and cut grass. The running wheels are used to drive the mowing vehicle to move in the working area. The mowing vehicle may send real-time work records as feedback data to the processing device. The work records may include: mowing routes, areas where mowing has been completed, areas where mowing has not been completed, and the like. The processing device may forward the feedback data of the mowing vehicle to the control device. The control device may obtain the real-time work records of the mowing vehicle by parsing the feedback data, and display the real-time work records of the mowing vehicle to the user.

[0036] It should be noted that a grass unloading device is provided to cooperate with the work of the lawn mower. The grass unloading device can be integrated into the lawn mower or can be a device independent of the lawn mower. The following will be explained by taking the grass unloading device independent of the lawn mower as an example. The processing method of the grass unloading device integrated into the lawn mower is similar to that of the present application and will not be repeated. The grass unloading device includes: walking wheels, grass collecting devices, and other components. The walking wheels are used to drive the grass unloading device to move in the working area. The grass collecting device can be a grass collecting frame or a grass unloading frame, which is used to load grass clippings cut by the lawn mower. Among them, the pressure device on the grass collecting device can suck the grass clippings cut by the lawn mower into the grass collecting device. Therefore, while the lawn mower is mowing in the working area, the grass collecting device of the grass unloading device is also collecting the cut grass clippings synchronously. When the volume of grass clippings loaded by the grass collecting device reaches the maximum volume that the grass collecting device can accommodate, the grass unloading device needs to unload the loaded grass clippings first. At this time, the grass unloading device will trigger the grass unloading operation to unload the grass. Alternatively, the control device may send a grass unloading instruction to the processing device, and the processing device may control the grass unloading device to go to the grass unloading area to unload the grass in response to the grass unloading instruction.

[0037] It should be noted that in the existing unloading method, the user can set a fixed unloading point on the control device, and the unloading instruction includes the position of the set unloading point. In response to the unloading instruction, the processing device controls the unloading device to unload grass at the set unloading point. However, after unloading grass at the set unloading point for many times, the grass clippings at the unloading point will be piled up too high, affecting the subsequent unloading of grass by the unloading device and the subsequent mowing work of the mowing vehicle, thereby resulting in low efficiency of mowing and unloading.

[0038] To this end, in the grass unloading method provided in the embodiment of the present application, the processing device determines a plurality of candidate grass unloading points in a target grass unloading area in response to the grass unloading instruction, wherein the target grass unloading area is located in the operation area;

[0039] The processing device obtains a plurality of first priorities based on a plurality of candidate unloading points and a target boundary, wherein the plurality of first priorities correspond one-to-one to the plurality of candidate unloading points, and the target boundary is determined in the operation area based on the unloading points in the target unloading area;

[0040] The processing device determines a target grass unloading point from among a plurality of candidate grass unloading points based on a plurality of first priorities;

[0041] The processing device controls the unloading equipment to go to the target unloading point to unload the grass.

[0042] It can be seen that, when applied to the above scenario, when the mower is mowing, the control device can send an unloading instruction to the processing device, and the processing device can control the unloading device to unload grass in response to the unloading instruction, so as to achieve mowing, collecting and unloading grass, and improve the efficiency of mowing and unloading grass. Among them, the processing device can determine multiple candidate unloading points in the target unloading area in the operation area, and determine the first priority corresponding to each candidate unloading point. Based on the first priority of each candidate unloading point, the unloading device is controlled to go to each candidate unloading point in turn to unload grass. Compared with unloading grass at a fixed unloading point, it can avoid excessive accumulation of grass clippings after multiple unloading at a fixed unloading point, which affects the subsequent mowing and unloading work, and further improves the efficiency of mowing and unloading grass.

[0043] Then, see Figure 2 , Figure 2 A flowchart of a grass unloading method provided in an embodiment of the present application. The grass unloading method is applied to the processing device in the above application scenario, and the method includes but is not limited to the following steps:

[0044] 201: In response to an unloading instruction, a plurality of candidate unloading points are determined in a target unloading area.

[0045] In the embodiment of the present application, the target unloading area is located in the working area, which is the area where the mowing vehicle performs mowing work. The candidate unloading point can be an unloading point in the target unloading area where unloading can be performed, wherein the unloading point can be the actual position where the unloading equipment performs unloading, or the position where the unloading equipment reaches, and the actual unloading position is the unloading space corresponding to the unloading point. The shape of the target unloading area can be any shape, such as a rectangle, a circle, a triangle, a sector, etc. Figure 3 As shown, area 301 in the working area is an example of a rectangular target unloading area, and the black dots in area 301 are the unloading points of the rectangular target unloading area. Area 302 is an example of a circular target unloading area, and the black dots in area 302 are the unloading points of the circular target unloading area. Area 303 is an example of a triangular target unloading area, and the black dots in area 303 are the unloading points of the triangular target unloading area. Area 304 is an example of a sector-shaped target unloading area, and the black dots in area 304 are the unloading points of the sector-shaped target unloading area. Among them, the unloading points of each target unloading area can be evenly distributed in the target unloading area, or can be randomly distributed in the target unloading area. It can be understood that Figure 3 Only the unloading points of each target unloading area are evenly distributed in the target unloading area. After receiving the unloading instruction sent by the control device, the processing device first determines the target unloading area in the working area in response to the unloading instruction. Then, multiple candidate unloading points for unloading are determined in the target unloading area.

