A control method for unloading grass and related device

Abstract

The application discloses a control method and related device for unloading grass, which is applied to a control device of a grass unloading equipment. The method comprises the following steps: firstly, a grass collecting belt recording instruction is acquired, the grass collecting belt recording instruction comprising a starting point position of a grass collecting belt and an ending point position of the grass collecting belt; then, when the grass collecting belt recording instruction is received, the position information of the grass collecting belt is recorded in the process that the grass unloading equipment travels from the starting point position to the ending point position, and the grass collecting belt information is obtained according to the position information of the grass collecting belt, the grass collecting belt information comprising the position information of a plurality of grass collecting points on the grass collecting belt, and the grass collecting belt information is used for assisting the grass unloading equipment to perform grass unloading. In this way, the grass collecting positions can be flexibly set, so that the grass unloading equipment can flexibly unload grass, and the grass unloading efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of garden tools, and more particularly to a control method and related device for unloading grass. Background Technology

[0002] Currently available grass unloading equipment only has the function of cutting grass, requiring manual collection of grass clippings and their removal to the target location, which is time-consuming and labor-intensive.

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

[0004] This application discloses a control method and related device for unloading grass, which can flexibly set the grass collection position, thereby enabling the grass unloading equipment to unload grass flexibly and improving the grass unloading efficiency.

[0005] In a first aspect, this application provides a control method for unloading hay. The method is applied to a control device in a hay unloading device. The method includes: acquiring a hay collection belt recording instruction, the hay collection belt recording instruction including a starting position and an ending position of the hay collection belt; in response to the hay collection belt recording instruction, controlling the hay unloading device to travel from the starting position to the ending position, recording the position information of the hay collection belt; and obtaining hay collection belt information based on the position information of the hay collection belt, the hay collection belt information including the position information of multiple hay collection points on the hay collection belt, the hay collection belt information being used to assist the hay unloading device in performing hay unloading.

[0006] In the above method, the unloading equipment records the grass collection belt, and obtains grass collection belt information based on the recorded location information of the grass collection belt. This grass collection belt information includes the location information of multiple grass collection points on the grass collection belt, which can assist the unloading equipment in efficiently unloading grass. Thus, the setting of grass collection points is relatively flexible and can meet various user needs. Furthermore, the unloading equipment can be controlled based on the grass collection belt information to dump grass clippings at different grass collection points on the grass collection belt, avoiding the problem of excessively high grass piles caused by unloading grass at fixed locations. This not only makes full use of the unloading space but also improves unloading efficiency.

[0007] In conjunction with the first aspect, in one possible implementation of the first aspect, recording the position information of the grass collection belt includes: recording the position information of the grass collection belt through the positioning module of the grass unloading device.

[0008] In conjunction with the first aspect, in one possible implementation of the first aspect, obtaining the grass collection tape recording instruction includes: receiving the grass collection tape recording instruction sent by the client; or, generating the grass collection tape recording instruction based on user-input setting information.

[0009] In conjunction with the first aspect, in one possible implementation of the first aspect, obtaining the grass collection belt information based on the location information of the grass collection belt includes: obtaining the grass collection belt information based on the location information of the grass collection belt and the length of the grass unloading device.

[0010] In conjunction with the first aspect, in one possible implementation of the first aspect, the distance between two adjacent grass collection points among the plurality of grass collection points is greater than the length of the grass unloading device.

[0011] In conjunction with the first aspect, in one possible implementation of the first aspect, the method further includes: obtaining a grass unloading command; and, in response to the grass unloading command, controlling the grass unloading device to dump grass clippings to a target grass collection point based on the grass collection belt information, wherein the target grass collection point belongs to the plurality of grass collection points.

[0012] In conjunction with the first aspect, in one possible implementation of the first aspect, after obtaining the unloading instruction, the method further includes: selecting available unloading points among the plurality of unloading points as candidate unloading points, wherein the available unloading points are unloading points with a space greater than 0; and determining the target unloading point from the candidate unloading points.

[0013] In conjunction with the first aspect, in one possible implementation of the first aspect, determining the target grass collection point from the candidate grass collection points includes: traversing the location information of all candidate grass collection points to obtain traversal results, the traversal results including: whether there are candidate grass collection points located outside the work area; determining a first priority for each candidate grass collection point based on the traversal results; and taking the candidate grass collection point with the highest first priority as the target grass collection point.

