Control method for grass unloading and related device

Abstract

The invention discloses a control method for grass unloading and a related device, the method is applied to the control device of grass unloading equipment, and the method comprises the steps that firstly, a grass collecting belt recording instruction is acquired, and the grass collecting belt recording instruction comprises the starting point position of a grass collecting belt and the end point position of the grass collecting belt; then, when a grass collecting belt recording instruction is received, in the process that the grass unloading equipment is controlled to run from the starting point position to the ending point position, the position information of a grass collecting belt is recorded, grass collecting belt information is obtained according to the position information of the grass collecting belt, and the grass collecting belt information comprises position information of a plurality of grass collecting points on the grass collecting belt; the grass collecting belt information is used for assisting grass unloading equipment to execute grass unloading. In this way, the grass collecting position can be flexibly arranged, so that the grass unloading equipment can flexibly unload grass, and the grass unloading efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of garden tools, and in particular to a control method and related device for unloading grass. Background Art

[0002] Currently, some grass unloading equipment only has the function of mowing the grass, and it is necessary to manually collect the grass clippings and move them to the target location, which is time-consuming and labor-intensive.

[0003] Some grass unloading equipment combines the functions of mowing, collecting and unloading. When performing automatic grass unloading, the grass unloading equipment is usually controlled to go to the unloading area and dump the grass clippings to the center of the unloading area. After performing multiple unloading operations, the grass pile will be piled high. When unloading again, the grass unloading equipment needs to adjust the dumping height, which will affect the unloading efficiency. Summary of the invention

[0004] The present application discloses a control method and related device for unloading grass, which can flexibly set the grass collecting position, so that the unloading equipment can unload grass flexibly, which is beneficial to improving the unloading efficiency.

[0005] In the first aspect, the present application provides a control method for unloading grass, which is applied to a control device in an unloading grass device, and the method comprises: obtaining a grass collecting belt recording instruction, the grass collecting belt recording instruction comprising a starting position of the grass collecting belt and an end position of the grass collecting belt; in response to the grass collecting belt recording instruction, controlling the unloading grass device to travel from the starting position to the end position, and recording the position information of the grass collecting belt; obtaining grass collecting belt information according to the position information of the grass collecting belt, the grass collecting belt information comprising position information of multiple grass collecting points on the grass collecting belt, and the grass collecting belt information is used to assist the unloading grass device in performing unloading grass.

[0006] In the above method, the grass unloading device is controlled to record the grass collecting belt, and the grass collecting belt information is obtained based on the recorded grass collecting belt position information. The grass collecting belt information includes the position information of multiple grass collecting points on the grass collecting belt. The grass collecting belt information can assist the grass unloading device to unload grass efficiently. In this way, the setting of the grass collecting points is relatively flexible and can meet the various needs of users. In addition, the grass unloading device can also be controlled based on the grass collecting belt information to dump grass clippings at different grass collecting points on the grass collecting belt, avoiding the problem of too high grass piles caused by the grass unloading device unloading grass at a fixed position, which can not only make full use of the grass unloading space, but also improve the grass unloading efficiency.

[0007] In combination with the first aspect, in a possible implementation manner of the first aspect, recording the position information of the grass collecting belt includes: recording the position information of the grass collecting belt by a positioning module of the grass unloading device.

[0008] In combination with the first aspect, in a possible implementation of the first aspect, obtaining the grass collecting belt recording instruction includes: receiving the grass collecting belt recording instruction sent by the client; or generating the grass collecting belt recording instruction based on setting information input by the user.

[0009] In combination with the first aspect, in a possible implementation manner of the first aspect, obtaining the grass collecting belt information according to the position information of the grass collecting belt includes: obtaining the grass collecting belt information according to the position information of the grass collecting belt and the vehicle length of the grass unloading equipment.

[0010] In combination with the first aspect, in a possible implementation manner of the first aspect, a distance between two adjacent grass collecting points among the multiple grass collecting points is greater than a length of the grass unloading device.

[0011] In combination with the first aspect, in a possible implementation of the first aspect, the method further includes: obtaining an unloading instruction; in response to the unloading instruction, controlling the unloading equipment to dump grass clippings to a target grass collecting point based on the grass collecting belt information, and the target grass collecting point belongs to the multiple grass collecting points.

[0012] In combination with the first aspect, in a possible implementation of the first aspect, after obtaining the unloading instruction, the method also includes: taking an available grass collecting point among the multiple grass collecting points as a candidate grass collecting point, the available grass collecting point being a grass collecting point with an unloading space greater than 0; and determining the target grass collecting point from the candidate grass collecting points.

[0013] In combination with the first aspect, in a possible implementation method of the first aspect, determining the target grass collecting point from the candidate grass collecting points includes: traversing the location information of all candidate grass collecting points to obtain a traversal result, and the traversal result includes: whether there are candidate grass collecting points located outside the working area; determining the first priority of each candidate grass collecting point according to the traversal result; and taking the candidate grass collecting point with the highest first priority as the target grass collecting point.

[0014] In combination with the first aspect, in a possible implementation of the first aspect, when there are no candidate grass collecting points outside the working area in the traversal results, the first priorities of all the candidate grass collecting points are equal.

[0015] In combination with the first aspect, in a possible implementation manner of the first aspect, when there is no candidate grass collecting point outside the operation area in the traversal result, the target grass collecting point satisfies any of the following conditions:

[0016] The target grass collecting point is any candidate grass collecting point among all the candidate grass collecting points;

[0017] The target grass collecting point is the candidate grass collecting point with the largest grass unloading space among all the candidate grass collecting points; or

[0018] The target grass collecting point is the candidate grass collecting point closest to the grass unloading device among all the candidate grass collecting points.