[0046] Specifically, before determining a plurality of candidate grass unloading points for grass unloading in the target grass unloading area, the processing device may determine the volume of all grass clippings in this grass mowing work based on the area of ​​the working area. For example, the processing device may obtain the average height and average volume of grass in the working area. Then, based on the grass cutting height preset by the user, the average height and average volume of grass in the working area, and the area of ​​the working area, the volume of all grass clippings in this grass mowing work is determined. Next, based on the volume of all grass clippings, the area of ​​the target grass unloading area is determined. For example, when the volume of all grass clippings in this grass mowing work is 10 cubic meters, and each square meter of grass unloading area supports unloading 1 cubic meter of grass clippings, the area of ​​the target grass unloading area is greater than or equal to 10 square meters.

[0047] It should be noted that the area of ​​the target grass unloading area can be any area greater than or equal to the minimum grass unloading area area and less than the area of ​​the working area, wherein the minimum grass unloading area area is the minimum area of ​​the grass unloading work that supports the volume of all grass clippings. The smaller the target grass unloading area is, the higher the utilization rate of the grass unloading area is. When the area of ​​the target grass unloading area is the minimum grass unloading area area, the utilization rate of the grass unloading area is the highest and equal to 100%.

[0048] For example, after determining the area of ​​the target unloading area, the processing device may determine the target unloading area in the working area based on the mowing route of the mowing vehicle and the area of ​​the target unloading area. The mowing route of the mowing vehicle is pre-set by the user on the control device. Based on the mowing route of the mowing vehicle, the processing device may determine the area in the working area that is the area of ​​the target unloading area and the area that the mowing vehicle arrives at the latest, and use the area that is the area of ​​the target unloading area and the area that the mowing vehicle arrives at the latest as the target unloading area. Figure 4 As shown in the figure, the direction indicated by the arrow is the direction of movement of the lawn mower. Figure 4 The dotted line in the figure is the boundary of the mowing area covered by the mowing vehicle when it moves in the direction of the arrow. The route of the mowing vehicle moving in the direction of the arrow is the mowing route of the mowing vehicle. When the shape of the target unloading area is a rectangle, based on the mowing route of the mowing vehicle, the area where the mowing vehicle arrives last and has an area equal to the area of ​​the target unloading area can be determined, and this area is used as the target unloading area.

[0049] Thus, the processing device can determine the volume of all grass clippings in this mowing work based on the area of ​​the working area. Then, based on the volume of all grass clippings, the area of ​​the target grass unloading area can be determined, so as to make full use of the grass unloading area for grass unloading, improve the utilization rate of the grass unloading area, and solve the problem that the target grass unloading area is too large and blocks the mowing vehicle from mowing, thereby improving the mowing efficiency of the mowing vehicle. Finally, based on the mowing route of the mowing vehicle and the area of ​​the target grass unloading area, the target grass unloading area is determined in the working area, so that the area that the mowing vehicle arrives at the latest can be used as the target grass unloading area to avoid the target grass unloading area blocking the mowing vehicle from mowing, thereby further improving the mowing efficiency of the mowing vehicle.

[0050] Then, the processing device determines a plurality of candidate grass unloading points in the target grass unloading area where grass unloading can be performed. In one embodiment of the present application, a plurality of candidate grass unloading points are determined in the target grass unloading area, for example, including:

[0051] Determine the remaining unloading space at all unloading points within the target unloading area;

[0052] Based on the volume of grass clippings loaded by the grass unloading equipment and the remaining grass unloading space at all grass unloading points, determining a grass unloading point whose grass unloading space is greater than the volume of grass clippings among all grass unloading points;

[0053] The grass unloading points where the grass unloading space is larger than the volume of grass clippings are taken as candidate grass unloading points, and a plurality of candidate grass unloading points are obtained.

[0054] In the embodiment of the present application, the target unloading area includes multiple unloading points, each of which corresponds to an unloading space. The multiple unloading points can be evenly distributed in the target unloading area, or randomly distributed in the target unloading area, wherein the distance between any two unloading points is greater than the length of the unloading equipment.

[0055] It should be noted that each unloading point corresponds to a unloading space. When the unloading device unloads grass at the unloading point, it needs to rotate in situ around the unloading point to pour the grass clippings into the unloading space corresponding to the unloading point. In order to prevent the unloading device from hitting the grass piles at other unloading points during the rotation in situ, the distance between any two unloading points should be greater than the length of the unloading device. Optionally, the unloading space corresponding to each unloading point can be a circular area space with the unloading point as the center and the length of the unloading device as the radius.

[0056] It should be noted that after the unloading equipment unloads grass once at the unloading point, the unloading space corresponding to the unloading point may not be filled, and there may be remaining unloading space. Therefore, the processing device needs to determine multiple candidate unloading points based on the unloading points with remaining unloading space in the target unloading area.

[0057] Specifically, the processing device may determine the remaining unloading space for all unloading points in the target unloading area and the volume of grass clippings loaded by the unloading equipment. Then, based on the remaining unloading space for all unloading points in the target unloading area, unloading points whose unloading space is greater than the volume of grass clippings loaded by the unloading equipment are determined, and unloading points whose unloading space is greater than the volume of grass clippings are taken as candidate unloading points, thereby obtaining multiple unloading points.