[0014] In conjunction with the first aspect, in one possible implementation of the first aspect, when there are no candidate grass collection points located outside the work area in the traversal result, the first priority of all candidate grass collection points is equal.

[0015] In conjunction with the first aspect, in one possible implementation of the first aspect, when there are no candidate grass collection points located outside the work area in the traversal results, the target grass collection point satisfies any of the following conditions:

[0016] The target grass collection point is any one of the candidate grass collection points;

[0017] The target hay collection point is the candidate hay collection point with the largest unloading space among all candidate hay collection points; or...

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

[0019] In conjunction with the first aspect, in one possible implementation of the first aspect, when there are candidate grass collection points located outside the work area in the traversal result, all candidate grass collection points located outside the work area are regarded as the first group of grass collection points, and the candidate grass collection points located within the work area are regarded as the second group of grass collection points; wherein, the first priority of any candidate grass collection point in the first group of grass collection points is greater than the first priority of all candidate grass collection points in the second group of grass collection points.

[0020] In conjunction with the first aspect, in one possible implementation of the first aspect, determining the first priority of each candidate grass collection point based on the traversal result includes: obtaining the location information of the area where the grass collection strip intersects with the work area; calculating the first distance between each candidate grass collection point in the first group of grass collection points and the intersecting area based on 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 based on the sorting result, wherein the candidate grass collection point with the larger the first distance has a higher first priority.

[0021] In conjunction with the first aspect, in one possible implementation of the first aspect, determining the first priority of each candidate grass collection point based on the traversal result includes: when there are no available candidate grass collection points in the first group of grass collection points, calculating the second distance between each candidate grass collection point in the second group of grass collection points and the intersecting region based on the location information; sorting the calculated second distances in descending order, and determining the first priority of each candidate grass collection point in the second group of grass collection points based on the sorting result, wherein the candidate grass collection point with the smaller second distance corresponds to a higher first priority.

[0022] In conjunction with the first aspect, in one possible implementation of the first aspect, after the grass clippings are dumped to the target grass collection point, the method further includes: obtaining the location information of the target grass collection point; marking an obstacle area within the grass unloading area based on the location information of the target grass collection point, wherein the obstacle area includes the target grass collection point.

[0023] In conjunction with the first aspect, in one possible implementation of the first aspect, marking the obstacle area within the unloading area based on the location information of the target grass collection point includes: obtaining the volume of grass clippings dumped by the unloading equipment at the target grass collection point; determining an expansion distance based on the grass clipping volume; and performing an expansion process on the target grass collection point based on the expansion distance to obtain the obstacle area.

[0024] Secondly, this application provides a device for unloading hay, which is a control device for unloading hay equipment. The device includes: an acquisition unit for acquiring a recording instruction for the hay collection belt, the recording instruction including the starting position and the ending position of the hay collection belt; a processing unit for recording the position information of the hay collection belt during the process of controlling the unloading equipment to travel from the starting position to the ending position in response to the recording instruction; the processing unit is further configured to obtain hay collection belt information based on the position information of the hay collection belt, the hay collection belt information including the position information of multiple hay collection points on the hay collection belt, the hay collection belt information being used to assist the unloading equipment in performing hay unloading.

[0025] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is specifically used to: record the position information of the grass collection belt through the positioning module of the grass unloading device.

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

[0027] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is specifically used to: obtain the grass collection belt information based on the location information of the grass collection belt and the length of the grass unloading device.

[0028] In conjunction with the second aspect, in one possible implementation of the second aspect, the distance between two adjacent grass collection points among the plurality of grass collection points is greater than the length of the grass unloading device.

[0029] In conjunction with the second aspect, in one possible implementation of the second aspect, the acquisition unit is further configured to: acquire a grass unloading command; the processing unit is further configured to, in response to the grass unloading command, control the grass unloading device to dump grass clippings to a target grass collection point based on the grass collection belt information, wherein the target grass collection point belongs to the plurality of grass collection points.

[0030] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is further configured to: select available grass collection points among the plurality of grass collection points as candidate grass collection points, wherein the available grass collection points are grass collection points with a grass unloading space greater than 0; and determine the target grass collection point from the candidate grass collection points.