[0019] In combination with the first aspect, in a possible implementation method of the first aspect, when there are candidate grass collecting points outside the working area in the traversal results, all candidate grass collecting points outside the working area are taken as the first group of grass collecting points, and the candidate grass collecting points within the working area are taken as the second group of grass collecting points; wherein the first priority of any candidate grass collecting point in the first group of grass collecting points is greater than the first priority of all candidate grass collecting points in the second group of grass collecting points.

[0020] In combination with the first aspect, in a possible implementation method of the first aspect, determining the first priority of each candidate grass collecting point according to the traversal result includes: obtaining position information of the intersection area between the grass collecting belt and the working area; calculating the first distance between each candidate grass collecting point in the first group of grass collecting points and the intersection area according to the position information; sorting the calculated first distances in descending order, and determining the first priority of each candidate grass collecting point in the first group of grass collecting points according to the sorting result, wherein the candidate grass collecting point with a larger first distance has a higher first priority.

[0021] In combination with the first aspect, in a possible implementation method of the first aspect, determining the first priority of each candidate grass collecting point according to the traversal result includes: when there are no available candidate grass collecting points in the first group of grass collecting points, calculating the second distance between each candidate grass collecting point in the second group of grass collecting points and the intersection area according to the location information; sorting the calculated second distances in descending order, and determining the first priority of each candidate grass collecting point in the second group of grass collecting points according to the sorting result, wherein the candidate grass collecting point with a smaller second distance has a higher first priority.

[0022] In combination with the first aspect, in a possible implementation of the first aspect, after dumping the grass clippings to the target grass collecting point, the method also includes: obtaining location information of the target grass collecting point; marking an obstacle area in the grass unloading area according to the location information of the target grass collecting point, wherein the obstacle area includes the target grass collecting point.

[0023] In combination with the first aspect, in a possible implementation of the first aspect, marking the obstacle area in the grass unloading area according to the location information of the target grass collecting point includes: obtaining the volume of grass clippings dumped by the grass unloading equipment at the target grass collecting point; determining the expansion distance according to the grass clippings volume; and expanding the target grass collecting point according to the expansion distance to obtain the obstacle area.

[0024] In a second aspect, the present application provides a device for unloading grass, which is a control device for grass unloading equipment, and the device includes: an acquisition unit, used to acquire a grass collecting belt recording instruction, the grass collecting belt recording instruction including a starting position of the grass collecting belt and an end position of the grass collecting belt; a processing unit, used to control the unloading equipment to record the position information of the grass collecting belt during the process of driving from the starting position to the end position in response to the grass collecting belt recording instruction; the processing unit is also used to obtain grass collecting belt information based on the position information of the grass collecting belt, the grass collecting belt information including the position information of multiple grass collecting points on the grass collecting belt, and the grass collecting belt information is used to assist the unloading equipment in performing grass unloading.

[0025] In combination with the second aspect, in a possible implementation manner of the second aspect, the processing unit is specifically used to: record the position information of the grass collecting belt through a positioning module of the grass unloading equipment.

[0026] In combination with the second aspect, in a possible implementation of the second aspect, the acquisition unit is specifically used to: receive the grass collecting belt recording instruction sent by the client; or, the processing unit is used to generate the grass collecting belt recording instruction based on the setting information input by the user received by the acquisition unit.

[0027] In combination with the second aspect, in a possible implementation manner of the second aspect, the processing unit is specifically used to: obtain the grass collecting belt information according to the position information of the grass collecting belt and the vehicle length of the grass unloading equipment.

[0028] In combination with the second aspect, in a possible implementation manner of the second aspect, a distance between two adjacent grass collecting points among the multiple grass collecting points is greater than a length of the grass unloading device.

[0029] In combination with the second aspect, in a possible implementation of the second aspect, the acquisition unit is also used to: obtain an unloading instruction; the processing unit is also used to respond to the unloading instruction, and control the unloading equipment to dump grass clippings to a target grass collecting point based on the grass collecting belt information, and the target grass collecting point belongs to the multiple grass collecting points.

[0030] In combination with the second aspect, in a possible implementation method of the second aspect, the processing unit is also used to: use the available grass collecting points among the multiple grass collecting points as candidate grass collecting points, the available grass collecting points being grass collecting points with grass unloading space greater than 0; and determine the target grass collecting point from the candidate grass collecting points.

[0031] In combination with the second aspect, in a possible implementation method of the second aspect, the processing unit is specifically used to: traverse the location information of all candidate grass collecting points to obtain a traversal result, and the traversal result includes: whether there is a candidate grass collecting point located outside the working area; determine the first priority of each candidate grass collecting point according to the traversal result; and use the candidate grass collecting point with the highest first priority as the target grass collecting point.

[0032] In combination with the second aspect, in a possible implementation of the second aspect, when there are no candidate grass collecting points outside the working area in the traversal results, the first priorities of all the candidate grass collecting points are equal.

[0033] In combination with the second aspect, in a possible implementation manner of the second aspect, when there is no candidate grass collecting point outside the operation area in the traversal result, the target grass collecting point satisfies any of the following conditions:

[0034] The target grass collecting point is any candidate grass collecting point among all the candidate grass collecting points;

[0035] The target grass collecting point is the candidate grass collecting point with the largest grass unloading space among all the candidate grass collecting points; or

[0036] The target grass collecting point is the candidate grass collecting point closest to the grass unloading device among all the candidate grass collecting points.

[0037] In combination with the second aspect, in a possible implementation method of the second aspect, when there are candidate grass collecting points outside the working area in the traversal results, all candidate grass collecting points outside the working area are taken as the first group of grass collecting points, and the candidate grass collecting points within the working area are taken as the second group of grass collecting points; wherein the first priority of any candidate grass collecting point in the first group of grass collecting points is greater than the first priority of all candidate grass collecting points in the second group of grass collecting points.