[0058] Therefore, the processing device can take the unloading points whose unloading space is larger than the volume of grass clippings loaded by the unloading equipment as candidate unloading points, thereby making full use of the unloading space corresponding to each unloading point and making full use of the target unloading area, thereby reducing the area of ​​the target unloading area, avoiding the area of ​​the target unloading area being too large to block the mowing work of the lawn mower, and improving the efficiency of unloading grass by the unloading equipment and mowing by the lawn mower.

[0059] In another embodiment of the present application, a plurality of candidate grass unloading points are determined in the target grass unloading area, which may include, for example:

[0060] Determine the remaining unloading space at all unloading points within the target unloading area;

[0061] Among all the grass unloading points, the grass unloading points whose remaining grass unloading space is greater than 0 are taken as candidate grass unloading points, and multiple candidate grass unloading points are obtained.

[0062] Specifically, after determining the remaining unloading space of all unloading points in the target unloading area, the processing device uses all unloading points with unloading space greater than 0 as candidate unloading points to obtain multiple candidate unloading points. It should be noted that in order to fully utilize the unloading space corresponding to each unloading point, the processing device uses all unloading points with unloading space greater than 0 as candidate unloading points. When the unloading equipment is unloading grass at an unloading point, the unloading space corresponding to the unloading point has been filled, but the grass clippings loaded in the unloading equipment have not been completely unloaded, the unloading equipment will continue to move to the next unloading point to unload grass until all the grass clippings loaded in the unloading equipment are unloaded.

[0063] Therefore, the processing device can take all the unloading points with unloading space greater than 0 as candidate unloading points to make full use of the unloading space corresponding to each unloading point, further make full use of the target unloading area, reduce the area of ​​the target unloading area, solve the problem that the area of ​​the target unloading area is too large and blocks the mowing vehicle from mowing, and improve the mowing efficiency of the mowing vehicle.

[0064] Optionally, the processing device may also use unloading points in the target unloading area where unloading has not been performed as candidate unloading points to obtain multiple candidate unloading points. This can solve the problem of excessive accumulation of grass clippings at an unloading point after multiple unloadings at the unloading point, and only the unloading points where unloading has not been performed need to be determined, so that the execution efficiency of the algorithm is higher, thereby improving the unloading efficiency of the unloading equipment.

[0065] 202: Based on the multiple candidate unloading points and the target boundary, multiple first priorities are obtained.

[0066] In the embodiment of the present application, multiple first priorities correspond to multiple candidate unloading points one by one, and the target boundary is determined in the operation area based on the unloading points in the target unloading area. The processing device first determines the target boundary corresponding to the multiple candidate unloading points in the operation area. Then, based on the multiple candidate unloading points and the target boundary, the first priority corresponding to each candidate unloading point is determined.

[0067] Exemplarily, based on multiple candidate unloading points and target boundaries, multiple first priorities are obtained, for example, including the following steps:

[0068] Determining a target boundary in the first boundary based on unloading points in the target unloading area;

[0069] Based on the distances from the plurality of candidate unloading points to the target boundary, a plurality of first priorities are determined.

[0070] In an embodiment of the present application, the first boundary includes the boundary of the working area and the boundary of the inaccessible area within the working area. For example, the inaccessible area may include: the area occupied by a building, a water area, a prohibited area, and the like. The target boundary is the two adjacent boundaries in the working area that are shortest in distance to the multiple unloading points in the target unloading area. Specifically, the processing device obtains the distance from each unloading point in the target unloading area to any first boundary in the working area, and then determines two adjacent boundaries in the first boundary as the target boundary based on the distance from each unloading point to any first boundary in the working area.

[0071] Exemplarily, based on the unloading points in the target unloading area, determining the target boundary in the first boundary may include the following steps:

[0072] Determine the distance between each unloading point and the first boundary in the target unloading area, and obtain a plurality of first distances corresponding to each unloading point;

[0073] Determine a candidate target boundary corresponding to each grass unloading point according to a plurality of first distances corresponding to each grass unloading point;

[0074] Get the number of unloading points corresponding to each candidate target boundary;

[0075] The candidate target boundary with the largest number of corresponding unloading points is taken as the target boundary.

[0076] In the embodiment of the present application, the candidate target boundaries corresponding to each unloading point are two adjacent first boundaries whose sum of distances to the unloading point is the shortest.

[0077] Specifically, the processing device determines the distance between each unloading point in the target unloading area and any first boundary in the working area, thereby obtaining multiple first distances corresponding to each unloading point, and each first distance corresponding to each unloading point represents the distance between each unloading point and each first boundary of the working area. Then, the sum of the distances from each unloading point to any two adjacent first boundaries of the working area is determined, and the sum of the distances from each unloading point to any two adjacent first boundaries of the working area is compared. The two adjacent first boundaries with the shortest sum of distances to each unloading point are used as candidate target boundaries corresponding to each unloading point.