[0031] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is specifically used to: traverse the location information of all candidate grass collection points to obtain traversal results, the traversal results including: whether there are candidate grass collection points located outside the work area; determine the first priority of each candidate grass collection point according to the traversal results; and take the candidate grass collection point with the highest first priority as the target grass collection point.

[0032] In conjunction with the second aspect, in one possible implementation of the second aspect, when there are no candidate grass collection points located outside the work area in the traversal results, the first priority of all candidate grass collection points is equal.

[0033] In conjunction with the second aspect, in one possible implementation of the second aspect, when there are no candidate grass collection points located outside the work area in the traversal results, the target grass collection point satisfies any of the following conditions:

[0034] The target grass collection point is any one of the candidate grass collection points;

[0035] The target hay collection point is the candidate hay collection point with the largest unloading space among all candidate hay collection points; or...

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

[0037] In conjunction with the second aspect, in one possible implementation of the second aspect, when there are candidate grass collection points located outside the work area in the traversal result, all candidate grass collection points located outside the work area are regarded as the first group of grass collection points, and the candidate grass collection points located within the work area are regarded as the second group of grass collection points; wherein, the first priority of any candidate grass collection point in the first group of grass collection points is greater than the first priority of all candidate grass collection points in the second group of grass collection points.

[0038] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is specifically used to: obtain the location information of the area where the grass collection strip intersects with the work area; calculate the first distance between each candidate grass collection point in the first group of grass collection points and the intersecting area based on the location 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 based on the sorting result, wherein the candidate grass collection point with the larger the first distance has the higher the first priority.

[0039] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is specifically used to: when there are no available candidate grass collection points in the first group of grass collection points, calculate a second distance between each candidate grass collection point in the second group of grass collection points and the intersecting area based on the location information; sort the calculated second distances in descending order, and determine the first priority of each candidate grass collection point in the second group of grass collection points based on the sorting result, wherein the candidate grass collection point with the smaller second distance corresponds to a higher first priority.

[0040] In conjunction with the second aspect, in one possible implementation of the second aspect, the acquisition unit is further configured to: acquire the location information of the target grass collection point; the processing unit is further configured to mark an obstacle area within 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.

[0041] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is specifically used to: obtain the volume of grass clippings dumped by the grass unloading device at the target grass collection point; determine the expansion distance based on the grass clipping volume; and perform expansion processing on the target grass collection point based on the expansion distance to obtain the obstacle area.

[0042] Thirdly, this application provides a control device for unloading straw, the control device including a processor and a memory, wherein the memory is used to store program instructions; the processor calls the program instructions in the memory to cause the control device to execute the method in the first aspect or any possible implementation of the first aspect.

[0043] Fourthly, this application provides a grass unloading device, which includes the control device described in the second aspect or any possible implementation of the second aspect, or includes the control device described in the third aspect.

[0044] Fifthly, this application provides a computer-readable storage medium including computer instructions that, when executed by a processor, implement the method in the first aspect or any possible implementation thereof.

[0045] Sixthly, this application provides a computer program product that, when executed by a processor, implements the methods described in the first aspect or any possible embodiment of the first aspect. The computer program product may, for example, be a software installation package. When the methods provided by any possible design of the first aspect are required, the computer program product can be downloaded and executed on a processor to implement the methods described in the first aspect or any possible embodiment of the first aspect. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0048] Figure 2 This is a flowchart of a control method for unloading straw provided in an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of a display interface for inputting settings information provided in an embodiment of this application;

[0050] Figure 4 This is a schematic diagram of a sampling point on a grass collection strip provided in an embodiment of this application;

[0051] Figure 5 This is a schematic diagram of a grass collection point on a grass collection strip provided in an embodiment of this application;

[0052] Figure 6 This is a schematic diagram showing the location of grass collection points on a grass collection strip, provided in an embodiment of this application.

[0053] Figure 7 This is a schematic diagram illustrating the determination of obstacle regions based on target grass points, provided in an embodiment of this application.