[0038] In combination with the second aspect, in a possible implementation method of the second aspect, the processing unit is specifically used to: obtain position information of the intersection area between the grass collection belt and the working area; calculate the first distance between each candidate grass collection point in the first group of grass collection points and the intersection area according to the position information; sort the calculated first distances in descending order, and determine the first priority of each candidate grass collection point in the first group of grass collection points according to the sorting result, wherein the candidate grass collection point with a larger first distance has a higher first priority.

[0039] In combination with the second aspect, in a possible implementation method of the second aspect, the processing unit is specifically used to: when there are no available candidate grass collecting points in the first group of grass collecting points, calculate the second distance between each candidate grass collecting point in the second group of grass collecting points and the intersection area according to the location information; sort the calculated second distances in descending order, and determine the first priority of each candidate grass collecting point in the second group of grass collecting points according to the sorting results, wherein the candidate grass collecting point with a smaller second distance has a higher first priority.

[0040] In combination with the second aspect, in a possible implementation of the second aspect, the acquisition unit is also used to: obtain the location information of the target grass collecting point; the processing unit is also used to mark the obstacle area in the grass unloading area according to the location information of the target grass collecting point, wherein the obstacle area includes the target grass collecting point.

[0041] In combination with the second aspect, in a possible implementation of the second aspect, the processing unit is specifically used to: obtain the volume of grass clippings dumped by the grass unloading equipment at the target grass collecting point; determine the expansion distance based on the grass clippings volume; and expand the target grass collecting point based on the expansion distance to obtain the obstacle area.

[0042] In a third aspect, the present application provides a control device for unloading grass, the control device comprising a processor and a memory, wherein the memory is used to store program instructions; the processor calls the program instructions in the memory so that the control device executes the method in the first aspect or any possible implementation of the first aspect.

[0043] In a fourth aspect, the present application provides a grass unloading device, which includes the control device in the above-mentioned second aspect or any possible implementation of the second aspect, or includes the control device described in the above-mentioned third aspect.

[0044] In a fifth aspect, the present application provides a computer-readable storage medium, comprising computer instructions, which, when executed by a processor, implement the method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0045] In a sixth aspect, the present application provides a computer program product, which, when executed by a processor, implements the method in the first aspect or any possible embodiment of the first aspect. The computer program product, for example, may be a software installation package, and when the method provided by any possible design of the first aspect is needed, the computer program product may be downloaded and executed on a processor to implement the method in the first aspect or any possible embodiment of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0047] Figure 1 is a schematic diagram of a communication system provided in an embodiment of the present application;

[0048] Figure 2 is a flow chart of a control method for unloading grass provided in an embodiment of the present application;

[0049] Figure 3 is a schematic diagram of a display interface for inputting setting information provided in an embodiment of the present application;

[0050] Figure 4 is a schematic diagram of a sampling point on a grass collecting belt provided in an embodiment of the present application;

[0051] Figure 5 is a schematic diagram of a grass collecting point on a grass collecting belt provided in an embodiment of the present application;

[0052] Figure 6 It is a schematic diagram of the position of a grass collecting point on a grass collecting belt provided in an embodiment of the present application;

[0053] Figure 7 It is a schematic diagram of determining an obstacle area based on a target grass collection point provided in an embodiment of the present application;

[0054] Figure 8 is a structural schematic diagram of a control device provided in an embodiment of the present application;

[0055] Fig. 9 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] 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 only 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.

[0057] It is understood that the terms in the specification and claims of the present application and the above-mentioned drawings are only for describing specific embodiments and are not intended to limit the present application. The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. Unless the context clearly states otherwise, the singular forms "one" and "said" are also intended to include plural forms. The term "including" and any of their variations 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 also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. In addition, the present application can be implemented in a variety of different forms and is not limited to the embodiments described in this embodiment. The purpose of providing the following specific embodiments is to facilitate a clearer and more thorough understanding of the disclosure of the present application, wherein the words indicating the orientation such as upper, lower, left, right, etc. are only for the position of the structure shown in the corresponding drawings. In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set on" 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; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication 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.

[0058] The following description is a preferred embodiment of the present invention, but the above description is for the purpose of explaining the general principles of the present invention and is not intended to limit the scope of the present invention. The scope of protection of the present invention shall be determined by the appended claims.

[0059] See also Figure 1 , Figure 1 Schematic diagram of a communication system provided by an embodiment of the present application. Figure 1 As shown, the communication system includes a client and a control device, wherein the client and the control device communicate with each other in a wired or wireless manner.

[0060] In this solution, the client is used to realize human-computer interaction, and the client is deployed on the network side device or the user device. Among them, the user device can be, for example, a user's mobile phone, tablet, laptop or other portable mobile device. The network side device can be a server of the grass unloading equipment control center or a component in the server, and the component can be, for example, a chip. The network side device can be deployed in a cloud environment or an edge environment.

[0061] In a specific implementation, the client can be implemented in the form of software, applications, plug-ins, etc. running on a user device or a network side device, or it can be accessed based on a browser, or it can be an application (APP) running on a user device or a network side device.

[0062] The control device is deployed in the grass unloading equipment. Exemplarily, the control device can be a chip, an integrated circuit, etc.

[0063] Exemplarily, the control device may obtain a grass collecting belt recording instruction from the client to trigger the control device to record the grass collecting belt. In some schemes, the control device may also generate a grass collecting belt recording instruction in response to a user operation. In this case, the client and the control device are both deployed in the grass unloading device.

[0064] For example, the client and the control device may be deployed on different devices, for example, the client is not a network device or a user device, and the control device is deployed in the grass unloading device. Alternatively, the client and the control device may be deployed on the same device, for example, the grass unloading device.