[0078] It should be noted that, since the target unloading area is located in the working area, and the target unloading area is the area that the unloading equipment arrives at the latest, the target unloading area may be located at the boundary of the working area, or the target unloading area may be adjacent to an inaccessible area. At this time, the unloading equipment cannot bypass the boundary of the working area or pass through the inaccessible area to reach each unloading point. To this end, the processing device needs to determine whether each unloading point in the target unloading area is adjacent to the boundary of the working area or the inaccessible area by the sum of the distances between each unloading point and any two adjacent first boundaries, so as to avoid the unloading equipment being unable to reach the unloading point adjacent to the boundary of the working area or adjacent to the inaccessible area after unloading grass at an unloading point due to the obstruction of the grass pile at the unloading point and the inability of the unloading equipment to bypass the boundary of the working area or pass through the inaccessible area.

[0079] In one embodiment, Figure 5 As shown, the target unloading area is circular in shape and is located at Figure 5 The lower right corner of the working area in the middle is close to the right boundary and the lower boundary of the working area. The black dot in the target unloading area is the unloading point in the target unloading area. The processing device obtains the distance between each unloading point and any boundary of the working area, determines the sum of the distances between each unloading point and any two adjacent boundaries of the working area, and uses the two adjacent boundaries with the shortest sum of distances to each unloading point as the candidate target boundaries corresponding to each unloading point. Figure 5 It can be seen that the candidate target boundaries corresponding to unloading point a and unloading point b are Figure 5 The right and bottom boundaries of the center working area. Figure 5 The lengths of the dotted lines between the unloading point a and the right and lower boundaries of the working area are the first distance from the unloading point a to the right boundary of the working area and the first distance to the lower boundary of the working area. The lengths of the dotted lines between the unloading point b and the right and lower boundaries of the working area are the first distance from the unloading point b to the right boundary of the working area and the first distance to the lower boundary of the working area.

[0080] In another embodiment, Figure 6As shown, the target unloading area is circular in shape and is adjacent to the inaccessible area in the working area. The black dots in the target unloading area are the unloading points in the target unloading area. The processing device obtains the distance between each unloading point and any boundary of the working area and any boundary of the inaccessible area, that is, obtains the distance between each unloading point and each first boundary, and determines the sum of the distances between each unloading point and any two adjacent first boundaries. The two adjacent first boundaries with the shortest sum of distances to each unloading point are taken as candidate target boundaries corresponding to each unloading point. Figure 6 As shown, the candidate target boundaries of unloading point c and unloading point d are Figure 6 The lower boundary of the working area and the right boundary of the impassable area. Figure 6 The length of the dotted line from the unloading point c to the lower boundary of the working area is the first distance from the unloading point c to the lower boundary of the working area, and the length of the dotted line from the unloading point c to the right boundary of the impassable area is the first distance from the unloading point c to the right boundary of the impassable area. The length of the dotted line from the unloading point d to the lower boundary of the working area is the first distance from the unloading point d to the lower boundary of the working area, and the length of the dotted line from the unloading point d to the right boundary of the impassable area is the first distance from the unloading point d to the right boundary of the impassable area.

[0081] Then, the processing device counts the number of grass unloading points corresponding to each candidate target boundary, and takes the candidate target boundary with the largest number of grass unloading points as the target boundary.

[0082] Thus, the processing device can obtain multiple first distances corresponding to each unloading point through the distance from each unloading point to the first boundary in the target unloading area. According to the multiple first distances corresponding to each unloading point, the candidate target boundary with the shortest distance to each unloading point can be determined, and the number of unloading points corresponding to each candidate target boundary is counted, and the candidate target boundary with the largest number of corresponding unloading points is used as the target boundary. In this way, the target boundary corresponding to multiple unloading points in the target unloading area can be determined, and the priority of each candidate unloading point can be determined based on the target boundary. This can solve the problem that after unloading at an unloading point, the unloading equipment cannot reach the unloading point closer to the target boundary due to the grass pile at the unloading point and cannot bypass the boundary of the working area or the boundary of the inaccessible area, thereby improving the unloading efficiency of the unloading equipment.

[0083] Optionally, the processing device may determine the first boundary in the working area that is closest to each unloading point based on the distance from each unloading point to any first boundary of the working area. The first boundary in the working area that is closest to each unloading point is used as one of the candidate target boundaries corresponding to each unloading point. Then, the processing device obtains the distance between each unloading point and any first boundary adjacent to the candidate target boundary of the unloading point, and uses the first boundary with the shortest distance as another candidate target boundary corresponding to each unloading point, thereby obtaining the candidate target boundary of each unloading point. And by obtaining the number of unloading points corresponding to each candidate target boundary, the candidate target boundary with the largest number of corresponding unloading points is used as the target boundary.

[0084] Therefore, the first boundary closest to each unloading point can be used to reflect the proximity of each unloading point to the boundary. The priority determined by this method can avoid one of the first boundaries of the working area blocking the movement route of the unloading equipment and the unloading equipment being unable to bypass the first boundary, which results in the unloading equipment being unable to reach the unloading point close to the target boundary, thereby improving the unloading efficiency of the unloading equipment.

[0085] Then, the processing device may determine a plurality of first priorities based on the distances from the plurality of candidate unloading points to the target boundary. Figure 5 It can be seen that the unloading point b is closer to the right boundary and the lower boundary of the operation area. To avoid the grass pile blocking the unloading equipment from going to the unloading point b after unloading at the unloading point a, and the unloading equipment cannot bypass the first boundary to go to the unloading point b, the unloading equipment needs to go to the unloading point b to unload grass first, and then go to the unloading point a to unload grass. Therefore, the priority of the unloading point b needs to be higher than that of the unloading point a.