[0054] Figure 8 This is a schematic diagram of the structure of a control device provided in an embodiment of this application;

[0055] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0057] It is understood that the terminology in the specification, claims, and accompanying drawings of this application is for describing specific embodiments only and is not intended to limit this application. The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Unless the context clearly states otherwise, the singular forms "a" and "described" are also intended to include the plural forms. The term "comprising," and any variations thereof, is intended to cover non-exclusive inclusion. 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 may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. Furthermore, this application can be implemented in many different forms and is not limited to the embodiments described herein. The purpose of providing the following specific embodiments is to facilitate a clearer and more thorough understanding of the disclosure of this application, wherein terms indicating orientation such as up, down, left, and right refer only to the position of the illustrated structure in the corresponding drawings. In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," and "set on" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0058] The following description provides preferred embodiments for carrying out this application; however, this description is for the purpose of illustrating the general principles of this application and is not intended to limit the scope of this application. The scope of protection of this application shall be determined by the appended claims.

[0059] See Figure 1 , Figure 1 This is a schematic diagram of a communication system provided in an embodiment of this application. For example... 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 via wired or wireless means.

[0060] In this solution, the client is used to implement human-computer interaction and is deployed on network-side devices or user devices. User devices can be portable mobile devices such as mobile phones, tablets, and laptops. Network-side devices can be servers in the unloading equipment control center or components within those servers; components can be, for example, chips. Network-side devices can be deployed in cloud or edge environments.

[0061] In practice, the client can be implemented as software, applications, plugins, etc., running on the user device or network side device, or it can be accessed through a browser, or it can be an application (APP) running on the user device or network side device.

[0062] The control device is deployed in the hay unloading equipment. For example, the control device may be a chip, integrated circuit, etc.

[0063] For example, the control device can receive a straw collection tape recording command from the client to trigger the control device to record the straw collection tape. In some solutions, the control device can also generate a straw collection tape recording command in response to a user operation; in this case, both the client and the control device are deployed in the straw unloading equipment.

[0064] For example, the client and control device can be deployed on different devices; for instance, the client may not be part of the network-side device or the user device, while the control device is deployed in the hay unloading device. Alternatively, the client and control device can also be deployed on the same device, such as the hay unloading device.

[0065] It should be noted that, Figure 1 This is merely an example of a communication system and is not intended to limit the communication system to only [specific examples]. Figure 1 As shown. The method provided in this application embodiment can be applied to the above-described communication system.

[0066] See Figure 2 , Figure 2 This is a flowchart illustrating a control method for unloading straw according to an embodiment of this application. This method can be applied to a control device in straw unloading equipment, such as the one described above. Figure 1 The control device in the process. The method includes, but is not limited to, the following steps S201-S203.

[0067] S201: Obtain the recording command for the grass collection belt.

[0068] The recording instructions for the grass collection belt include the starting position and the ending position of the grass collection belt.

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

[0070] In one implementation, obtaining the grass tape recording command can be achieved by receiving the grass tape recording command sent by the client. Here, the client can be deployed on a network-side device or a user device; please refer to the foregoing for details on the client, network-side device, and user device. Figure 1 The descriptions of the relevant content in the embodiments will not be repeated here.

[0071] In one implementation, obtaining the grass collection tape recording instruction can be achieved by receiving user-inputted settings information and generating the grass collection tape recording instruction.

[0072] For example, receiving user-inputted settings information includes receiving settings information input by the user via at least one of a touchscreen, button, keyboard, and voice input. The user may be an operator of the unloading equipment, personnel in the control center, etc.

[0073] The following is based on Figure 3 This describes how users input settings information via the touchscreen. See also... Figure 3 , Figure 3 This is a schematic diagram of a display interface for inputting settings information provided in an embodiment of this application. Figure 3 The interface shown is a human-computer interaction interface. Figure 3 The system includes input boxes for "starting point of the grass collection belt" and "ending point of the grass collection point". After the user completes the input in the corresponding input box, they can click the "OK" button. In response to this operation, the control device generates a grass collection belt recording command based on the user's input settings.

[0074] The above Figure 3 This is merely an example of a display interface provided for users to input settings information, and is not intended to limit the display interface to only one type of information. Figure 3 The format shown could also be other display interfaces that allow users to input settings information. In some possible embodiments, Figure 3 It can also display more information than currently shown, for example, it can also display more information in the following ways: Figure 3 Add location information for the route points of the grass collection point, or you can... Figure 3 The interface shown allows for the setting of multiple grass collection strips; no specific limitations are specified here.

[0075] By providing the aforementioned display interface, users can specify information such as the starting and ending positions of the grass collection strip, increasing the flexibility of grass collection strip settings and improving the user experience.