[0065] It should be noted that Figure 1 This is only an example of a communication system and does not limit the communication system to only Figure 1 The method provided in the embodiment of the present application can be applicable to the above communication system.

[0066] See also Figure 2 , Figure 2 is a flow chart of a control method for unloading grass provided in an embodiment of the present application. The method can be applied to a control device in an unloading grass device, such as the control device described above. Figure 1 The method includes but is not limited to the following steps S201-S203.

[0067] S201: Obtain grass collecting tape recording instructions.

[0068] The grass collecting belt recording instruction includes the starting position of the grass collecting belt and the ending position of the grass collecting belt.

[0069] Exemplarily, the starting point and the end point of grass collection can be coordinate values ​​obtained based on an arbitrary coordinate system. The coordinate system can be, for example, a three-dimensional coordinate consisting of longitude, latitude and altitude in the World Geodetic System 1984 (WGS84), or a three-dimensional coordinate consisting of X-coordinate, Y-coordinate and Z-coordinate in a natural coordinate system, or a coordinate in other coordinate systems.

[0070] In one implementation, obtaining the grass collection belt recording instruction may include: receiving the grass collection belt recording instruction sent by the client. Here, the client may be deployed on a network side device or a user device. For the client, network side device, and user device, please refer to the aforementioned Figure 1 The description of the corresponding contents in the embodiments will not be repeated here.

[0071] In one implementation, obtaining the grass collecting strip recording instruction may include: receiving setting information input by a user, and generating the grass collecting strip recording instruction.

[0072] Exemplarily, receiving the setting information input by the user includes: receiving the setting information input by the user through at least one of a touch screen, a button, a keyboard, and a voice input. The user may be an operator of the grass unloading equipment, a person in the control center, and the like.

[0073] The following is based on Figure 3 Indicates that the user enters setting information through the touch screen. Figure 3 , Figure 3 It is a schematic diagram of a display interface for inputting setting information provided in an embodiment of the present application. Figure 3 The interface shown is the human-computer interaction interface. Figure 3 In the figure, there are an input box for "starting point of grass collecting belt" and an input box for "end point of grass collecting point". After the user completes the input of information in the corresponding input box, he clicks the "OK" button. In response to this operation, the control device generates a grass collecting belt recording instruction based on the setting information input by the user.

[0074] Above Figure 3 This is only an example of a display interface provided for users to input setting information, and does not limit the display interface to only Figure 3 The form shown may also be other display interfaces for users to input setting information. In some possible embodiments, Figure 3 You can also display more information than what is currently shown in the Figure 3 Add the location information of the waypoint of the grass collection point in Figure 3 The interface shown is for setting multiple grass collecting belts, which is not specifically limited here.

[0075] By providing the above-mentioned display interface, the user can be supported to specify information such as the starting point position and the end point position of the grass collecting belt, which increases the flexibility of the grass collecting belt setting and is also conducive to improving the user experience.

[0076] S202: In response to the grass collecting belt recording instruction, the grass unloading device is controlled to record the position information of the grass collecting belt during the process of driving from the starting position of the grass collecting belt to the end position of the grass collecting belt.

[0077] For example, after receiving the grass collecting belt recording instruction, the control device plans a grass collecting belt according to the starting position and the end position of the grass collecting belt in the grass collecting belt recording instruction, controls the grass unloading equipment to travel along the grass collecting belt, and records the position information of the grass collecting belt during the driving process. In other words, the grass collecting belt is equivalent to a planned driving path.

[0078] For example, the grass collecting belt may be a straight line or a curve. The relationship between the grass collecting belt and the working area may be that the grass collecting belt is located in the working area, or the grass collecting belt is located outside the working area, or the grass collecting belt and the working area intersect.

[0079] In one implementation, recording the location information of the grass collecting belt includes: recording the location information of the grass collecting belt by a positioning module of the grass unloading device, wherein the location information of the grass collecting belt includes location information of multiple sampling points at the grass collecting point.

[0080] Exemplarily, the positioning module can be one or more of a global positioning system (GPS), an inertial navigation system (IMU), a global navigation satellite system (GNSS), an inertial measurement unit (IMU), a visual positioning system, etc.

[0081] In the process of the unloading device driving from the starting position of the grass collecting belt to the end position of the grass collecting belt, the positioning module can record the position information of the above-mentioned multiple sampling points in real time or at a fixed time. Exemplarily, the position information of each sampling point at least includes the longitude and latitude of the sampling point. In some schemes, the position information of each sampling point also includes multiple items of information such as the height of the sampling point, the collection timestamp, the speed and direction of the unloading device at the sampling point, etc.

[0082] See also Figure 4 , Figure 4 Schematic diagram of a sampling point on a grass collecting belt provided in an embodiment of the present application. Figure 4 In the example, it is assumed that a grass collecting belt is planned based on the starting position A and the end position B of the grass collecting belt, wherein the grass collecting belt is located in the working area, and the starting point is A and the end point is B. In the process of controlling the grass unloading equipment to travel along the grass collecting belt from the starting point A to the end point B, the location information of multiple sampling points is recorded regularly by the positioning module to form the above-mentioned grass collecting belt information. Figure 4 In FIG. 1 , each solid dot represents a sampling point. It can be seen that the multiple sampling points include the starting point A of the grass collecting belt and the end point B of the grass collecting belt. It can be understood that Figure 4This is just an example, and the grass collecting belt is not limited to a curve, nor is the number of sampling points collected on the grass collecting belt limited.

[0083] S203: obtaining grass collecting belt information according to the position information of the grass collecting belt, where the grass collecting belt information includes position information of a plurality of grass collecting points on the grass collecting belt.

[0084] Among them, the grass collecting belt information is used to assist the grass unloading equipment to perform grass unloading.