[0086] Exemplarily, determining a plurality of first priorities based on the distances from a plurality of candidate unloading points to the target boundary may include the following steps:

[0087] Sort the multiple candidate grass unloading points according to the distances from the multiple candidate grass unloading points to the target boundary, and obtain the sorting results corresponding to the multiple candidate grass unloading points;

[0088] Based on the sorting results corresponding to the multiple candidate unloading points, multiple first priorities are determined.

[0089] Specifically, the processing device first obtains the distance from each candidate unloading point to the target boundary among the multiple candidate unloading points, that is, the sum of the distances from each candidate unloading point to two adjacent boundaries. Then, the processing device sorts the multiple candidate unloading points in ascending order according to the distances from the multiple candidate unloading points to the target boundary, and obtains the sorting results corresponding to the multiple candidate unloading points. Then, based on the sorting results corresponding to the multiple candidate unloading points, the first priority of each candidate unloading point is determined, and multiple first priorities are obtained.

[0090] Among them, the priority of the candidate unloading point with the first sorting result is higher than the priority of the candidate unloading point with the last sorting result. Figure 5 The ranking result of unloading point b in is 1, and the ranking result of unloading point a is 2, then the priority of unloading point b is higher than that of unloading point a, and the priority of unloading point b is the highest among multiple unloading points in the target unloading area. The priority of unloading point a is second only to unloading point b.

[0091] Thus, by sorting multiple candidate grass unloading points according to the distances from the multiple candidate grass unloading points to the target boundary, the sorting results of the multiple candidate grass unloading points can be obtained. Based on the sorting results corresponding to the multiple candidate grass unloading points, multiple first priorities can be determined, so that the grass unloading equipment can unload grass at each candidate grass unloading point in turn based on the first priority of each candidate grass unloading point. This solves the problem that after unloading grass at one grass unloading point, the grass unloading equipment cannot go to the next grass unloading point due to the obstruction of the accumulated grass clippings at the grass unloading point and the limitation of the boundary of the working area, thus affecting the subsequent grass unloading work, thereby improving the grass unloading efficiency.

[0092] It can be seen that the processing device can determine the target boundary in the boundary of the working area based on the unloading points in the target unloading area, and determine multiple first priorities, that is, the priorities corresponding to the multiple candidate unloading points, based on the distances from the multiple candidate unloading points to the target boundary, so that the unloading equipment can unload grass at the multiple candidate unloading points in turn, avoiding the excessive accumulation of grass clippings after multiple unloading at one unloading point and blocking the mowing and unloading work of the mower and the unloading equipment, improving the mowing and unloading efficiency of the mower and the unloading equipment, and solving the problem that the unloading equipment cannot move to the next unloading point after unloading grass at one unloading point, thereby further improving the unloading efficiency.

[0093] 203: Determine a target grass unloading point from a plurality of candidate grass unloading points based on the plurality of first priorities.

[0094] In the embodiment of the present application, the processing device will use the candidate grass unloading point with the highest first priority as the target grass unloading point to control the grass unloading equipment to go to the target grass unloading point for unloading.

[0095] Exemplarily, based on multiple first priorities, determining a target unloading point from multiple candidate unloading points may include the following steps:

[0096] Obtain a grass unloading point with the highest first priority from among multiple candidate grass unloading points to obtain a first candidate grass unloading point;

[0097] If the number of the first candidate grass unloading point is one, then the first candidate grass unloading point is determined as the target grass unloading point;

[0098] If there are multiple first candidate unloading points, the second distance from each of the multiple first candidate unloading points to the unloading equipment is determined, and the first candidate unloading point with the longest second distance is used as the target unloading point.

[0099] It should be noted that, since the first priority of each candidate unloading point is determined by the distance from each candidate unloading point to the target boundary, there may be multiple candidate unloading points with equal distances to the target boundary, and thus there may be multiple candidate unloading points with equal first priorities.

[0100] Therefore, in the embodiment of the present application, the processing device needs to first obtain the grass unloading point with the highest first priority from multiple candidate grass unloading points to obtain the first candidate grass unloading point. The number of the first candidate grass unloading points is one or more. If the number of the first candidate grass unloading points is one, the processing device will use the first candidate grass unloading point as the target grass unloading point.

[0101] If there are multiple first candidate unloading points, the processing device needs to obtain the second distances from the multiple first candidate unloading points to the unloading equipment, and use the first candidate unloading point with the farthest second distance from the unloading equipment as the target unloading point. It should be noted that when there are multiple first candidate unloading points with the highest priority among the multiple candidate unloading points, it is necessary to reflect the difficulty of the unloading equipment to each first candidate unloading point through the second distance between the current unloading equipment and each first candidate unloading point. After the unloading equipment unloads grass at a first candidate unloading point that is closer, the accumulated grass clippings at the first candidate unloading point that is closer may hinder the unloading equipment from going to the first candidate unloading point that is farther away, resulting in greater difficulty for the unloading equipment to go to the first candidate unloading point that is farther away, affecting the subsequent unloading work of the unloading equipment.