[0076] S202: In response to the recording command of the grass collection belt, the position information of the grass collection belt is recorded during the process of controlling the grass unloading equipment to travel from the starting position of the grass collection belt to the ending position of the grass collection belt.

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

[0078] For example, the grass collection strip can be a straight line or a curve. The relationship between the grass collection strip and the work area can be that the grass collection strip is located within the work area, or the grass collection strip is located outside the work area, or the grass collection strip intersects with the work area.

[0079] In one implementation, recording the location information of the grass collection strip includes: recording the location information of the grass collection strip through the positioning module of the grass unloading device. The location information of the grass collection strip includes the location information of multiple sampling points at the grass collection point.

[0080] For example, the positioning module may be one or more of the following: Global Positioning System (GPS), Inertial Navigation System (IMU), Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), Visual Positioning System, etc.

[0081] During the process of the unloading equipment traveling from the starting point to the ending point of the grass collection belt, the positioning module can record the location information of the aforementioned multiple sampling points in real time or at regular intervals. For example, the location information of each sampling point includes at least its latitude and longitude. In some solutions, the location information of each sampling point also includes multiple parameters such as the sampling point's altitude, collection timestamp, the unloading equipment's speed at that sampling point, and its direction.

[0082] See Figure 4 , Figure 4 This is a schematic diagram of a sampling point on a grass collection strip provided in an embodiment of this application. Figure 4 In this scenario, assuming a grass collection belt is planned based on its starting point A and ending point B, and this belt is located within the work area with its starting point A and ending point B, the grass unloading equipment is controlled to travel along this belt from starting point A to ending point B. During this process, the positioning module periodically records the location information of multiple sampling points to form the aforementioned grass collection belt information. Figure 4 In the diagram, each solid circle represents a sampling point. It can be seen that multiple sampling points include the starting point A and the ending point B of the grass collection strip. This is understandable. Figure 4This is merely an example and does not limit the grass collection strip to be curved, nor should it impose a limit on the number of sampling points collected on the grass collection strip.

[0083] S203: Obtain grass collection belt information based on the location information of the grass collection belt. The grass collection belt information includes the location information of multiple grass collection points on the grass collection belt.

[0084] Among them, the information on the grass collection belt is used to assist the grass unloading equipment in performing grass unloading.

[0085] In one implementation, obtaining grass collection belt information based on the location information of the grass collection belt includes: obtaining grass collection belt information based on the location information of the grass collection belt and the length of the grass unloading equipment.

[0086] Among the aforementioned multiple hay collection points, the distance between any two adjacent collection points is greater than the length of the hay unloading equipment. Here, the length of the hay unloading equipment does not include the length of the unloading frame, which can also be called a hay basket or unloading box. This prevents the hay unloading equipment from colliding with hay piles placed at other collection points during the unloading process.

[0087] For example, the aforementioned multiple grass collection points belong to the aforementioned multiple sampling points.

[0088] For example, the aforementioned multiple grass collection points can also be calculated based on the aforementioned multiple sampling points, that is, curve fitting of these multiple sampling points is performed based on the location information of the grass collection belt, and then the aforementioned multiple grass collection points are determined based on the fitted curve.

[0089] In practice, the distance between two grass collection points can be the straight-line distance between them. In some solutions, when the grass collection strip is curved, the distance between two grass collection points can also be the arc length between them.

[0090] For example, the distance between any two adjacent grass collection points can be the same or different.

[0091] See Figure 5 , Figure 5 This is a schematic diagram of a grass collection point on a grass collection belt provided in an embodiment of this application. Figure 5 The grass collection strip shown is located within the work area. This grass collection strip has five collection points: A, P1, P2, P3, and B. Figure 5 It can be seen that the distance between two adjacent grass collection points is not the same.

[0092] In some solutions, grass collection belt information is obtained based on the location information of the grass collection belt, including: obtaining grass collection belt information based on a preset quantity and the aforementioned location information of the grass collection belt. The preset quantity is used to indicate the grass collection point information included in the grass collection belt information.

[0093] For example, multiple grass collection points can be obtained by taking points at equal intervals from the aforementioned sampling points based on a preset number. Alternatively, curve fitting can be performed on these multiple sampling points based on the location information of the grass collection belt, and then points at equal intervals can be taken from the fitted curve based on a preset number to obtain the aforementioned multiple grass collection points. In some solutions, it is not necessary to require points to be taken at equal intervals; it is sufficient that the distance between any two adjacent grass collection points is greater than a preset value, such as the length of the grass unloading equipment.