[0085] In one implementation, obtaining the grass collecting belt information according to the position information of the grass collecting belt includes: obtaining the grass collecting belt information according to the position information of the grass collecting belt and the vehicle length of the grass unloading equipment.

[0086] The distance between two adjacent grass collecting points among the above-mentioned multiple grass collecting points is greater than the length of the grass unloading device. Here, the length of the grass unloading device does not include the length of the grass unloading frame, which can also be called a grass unloading basket, a grass unloading box, etc. In this way, the grass unloading device can be prevented from hitting the grass piles placed at other grass collecting points during the grass unloading process.

[0087] Exemplarily, the plurality of grass collecting points belong to the plurality of sampling points.

[0088] Exemplarily, the plurality of grass collecting points may also be obtained by calculation based on the plurality of sampling points, that is, curve fitting of the plurality of sampling points is performed according to the position information of the grass collecting belt, and then the plurality of grass collecting points are determined based on the fitted curve.

[0089] In a specific implementation, the distance between the two grass collecting points may be the straight-line distance between the two grass collecting points. In some solutions, when the grass collecting strip is a curve, the distance between the two grass collecting points may also be the arc length between the two grass collecting points.

[0090] Exemplarily, the distance between two adjacent grass collecting points among the plurality of grass collecting points may be the same or different.

[0091] See also Figure 5 , Figure 5 It is a schematic diagram of a grass collecting point on a grass collecting belt provided in an embodiment of the present application. Figure 5 The grass collecting belt shown is located in the working area, and there are 5 grass collecting points on the grass collecting belt, namely A, P1, P2, P3 and B. Figure 5 It can be seen that the distances between two adjacent grass collection points are not the same.

[0092] In some embodiments, obtaining the grass collecting belt information according to the location information of the grass collecting belt includes: obtaining the grass collecting belt information based on a preset number and the location information of the grass collecting belt, wherein the preset number is used to indicate the grass collecting point information included in the grass collecting belt information.

[0093] For example, based on a preset number, points are taken from the above-mentioned multiple sampling points at equal intervals to obtain the above-mentioned multiple grass collection points. Alternatively, curve fitting is performed on the multiple sampling points according to the position information of the grass collection belt, and then points are taken from the fitted curve at equal intervals based on a preset number to obtain the above-mentioned multiple grass collection points. In some schemes, it is not necessary to take points at equal intervals, and it is sufficient that the distance between two adjacent grass collection points in the determined multiple grass collection points is greater than a preset value, and the preset value is, for example, the vehicle length of the grass unloading equipment.

[0094] Optionally, in some schemes, the following S204 may also be performed.

[0095] S204: Obtaining a grass unloading instruction, and in response to the grass unloading instruction, controlling the grass unloading equipment to dump grass clippings to a target grass collecting point based on the grass collecting belt information, where the target grass collecting point belongs to the above-mentioned multiple grass collecting points.

[0096] Here, the unloading instruction comes from the mowing device in the unloading equipment. When any of the following conditions is met, the unloading instruction is transmitted to the control device:

[0097] The mowing device stops the mowing operation;

[0098] The mowing device completes the mowing work in the designated area;

[0099] The weight of grass clippings collected by the grass unloading equipment reaches a first threshold;

[0100] Detecting that the user turns on the grass unloading switch key or the grass unloading switch member; or,

[0101] Determine the situation where the user confirms to perform the unloading operation.

[0102] Here, the first threshold may be preset by a user or a factory default setting, which is not specifically limited here.

[0103] In one implementation, the grass unloading equipment is controlled to dump grass clippings to a target grass collecting point based on the grass collecting belt information, including: determining a target grass collecting point from a plurality of grass collecting points in the grass collecting belt information, and controlling the grass unloading equipment to dump grass clippings to the target grass collecting point.

[0104] Exemplarily, determining a target grass collecting point from the above-mentioned multiple grass collecting points includes: taking available grass collecting points from the above-mentioned multiple grass collecting points as candidate grass collecting points, where the available grass collecting points are grass collecting points with grass unloading space greater than 0; and determining the target grass collecting point from the candidate grass collecting points.

[0105] Furthermore, determining the target grass collecting point from the candidate grass collecting points includes: traversing the location information of all candidate grass collecting points to obtain a traversal result, the traversal result including: whether there are candidate grass collecting points located outside the working area; determining the first priority of each candidate grass collecting point according to the traversal result; and taking the candidate grass collecting point with the highest first priority as the target grass collecting point.

[0106] The following describes the situation based on the traversal results.

[0107] The first case: when there are no candidate grass collection points outside the working area in the traversal results, the first priority of all candidate grass collection points is equal. In other words, when all candidate grass collection points are located in the working area, the first priority of all candidate grass collection points is the same. Figure 5 There are no candidate grass collecting points outside the operation area, and all candidate grass collecting points are located within the operation area, so the first priority of grass collecting points A, P1, P2, P3 and B is the same.

[0108] As an example, when the first priorities of all candidate grass collecting points are equal, the target grass collecting point may be determined in any of the following ways:

[0109] According to the available grass unloading space of the candidate grass collecting point, the candidate grass collecting point with the largest available grass unloading space is determined from all the candidate grass collecting points as the target grass collecting point;

[0110] Select any candidate grass collection point from all candidate grass collection points as the target grass collection point; or,

[0111] The candidate grass collecting point closest to the grass unloading equipment among all the candidate grass collecting points is determined as the target grass collecting point.

[0112] The second case: when there are candidate grass collecting points outside the working area in the traversal results, all candidate grass collecting points outside the working area are taken as the first group of grass collecting points, and the candidate grass collecting points within the working area are taken as the second group of grass collecting points; among which, the first priority of any candidate grass collecting point in the first group of grass collecting points is greater than the first priority of all candidate grass collecting points in the second group of grass collecting points.