[0102] Therefore, the processing device will use the first candidate grass unloading point with the longest second distance as the target grass unloading point, so that the grass unloading equipment first unloads grass at the first candidate grass unloading point with the longest second distance, and then unloads grass at the first candidate grass unloading point with a shorter distance. This solves the problem that after unloading grass at a shorter distance, the accumulated grass clippings prevent the grass unloading equipment from unloading grass at a longer distance, thus affecting the unloading work, and improves the efficiency of unloading grass.

[0103] 204: Control the grass unloading equipment to go to the target grass unloading point to unload the grass.

[0104] In the embodiment of the present application, after determining the target unloading point, the processing device can control the unloading equipment to go to the target unloading point and unload the grass at the target unloading point, or unload the grass in the unloading space corresponding to the target unloading point.

[0105] The grass unloading equipment can unload all the grass clippings at the target unloading point and then continue mowing, so as to reduce the number of round trips of the grass unloading equipment when unloading grass and improve the efficiency of grass unloading. The grass unloading equipment can also continue to collect grass when the grass clippings loaded are less than the grass clipping threshold during the unloading process at the target unloading point, so that the grass unloading equipment can start collecting grass faster and improve the efficiency of collecting and unloading grass.

[0106] In summary, in an embodiment of the present application, in response to an unloading instruction, a plurality of candidate unloading points are first determined in a target unloading area, and the target unloading area is located in an operating area. Then, based on the plurality of candidate unloading points and the target boundary, a plurality of first priorities are determined, wherein the plurality of first priorities correspond to the plurality of candidate unloading points one by one, and the target boundary is determined in the operating area based on the unloading points in the target unloading area. Further, based on the plurality of first priorities, the target unloading point can be determined from the plurality of candidate unloading points. Finally, the unloading equipment is controlled to go to the target unloading point for unloading. Thus, a plurality of candidate unloading points can be determined in the target unloading area, and the target unloading point can be determined according to the first priority corresponding to each candidate unloading point, and the unloading equipment is controlled to go to the target unloading point for unloading. Compared with unloading at a fixed unloading point, after the grass clippings at the target unloading point fill up the unloading space corresponding to the target unloading point, a new target unloading point can be determined based on the first priority corresponding to each candidate unloading point, so as to control the unloading equipment to go to the new target unloading point for unloading. The invention solves the problem that after the grass unloading equipment unloads grass multiple times at one unloading point, grass clippings accumulate too high and affect the subsequent unloading work, thereby improving the unloading efficiency.

[0107] See also Figure 7 , Figure 7 The schematic diagram of a processing device provided in an embodiment of the present application is shown in FIG. 700 . The processing device 700 may be a processing device of any of the above embodiments. The processing device 700 includes a processing module 701 and a control module 702 .

[0108] The processing module 701 is used to determine a plurality of candidate grass unloading points in a target grass unloading area in response to a grass unloading instruction, wherein the target grass unloading area is located in an operation area;

[0109] Based on the plurality of candidate grass unloading points and the target boundary, a plurality of first priorities are obtained, wherein the plurality of first priorities correspond one-to-one to the plurality of candidate grass unloading points, and the target boundary is determined in the operation area based on the grass unloading points in the target grass unloading area;

[0110] Based on the multiple first priorities, determining a target grass unloading point from a plurality of candidate grass unloading points;

[0111] The control module 702 is used to control the grass unloading equipment to go to the target grass unloading point to unload the grass.

[0112] In a feasible embodiment, in terms of obtaining a plurality of first priorities based on a plurality of candidate unloading points and target boundaries, the processing module 701 is specifically configured to:

[0113] Based on the unloading point in the target unloading area, a target boundary is determined in the first boundary, the first boundary including the boundary of the working area and the boundary of the inaccessible area in the working area;

[0114] Based on the distances from the plurality of candidate unloading points to the target boundary, a plurality of first priorities are determined.

[0115] In a feasible embodiment, in determining the target boundary in the first boundary based on the unloading point in the target unloading area, the processing module 701 is specifically configured to:

[0116] Determine the distance between each unloading point and the first boundary in the target unloading area, and obtain a plurality of first distances corresponding to each unloading point;

[0117] According to the multiple first distances corresponding to each unloading point, a candidate target boundary corresponding to each unloading point is determined, wherein the candidate target boundary corresponding to each unloading point is two adjacent first boundaries having the shortest sum of distances to the unloading point;

[0118] Get the number of unloading points corresponding to each candidate target boundary;

[0119] The candidate target boundary with the largest number of corresponding unloading points is taken as the target boundary.

[0120] In a feasible embodiment, in determining a plurality of first priorities based on the distances from a plurality of candidate unloading points to a target boundary, the processing module 701 is specifically configured to:

[0121] Sort the multiple candidate grass unloading points according to the distances from the multiple candidate grass unloading points to the target boundary, and obtain the sorting results corresponding to the multiple candidate grass unloading points;

[0122] Based on the sorting results corresponding to the multiple candidate unloading points, multiple first priorities are determined.