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

[0095] S204: Obtain a grass unloading command, and in response to the grass unloading command, control the grass unloading equipment to dump grass clippings to the target grass collection point based on the grass collection belt information. The target grass collection point belongs to the above-mentioned multiple grass collection points.

[0096] Here, the unloading command originates from the mowing device in the unloading equipment. The unloading command is transmitted to the control device when any of the following conditions are met:

[0097] The mowing device stops mowing.

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

[0099] The weight of the hay clippings collected by the hay unloading equipment reaches the first threshold.

[0100] The system detects that the user has activated the unloading switch or unloading mechanism; or,

[0101] Under the condition that the user confirms the execution of the grass removal operation.

[0102] Here, the first threshold can be a user-preset value or a factory default value; no specific limitation is made here.

[0103] In one implementation, controlling the unloading equipment to dump grass clippings to a target grass collection point based on grass collection belt information includes: determining the target grass collection point from multiple grass collection points in the grass collection belt information, and controlling the unloading equipment to dump grass clippings to the target grass collection point.

[0104] For example, determining the target grass collection point from the above plurality of grass collection points includes: selecting available grass collection points from the above plurality of grass collection points as candidate grass collection points, wherein available grass collection points are grass collection points with a grass unloading space greater than 0; and determining the target grass collection point from the candidate grass collection points.

[0105] Further, determining the target grass collection point from the candidate grass collection points includes: traversing the location information of all candidate grass collection points to obtain traversal results, which include: whether there are candidate grass collection points located outside the work area; determining the first priority of each candidate grass collection point based on the traversal results; and taking the candidate grass collection point with the highest first priority as the target grass collection point.

[0106] The following description is based on the traversal results and is divided into different cases.

[0107] The first case: When there are no candidate grass collection points located outside the work area in the traversal results, all candidate grass collection points have the same first priority. In other words, when all candidate grass collection points are located within the work area, all candidate grass collection points have the same first priority. (Combined with...) Figure 5 There are no candidate grass collection points outside the work area, and all candidate grass collection points are located within the work area. Therefore, grass collection points A, P1, P2, P3 and B have the same first priority.

[0108] As an example, when all candidate grass points have the same first priority, the target grass point can be determined in any of the following ways:

[0109] Based on the available space for unloading grass at the candidate grass collection points, the candidate grass collection point with the largest available space for unloading grass is determined as the target grass collection point.

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

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

[0112] The second scenario: When there are candidate grass collection points located outside the work area in the traversal results, all candidate grass collection points located outside the work area are taken as the first group of grass collection points, and the candidate grass collection points located within the work area are taken as the second group of grass collection points; wherein, the first priority of any candidate grass collection point in the first group of grass collection points is greater than the first priority of all candidate grass collection points in the second group of grass collection points.

[0113] It's understandable that the presence of candidate hay collection points outside the work area in the traversal results implies that there must be candidate hay collection points outside the work area, but there may or may not be candidate hay collection points within the work area. When all candidate hay collection points include both those outside and those within the work area, the candidate hay collection points outside the work area are prioritized as the target hay collection points. This avoids the dumped hay clippings interfering with the operation of the hay unloading equipment within the work area, thus improving the efficiency of the hay unloading equipment within the work area.

[0114] As an example, when candidate hay collection points located outside the work area are found in the traversal results, the first priority of these candidate hay collection points can be determined as follows: Obtain the location information of the area where the hay collection strip intersects with the work area; calculate the first distance between each candidate hay collection point in the first group and the intersecting area based on the location information; sort the calculated first distances in descending order, and determine the first priority of each candidate hay collection point in the first group based on the sorting result, where the candidate hay collection point with the larger the first distance has the higher its first priority. In other words, for hay collection points outside the work area, they are selected sequentially from farthest to closest.

[0115] For example, the intersection of the grass collection strip and the working area can be a point or an area. When the intersection of the grass collection point and the working area is an area, the first distance between the candidate grass collection point and the intersection area can be the distance between the candidate grass collection 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] For example, the first distance mentioned above can be measured as a straight-line distance (Euclidean distance) or a Manhattan distance.