[0113] It can be understood that the existence of candidate grass collecting points outside the working area in the traversal results means that there must be candidate grass collecting points outside the working area, but there may or may not be candidate grass collecting points inside the working area. When all candidate grass collecting points include both candidate grass collecting points outside the working area and candidate grass collecting points inside the working area, the candidate grass collecting points outside the working area are preferentially selected as the target grass collecting points, so that the dumped grass clippings can be prevented from interfering with the operation of the grass unloading equipment in the working area, thereby improving the operating efficiency of the grass unloading equipment in the working area.

[0114] As an example, when there are candidate grass collection points outside the working area in the traversal results, the first priority of the candidate grass collection points can be determined by: obtaining the location information of the intersection area between the grass collection belt and the working area; calculating the first distance between each candidate grass collection point in the first group of grass collection points and the intersection area according to the location information; sorting the calculated first distances in descending order, and determining the first priority of each candidate grass collection point in the first group of grass collection points according to the sorting results, wherein the candidate grass collection point with a larger first distance has a higher first priority. In other words, for grass collection points outside the working area, grass collection points are selected in order from far to near.

[0115] Exemplarily, the intersection area of ​​the grass collecting belt and the working area can be a point or an area. When the intersection area of ​​the grass collecting point and the working area is an area, the first distance between the candidate grass collecting point and the intersection area can be the distance between the candidate grass collecting point and the center point of the intersection area, and the center point of the intersection area can be the geometric center or centroid of the intersection area.

[0116] Exemplarily, the measurement method of the first distance may be straight-line distance (Euclidean distance) or Manhattan distance.

[0117] See also Figure 6 , Figure 6 Schematic diagram of the position of grass collecting points on a grass collecting belt provided in an embodiment of the present application. Figure 6 In the figure, the grass collecting belt intersects with the working area, and the grass collecting points on the grass collecting belt include grass collecting points P6, P7, P8, P9 and P10. Among them, grass collecting points P6, P7 and P8 are grass collecting points within the working area, and grass collecting points P9 and P10 are grass collecting points outside the working area, that is, the first group of grass collecting points includes grass collecting points P9 and P10. The intersection area of ​​the grass collecting belt and the working area is position C. For grass collecting points P9 and P10 located outside the working area, since the distance between grass collecting point P10 and position C is greater than the distance between grass collecting point P9 and position C, the first priority of grass collecting point P10 is greater than the first priority of grass collecting point P9.

[0118] As another example, the first priority of the candidate grass collecting points can also be determined in the following manner: when there are no available candidate grass collecting points in the first group of grass collecting points, the second distance between each candidate grass collecting point in the second group of grass collecting points and the intersection area is calculated based on the location information of the intersection area; the calculated second distances are sorted in descending order, and the first priority of each candidate grass collecting point in the second group of grass collecting points is determined based on the sorting result, wherein the candidate grass collecting point with a smaller second distance has a higher first priority. In this way, when all grass collecting points outside the operating area are unavailable, the candidate grass collecting points in the operating area are visited in order from outside to inside, which is conducive to improving the operating efficiency of the grass unloading equipment in the operating area.

[0119] Combination Figure 6 , the first group of grass collecting points includes grass collecting points P9 and P10, and the second group of grass collecting points includes grass collecting points P6, P7 and P8. When grass collecting points P9 and P10 in the first group of grass collecting points are both unavailable, the first priority of each candidate grass collecting point in the first group of grass collecting points is determined according to the sorting result of the distance between each candidate grass collecting point in the first group of grass collecting points and position C (intersection area), and the first priority of each candidate grass collecting point in the first group of grass collecting points is determined by Figure 6 It can be seen that the distance between grass collecting point P8 and position C is < the distance between grass collecting point P7 and position C is < the distance between grass collecting point P6 and position C, so the first priority of grass collecting point P8 is > the first priority of grass collecting point P7 is > the first priority of grass collecting point P6.

[0120] In some possible embodiments, after dumping the grass clippings to the target grass collection point, the control device may also mark an obstacle area in the grass unloading area according to the location information of the target grass collection point, wherein the obstacle area includes the target grass collection point. It can be understood that the obstacle area is an area that the grass unloading equipment should avoid when driving.

[0121] In one implementation, marking an obstacle area in the grass unloading area according to the location information of the target grass collecting point includes: obtaining the volume of grass clippings dumped by the grass unloading equipment at the target grass collecting point; determining the expansion distance according to the grass clippings volume; and performing expansion processing on the target grass collecting point according to the expansion distance to obtain the obstacle area. Exemplarily, the obstacle area may be a circular area with the target grass collecting point as the center and the expansion distance as the radius.

[0122] See also Figure 7 , Figure 7 Schematic diagram of determining an obstacle area based on a target grass collection point provided in an embodiment of the present application. Figure 7In the figure, there are grass collecting points P01 and P02 on the grass collecting belt in the working area. Assuming that the target grass collecting point is the grass collecting point P01, after controlling the grass unloading equipment to dump the grass clippings to the grass collecting point P01, the volume of the grass clippings dumped at the grass collecting point P01 is identified by the visual sensor, and the expansion distance is determined based on the volume of the grass clippings dumped at the grass collecting point P01. The obstacle area is determined based on the position information of the grass collecting point P01 and the expansion distance, that is, the obstacle area is Figure 7 The circular area shown by the middle slash pattern is expanded into an obstacle area based on a grass collecting point, which can prevent the grass unloading equipment from hitting the grass pile in the obstacle area when operating in the working area.

[0123] Understandably, Figure 7 This is only an example of determining the obstacle area based on the grass collection point. The shape of the obstacle area is not limited to a circle. In some schemes, the obstacle area can also be represented as a regular shape such as a rectangle or a sector, or as an irregular shape, which is not specifically limited here.