[0123] In a feasible embodiment, in determining a target unloading point from a plurality of candidate unloading points based on a plurality of first priorities, the processing module 701 is specifically configured to:

[0124] Obtain a grass unloading point with the highest first priority from among multiple candidate grass unloading points to obtain a first candidate grass unloading point;

[0125] If the number of the first candidate grass unloading point is one, then the first candidate grass unloading point is determined as the target grass unloading point;

[0126] If there are multiple first candidate unloading points, the second distance from each of the multiple first candidate unloading points to the unloading equipment is determined, and the first candidate unloading point with the longest second distance is used as the target unloading point.

[0127] In a feasible embodiment, in determining a plurality of candidate grass unloading points in a target grass unloading area, the processing module 701 is specifically configured to:

[0128] Determine the remaining unloading space at all unloading points within the target unloading area;

[0129] Based on the volume of grass clippings loaded by the grass unloading equipment and the remaining grass unloading space at all grass unloading points, determining a grass unloading point whose grass unloading space is greater than the volume of grass clippings among all grass unloading points;

[0130] The grass unloading points where the grass unloading space is larger than the volume of grass clippings are taken as candidate grass unloading points, and a plurality of candidate grass unloading points are obtained.

[0131] In a feasible embodiment, in terms of determining a plurality of candidate grass unloading points for grass unloading in the target grass unloading area, the processing module 701 is specifically configured to:

[0132] Determine the remaining unloading space at all unloading points within the target unloading area;

[0133] Among all the grass unloading points, the grass unloading points whose remaining grass unloading space is greater than 0 are taken as candidate grass unloading points, and multiple candidate grass unloading points are obtained.

[0134] See also Figure 8 , Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 8 As shown, the electronic device 800 includes a transceiver 801, a processor 802 and a memory 803. They are connected via a bus 804. The memory 803 is used to store computer programs and data, and can transmit the data stored in the memory 803 to the processor 802. The electronic device 800 can be the above-mentioned processing device 700.

[0135] The processor 802 is used to read the computer program in the memory 803 and perform the following operations:

[0136] In response to the grass unloading instruction, a plurality of candidate grass unloading points are determined in a target grass unloading area, wherein the target grass unloading area is located in the working area;

[0137] Based on the plurality of candidate grass unloading points and the target boundary, a plurality of first priorities are obtained, wherein the plurality of first priorities correspond one-to-one to the plurality of candidate grass unloading points, and the target boundary is determined in the operation area based on the grass unloading points in the target grass unloading area;

[0138] Based on the multiple first priorities, determining a target grass unloading point from a plurality of candidate grass unloading points;

[0139] Control the unloading equipment to go to the target unloading point to unload the grass.

[0140] In a feasible embodiment, in terms of obtaining a plurality of first priorities based on a plurality of candidate unloading points and target boundaries, the processor 802 is specifically configured to perform the following operations:

[0141] Based on the unloading point in the target unloading area, a target boundary is determined in the first boundary, the first boundary including the boundary of the working area and the boundary of the inaccessible area in the working area;

[0142] Based on the distances from the plurality of candidate unloading points to the target boundary, a plurality of first priorities are determined.

[0143] In a feasible embodiment, in determining the target boundary in the first boundary based on the unloading point in the target unloading area, the processor 802 is specifically configured to perform the following operations:

[0144] Determine the distance between each unloading point and the first boundary in the target unloading area, and obtain a plurality of first distances corresponding to each unloading point;

[0145] According to the multiple first distances corresponding to each unloading point, a candidate target boundary corresponding to each unloading point is determined, wherein the candidate target boundary corresponding to each unloading point is two adjacent first boundaries having the shortest sum of distances to the unloading point;

[0146] Get the number of unloading points corresponding to each candidate target boundary;

[0147] The candidate target boundary with the largest number of corresponding unloading points is taken as the target boundary.

[0148] In a feasible embodiment, in determining a plurality of first priorities based on the distances from a plurality of candidate unloading points to a target boundary, the processor 802 is specifically configured to perform the following operations:

[0149] Sort the multiple candidate grass unloading points according to the distances from the multiple candidate grass unloading points to the target boundary, and obtain the sorting results corresponding to the multiple candidate grass unloading points;

[0150] Based on the sorting results corresponding to the multiple candidate unloading points, multiple first priorities are determined.

[0151] In a feasible embodiment, in determining a target unloading point from a plurality of candidate unloading points based on a plurality of first priorities, the processor 802 is specifically configured to perform the following operations:

[0152] Obtain a grass unloading point with the highest first priority from among multiple candidate grass unloading points to obtain a first candidate grass unloading point;

[0153] If the number of the first candidate grass unloading point is one, then the first candidate grass unloading point is determined as the target grass unloading point;

[0154] If there are multiple first candidate unloading points, the second distance from each of the multiple first candidate unloading points to the unloading equipment is determined, and the first candidate unloading point with the longest second distance is used as the target unloading point.

[0155] In a feasible embodiment, in determining a plurality of candidate grass unloading points in the target grass unloading area, the processor 802 is specifically configured to perform the following operations:

[0156] Determine the remaining unloading space at all unloading points within the target unloading area;

[0157] Based on the volume of grass clippings loaded by the grass unloading equipment and the remaining grass unloading space at all grass unloading points, determining a grass unloading point whose grass unloading space is greater than the volume of grass clippings among all grass unloading points;

[0158] The grass unloading points where the grass unloading space is larger than the volume of grass clippings are taken as candidate grass unloading points, and a plurality of candidate grass unloading points are obtained.