[0117] See Figure 6 , Figure 6 This is a schematic diagram showing the location of grass collection points on a grass collection strip, as provided in an embodiment of this application. Figure 6 In the diagram, the grass collection strip intersects with the work area, and the grass collection points on the strip include collection points P6, P7, P8, P9, and P10. Collection points P6, P7, and P8 are within the work area, while collection points P9 and P10 are outside the work area. Therefore, the first group of grass collection points includes P9 and P10. The intersection of the grass collection strip and the work area is location C. For collection points P9 and P10 located outside the work area, since the distance between collection point P10 and location C is greater than the distance between collection point P9 and location C, collection point P10 has a higher first priority than collection point P9.

[0118] As another example, the first priority of candidate grass collection points can be determined as follows: when there are no available candidate grass collection points in the first group, calculate the second distance between each candidate grass collection point in the second group and the intersecting area based on the location information of the intersecting area; sort the calculated second distances in descending order, and determine the first priority of each candidate grass collection point in the second group based on the sorting result, wherein the candidate grass collection point with the smaller second distance has a higher first priority. In this way, when all grass collection points outside the work area are unavailable, proceeding sequentially to each candidate grass collection point within the work area from the outside in improves the operational efficiency of the grass unloading equipment within the work area.

[0119] Combination Figure 6 The first group of grass collection points includes grass collection points P9 and P10, and the second group includes grass collection points P6, P7, and P8. When grass collection points P9 and P10 in the first group are both unavailable, the first priority of each candidate grass collection point in the first group is determined based on the ranking of the distances between each candidate grass collection point and location C (intersecting area). Figure 6 It can be seen that the distance between grass collection point P8 and position C is less than the distance between grass collection point P7 and position C, which is less than the distance between grass collection point P6 and position C. Therefore, the first priority of grass collection point P8 is greater than the first priority of grass collection point P7, which is greater than the first priority of grass collection point P6.

[0120] In some possible embodiments, after the hay clippings are dumped to the target hay collection point, the control device can also mark an obstacle area within the unloading area based on the location information of the target hay collection point, wherein the obstacle area includes the target hay collection point. It can be understood that the obstacle area is the area that the unloading equipment should avoid when traveling.

[0121] In one implementation, marking an obstacle area within the unloading area based on the location information of the target grass collection point includes: obtaining the volume of grass clippings dumped by the unloading equipment at the target grass collection point; determining an expansion distance based on the grass clipping volume; and performing an expansion process on the target grass collection point based on the expansion distance to obtain the obstacle area. For example, the obstacle area can be a circular area with the target grass collection point as the center and the expansion distance as the radius.

[0122] See Figure 7 , Figure 7 This is a schematic diagram illustrating how to determine an obstacle region based on a target set of grass points, as provided in an embodiment of this application. Figure 7In the work area, there are two grass collection points, P01 and P02, on the grass collection strip. Assuming the target grass collection point is P01, after the unloading equipment dumps the grass clippings to P01, a visual sensor identifies the volume of the dumped grass clippings at P01. This volume determines the expansion distance. Based on the location information of P01 and the expansion distance, the obstacle area is determined. Figure 7 The circular area indicated by the diagonal bar pattern expands from a single grass collection point into an obstacle area, preventing the grass unloading equipment from encountering grass piles within the obstacle area while operating within the work area.

[0123] Understandable. Figure 7 This is merely an example of determining the obstacle area based on grass collection points, and does not limit the shape of the obstacle area to only being circular. In some schemes, the obstacle area can also be represented as a rectangle, a sector, or other regular shape, or even an irregular shape. No specific limitations are made here.

[0124] In some solutions, the control device can locally update the unloading space at the target collection point by acquiring the volume of hay clippings dumped by the unloading equipment each time. When the control device determines that the cumulative volume of hay clippings dumped at the target collection point has reached a preset volume value, it can also mark the target collection point as an unusable collection point.

[0125] The target hay collection point is marked as an unavailable hay collection point, and a first obstacle area is marked based on the location information of the target hay collection point. The first obstacle area includes the area occupied by hay clippings dumped at the target hay collection point. The first obstacle area is the area that the hay unloading equipment should avoid when traveling, to prevent the hay unloading equipment from colliding with hay piles within the first obstacle area during operation.