[0124] In some embodiments, the control device may locally update the available grass unloading space of the target grass collecting point each time it obtains the grass clippings volume dumped by the grass unloading device at the target grass collecting point. When the control device determines that the cumulative value of the grass clippings volume dumped at the target grass collecting point reaches a preset volume value, the target grass collecting point may also be marked as an unavailable grass collecting point.

[0125] The target grass collecting point is marked as an unavailable grass collecting point, and a first obstacle area is marked based on the location information of the target grass collecting point, wherein the first obstacle area includes an area occupied by grass clippings dumped at the target grass collecting point. The first obstacle area is an area that the grass unloading equipment should avoid when driving, so as to prevent the grass unloading equipment from colliding with the grass pile in the first obstacle area during operation.

[0126] Exemplarily, the first obstacle area is a circular area with the target grass collecting point as the center and a preset radius as the radius. Here, the preset radius can be user-defined or obtained based on expert experience.

[0127] Implementation Figure 2 In an embodiment, the grass collecting belt is recorded by the grass unloading device, and the grass collecting belt information is obtained based on the recorded grass collecting belt position information. The grass collecting belt information includes the position information of multiple grass collecting points on the grass collecting belt. The grass collecting belt information can assist the grass unloading device in efficiently unloading grass. In this way, the setting of the grass collecting points is relatively flexible and can meet various needs of users. In addition, the grass unloading device can be controlled based on the grass collecting belt information to dump grass clippings at different grass collecting points on the grass collecting belt, thereby avoiding the problem of too high a grass pile after the grass unloading device unloads grass at a fixed position, which can not only make full use of the grass unloading space, but also improve the grass unloading efficiency.

[0128] See also Figure 8 , Figure 83 is a schematic diagram of a control device provided in an embodiment of the present application, wherein the control device 30 includes an acquisition unit 310 and a processing unit 312. The control device 30 can be implemented by hardware, software, or a combination of hardware and software.

[0129] Here, the control device 30 is the control device in the above-mentioned grass unloading equipment.

[0130] Among them, the acquisition unit 310 is used to obtain the grass collecting belt recording instruction, and the grass collecting belt recording instruction includes the starting position of the grass collecting belt and the end position of the grass collecting belt; the processing unit 312 is used to perform the following operations: in response to the grass collecting belt recording instruction, control the grass unloading equipment to record the position information of the grass collecting belt during the process of driving from the starting position of the grass collecting belt to the end position of the grass collecting belt; obtain the grass collecting belt information according to the position information of the grass collecting belt, and the grass collecting belt information includes the position information of multiple grass collecting points on the grass collecting belt, and the grass collecting belt information is used to assist the grass unloading equipment in performing grass unloading.

[0131] The control device 30 can be used to implement Figure 2 The method described in the embodiment. Figure 2 In an embodiment, the acquisition unit 310 may be used to execute S201 , and the processing unit 312 may be used to execute S202 and S203 .

[0132] above Figure 8 One or more of the various units in the illustrated embodiments may be implemented by software, hardware, firmware, or a combination thereof. The software or firmware includes, but is not limited to, computer program instructions or codes, and may be executed by a hardware processor. The hardware includes, but is not limited to, various types of integrated circuits, such as a central processing unit (CPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or an application-specific integrated circuit (ASIC).

[0133] See also Fig. 9 , Fig. 9 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig. 9 As shown, the electronic device 40 includes: a processor 411, a communication interface 412, a memory 413 and a bus 414. The processor 411, the memory 413 and the communication interface 412 communicate with each other via the bus 414. It should be understood that the present application does not limit the number of processors and memories in the electronic device 40.

[0134] The electronic device 40 may be the above-mentioned control device. Please refer to the above-mentioned control device. Figure 1 The description of the corresponding content will not be repeated here.

[0135] The bus 414 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 The bus 414 is represented by only one line, but it does not mean that there is only one bus or one type of bus. The bus 414 may include a path for transmitting information between various components of the electronic device 40 (for example, the memory 413, the processor 411, and the communication interface 412).

[0136] The processor 411 may be composed of one or more general-purpose processors, such as a central processing unit (CPU), or a combination of a CPU and a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0137] The memory 413 is used to provide a storage space, in which data such as an operating system and a computer program can be stored. The memory 413 can be a random access memory (RAM), an erasable programmable read only memory (EPROM), a read-only memory (ROM), or a portable read-only memory (CD-ROM), etc., or a combination of multiple types. The memory 413 can exist alone or be integrated into the processor 411.

[0138] The communication interface 412 may be used to provide information input or output for the processor 411. Alternatively, the communication interface 412 may be used to receive data sent externally and / or send data externally, and may be a wired link interface such as an Ethernet cable, or a wireless link interface (such as Wi-Fi, Bluetooth, general wireless transmission, etc.). Alternatively, the communication interface 412 may also include a transmitter (such as a radio frequency transmitter, an antenna, etc.) coupled to the interface, or a receiver, etc.

[0139] The processor 411 in the electronic device 40 is used to read the computer program stored in the memory 413 to execute the aforementioned method, for example Figure 2 The method described in the embodiment.

[0140] In a possible design, the electronic device 40 may be a processor for executing Figure 2 One or more modules in the execution body of the method shown (such as the control device of the grass unloading equipment), the processor 411 can be used to read one or more computer programs stored in the memory to perform the following operations:

[0141] The grass collecting belt recording instruction is obtained by the obtaining unit 310, and the grass collecting belt recording instruction includes the starting position of the grass collecting belt and the ending position of the grass collecting belt;

[0142] In response to the grass collecting belt recording instruction, the grass unloading device is controlled to travel from the starting position of the grass collecting belt to the end position of the grass collecting belt, and the position information of the grass collecting belt is recorded;

[0143] The grass collecting belt information is obtained according to the position information of the grass collecting belt, and the grass collecting belt information includes the position information of a plurality of grass collecting points on the grass collecting belt. The grass collecting belt information is used to assist the grass unloading equipment in performing grass unloading.