[0159] In a feasible embodiment, in determining a plurality of candidate grass unloading points in the target grass unloading area, the processor 802 is specifically configured to perform the following operations:

[0160] Determine the remaining unloading space at all unloading points within the target unloading area;

[0161] Among all the grass unloading points, the grass unloading points whose remaining grass unloading space is greater than 0 are taken as candidate grass unloading points, and multiple candidate grass unloading points are obtained.

[0162] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process of the method side. It is understandable that the electronic device 800 includes a hardware structure and / or software module corresponding to each function in order to realize the above functions. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware 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 the present application.

[0163] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement part or all of the steps of any one of the grass unloading methods recorded in the above method embodiments.

[0164] An embodiment of the present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any one of the grass unloading methods recorded in the above method embodiments.

[0165] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0166] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0167] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0168] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0169] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software program module.

[0170] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or CD-ROM and other media that can store program codes.

[0171] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.

[0172] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for unloading grass, characterized in that: include: In response to the grass unloading instruction, a plurality of candidate grass unloading points are determined in a target grass unloading area, wherein the target grass unloading area is located in the working area; Based on the multiple candidate grass unloading points and the target boundary, a plurality of first priorities are obtained, wherein the multiple first priorities correspond to the multiple candidate grass unloading points one by one, and the target boundary is determined in the operation area based on the grass unloading points in the target grass unloading area; Based on the plurality of first priorities, determining a target grass unloading point among the plurality of candidate grass unloading points; The grass unloading equipment is controlled to go to the target grass unloading point to unload the grass.

2. The method according to claim 1, characterized in that The obtaining of a plurality of first priorities based on the plurality of candidate grass unloading points and the target boundaries includes: Based on the unloading point in the target unloading area, the target boundary is determined in a first boundary, wherein the first boundary includes a boundary of the working area and a boundary of an inaccessible area in the working area; The plurality of first priorities are determined based on distances from the plurality of candidate unloading points to the target boundary.

3. The method according to claim 2, characterized in that The step of determining the target boundary in the first boundary based on the grass unloading point in the target grass unloading area includes: Determine the distance between each grass unloading point in the target grass unloading area and the first boundary, and obtain a plurality of first distances corresponding to each grass unloading point; According to the multiple first distances corresponding to each unloading point, a candidate target boundary corresponding to each unloading point is determined, wherein the candidate target boundary corresponding to each unloading point is two adjacent first boundaries having the shortest sum of distances to the unloading point; Get the number of unloading points corresponding to each candidate target boundary; The candidate target boundary corresponding to the largest number of grass unloading points is used as the target boundary.

4. The method according to claim 2, characterized in that: The determining of the plurality of first priorities based on the distances from the plurality of candidate unloading points to the target boundary comprises: Sorting the plurality of candidate grass unloading points according to the distances from the plurality of candidate grass unloading points to the target boundary, and obtaining sorting results corresponding to the plurality of candidate grass unloading points; The plurality of first priorities are determined based on the sorting results corresponding to the plurality of candidate unloading points.

5. The method according to any one of claims 1 to 4, characterized in that: The step of determining a target grass unloading point from among the plurality of candidate grass unloading points based on the plurality of first priorities comprises: Obtaining the grass unloading point with the highest first priority from the plurality of candidate grass unloading points to obtain a first candidate grass unloading point; If the number of the first candidate grass unloading point is one, determining the first candidate grass unloading point as the target grass unloading point; If there are multiple first candidate unloading points, the second distance from each of the multiple first candidate unloading points to the unloading equipment is determined, and the first candidate unloading point with the longest second distance is used as the target unloading point.

6. The method according to any one of claims 1 to 5, characterized in that: The step of determining a plurality of candidate grass unloading points in the target grass unloading area comprises: Determine the remaining unloading space at all unloading points in the target unloading area; Based on the volume of grass clippings loaded by the grass unloading equipment and the remaining grass unloading space at all grass unloading points, determining a grass unloading point whose grass unloading space is greater than the volume of the grass clippings among all grass unloading points; A grass unloading point where the grass unloading space is larger than the volume of the grass clippings is taken as a candidate grass unloading point, and the plurality of candidate grass unloading points are obtained.

7. The method according to any one of claims 1 to 5, characterized in that: The step of determining a plurality of candidate grass unloading points in the target grass unloading area comprises: Determine the remaining unloading space at all unloading points in the target unloading area; Among all the grass unloading points, grass unloading points with remaining grass unloading space greater than 0 are taken as candidate grass unloading points to obtain the plurality of candidate grass unloading points.

8. A processing device, characterized in that: The processing device comprises a processing module and a control module; The processing module is used to determine a plurality of candidate grass unloading points in a target grass unloading area in response to a grass unloading instruction, wherein the target grass unloading area is located in an operation area; Based on the multiple candidate grass unloading points and the target boundary, a plurality of first priorities are obtained, wherein the multiple first priorities correspond to the multiple candidate grass unloading points one by one, and the target boundary is determined in the operation area based on the grass unloading points in the target grass unloading area; Based on the plurality of first priorities, determining a target grass unloading point among the plurality of candidate grass unloading points; The control module is used to control the grass unloading equipment to go to the target grass unloading point to unload the grass.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 7.

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