[0144] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0145] Those skilled in the art will appreciate that the various illustrative logical blocks (ILBs) and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0146] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, 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, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0147] 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.

[0148] 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.

[0149] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integration. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk), etc.

[0150] 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 of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for unloading grass, characterized in that: The method is applied to a control device of a grass unloading device, and the method comprises: Obtaining a grass collecting belt recording instruction, wherein the grass collecting belt recording instruction includes a starting position of the grass collecting belt and an end position of the grass collecting belt; In response to the grass collecting belt recording instruction, controlling the grass unloading device to travel from the starting position to the end position, recording the position information of the grass collecting belt; The grass collecting belt information is obtained according to the position information of the grass collecting belt, wherein the grass collecting belt information includes the position information of a plurality of grass collecting points on the grass collecting belt, and the grass collecting belt information is used to assist the grass unloading device in performing grass unloading.

2. The method according to claim 1, characterized in that: The recording of the location information of the grass collecting belt includes: The position information of the grass collecting belt is recorded by the positioning module of the grass unloading equipment.

3. The method according to claim 1 or 2, characterized in that: The step of obtaining the grass collecting tape recording instruction comprises: receiving the grass collecting tape recording instruction sent by the client; or, The grass collecting tape recording instruction is generated based on the setting information input by the user.

4. The method according to any one of claims 1 to 3, characterized in that: The distance between two adjacent grass collecting points among the plurality of grass collecting points is greater than the length of the grass unloading equipment.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Get the instructions for unloading grass; In response to the grass unloading instruction, the grass unloading device is controlled based on the grass collecting belt information to dump grass clippings to a target grass collecting point, where the target grass collecting point belongs to the plurality of grass collecting points.

6. The method according to any one of claims 1 to 5, characterized in that: After obtaining the grass unloading instruction, the method further includes: Taking an available grass collecting point among the plurality of grass collecting points as a candidate grass collecting point, wherein the available grass collecting point is a grass collecting point with a grass unloading space greater than 0; The target grass collecting point is determined from the candidate grass collecting points.

7. The method according to claim 6, characterized in that Determining the target grass collecting point from the candidate grass collecting points includes: Traversing the location information of all candidate grass collecting points to obtain a traversal result, wherein the traversal result includes: whether there is a candidate grass collecting point outside the operation area; Determine the first priority of each candidate grass collecting point according to the traversal result; The candidate grass collecting point with the highest first priority is used as the target grass collecting point.

8. The method according to claim 7, characterized in that When there is no candidate grass collecting point outside the working area in the traversal result, the first priorities of all the candidate grass collecting points are equal.

9. The method according to claim 8, characterized in that The target grass collecting point meets any of the following conditions: The target grass collecting point is any candidate grass collecting point among all the candidate grass collecting points; The target grass collecting point is the candidate grass collecting point with the largest grass unloading space among all the candidate grass collecting points; or The target grass collecting point is the candidate grass collecting point closest to the grass unloading device among all the candidate grass collecting points.

10. The method according to claim 7, characterized in that When there are candidate grass collecting points outside the working area in the traversal results, all candidate grass collecting points outside the working area are used as the first group of grass collecting points, and the candidate grass collecting points within the working area are used as the second group of grass collecting points; Among them, the first priority of any candidate grass collecting point in the first group of grass collecting points is greater than the first priority of all candidate grass collecting points in the second group of grass collecting points.

11. The method according to claim 10, characterized in that The determining the first priority of each candidate grass collecting point according to the traversal result includes: Acquire the position information of the intersection area between the grass collecting belt and the working area; Calculate a first distance between each candidate grass collecting point in the first group of grass collecting points and the intersection area according to the position information; The calculated first distances are sorted in descending order, and the first priority of each candidate grass collecting point in the first group of grass collecting points is determined according to the sorting result, wherein the candidate grass collecting point with a larger first distance has a higher first priority.

12. The method according to claim 11, characterized in that The determining the first priority of each candidate grass collecting point according to the traversal result includes: When there is no available candidate grass collecting point in the first group of grass collecting points, calculating a second distance between each candidate grass collecting point in the second group of grass collecting points and the intersection area according to the position information; The calculated second distances are sorted in descending order, and the first priority of each candidate grass collecting point in the second group of grass collecting points is determined according to the sorting result, wherein the candidate grass collecting point with a smaller second distance has a higher first priority.

13. A device for unloading grass, characterized in that: The device is a control device for grass unloading equipment, and the device comprises: An acquisition unit, used for acquiring a grass collecting belt recording instruction, wherein the grass collecting belt recording instruction includes a starting position of the grass collecting belt and an end position of the grass collecting belt; A processing unit, configured to record the position information of the grass collecting belt in response to the grass collecting belt recording instruction and control the grass unloading device to travel from the starting position to the end position; The processing unit is further used to obtain grass collecting belt information according to the position information of the grass collecting belt, wherein the grass collecting belt information includes the position information of multiple grass collecting points on the grass collecting belt, and the grass collecting belt information is used to assist the grass unloading device in performing grass unloading.

14. A control device, characterized in that: The control device includes a processor and a memory, the memory is used to store instructions, and the processor is used to execute the instructions stored in the memory to implement the method according to any one of claims 1-12.

15. A grass unloading device, characterized in that: The grass unloading equipment comprises the device according to claim 13 or 14.

16. A computer-readable storage medium containing computer instructions, characterized in that: When the computer instructions are executed by a processor, the method according to any one of claims 1 to 12 is implemented.

Images