[0126] For example, the first obstacle region is a circular area with the target grass collection 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 this embodiment, the hay collection belt is recorded by the unloading equipment, and hay collection belt information is obtained based on the recorded location information of the hay collection belt. This hay collection belt information includes the location information of multiple hay collection points on the hay collection belt, which can assist the unloading equipment in efficiently unloading hay. In this way, the setting of hay collection points is relatively flexible and can meet various user needs. Furthermore, the unloading equipment can be controlled based on the hay collection belt information to dump hay clippings at different hay collection points on the hay collection belt, avoiding the problem of excessively high hay piles caused by unloading at fixed locations. This not only makes full use of the unloading space but also improves unloading efficiency.

[0128] See Figure 8 , Figure 8This is a schematic diagram of a control device provided in an embodiment of this application. 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, control device 30 is the control device in the aforementioned grass unloading equipment.

[0130] The acquisition unit 310 is used to acquire a recording instruction for the grass collection belt, which includes the starting position and the ending position of the grass collection belt. The processing unit 312 is used to perform the following operations: in response to the grass collection belt recording instruction, during the process of controlling the grass unloading equipment to travel from the starting position to the ending position of the grass collection belt, the position information of the grass collection belt is recorded; the grass collection belt information is obtained based on the position information of the grass collection belt, which includes the position information of multiple grass collection points on the grass collection belt, and the grass collection belt information is used to assist the grass unloading equipment in performing grass unloading.

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

[0132] above Figure 8 One or more of the units in the illustrated embodiments can be implemented using software, hardware, firmware, or a combination thereof. The software or firmware includes, but is not limited to, computer program instructions or code, and can be executed by a hardware processor. The hardware includes, but is not limited to, various 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 Figure 9 , Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 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 this application does not limit the number of processors and memories in the electronic device 40.

[0134] Electronic device 40 can be the aforementioned control device; please refer to the foregoing description for the control device. Figure 1 The relevant content will not be repeated here.

[0135] Bus 414 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 9 The bus 414 may be represented by a single line, but this 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 (e.g., memory 413, processor 411, communication interface 412).

[0136] Processor 411 may consist of one or more general-purpose processors, such as a central processing unit (CPU), or a combination of a CPU and hardware chips. The aforementioned hardware chips may be application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The aforementioned PLDs may be complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), generic array logic (GALs), or any combination thereof.

[0137] Memory 413 provides storage space, which can store data such as the operating system and computer programs. Memory 413 can be one or a combination of several of the following: random access memory (RAM), erasable programmable read-only memory (EPROM), read-only memory (ROM), or compact disc read memory (CD-ROM). Memory 413 can exist independently or be integrated within processor 411.

[0138] The communication interface 412 can be used to provide information input or output to the processor 411. Alternatively, the communication interface 412 can be used to receive and / or send data to externally transmitted data, and can be a wired link interface including 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 an RF transmitter, antenna, etc.) or a receiver coupled to the interface.

[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 embodiments.

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

[0141] The grass collection tape recording instruction is obtained by the acquisition unit 310. The grass collection tape recording instruction includes the starting position and the ending position of the grass collection tape.

[0142] In response to the recording command of the grass collection belt, the unloading equipment is controlled to travel from the starting point to the ending point of the grass collection belt, and the position information of the grass collection belt is recorded.

[0143] The grass collection belt information is obtained based on the location information of the grass collection belt. This grass collection belt information includes the location information of multiple grass collection points on the grass collection belt. The grass collection belt information is used to assist the grass unloading equipment in performing grass unloading.

[0144] In the various embodiments of this application, the order of the above-mentioned processes does not imply 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 this application.

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

[0146] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0147] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0148] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0149] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0150] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for unloading straw, characterized in that, The method is applied to the control device of a hay unloading equipment, and the method includes: Obtain a recording instruction for the grass collection belt, the recording instruction for the grass collection belt including the starting position and the ending position of the grass collection belt; In response to the recording command of the grass collection belt, the grass unloading device is controlled to travel from the starting position to the ending position, and the position information of the grass collection belt is recorded. The grass collection belt information is obtained based on the location information of the grass collection belt. The grass collection belt information includes the location information of multiple grass collection points on the grass collection belt. The grass collection belt information is used to assist the grass unloading equipment in dumping grass clippings at different grass collection points on the grass collection belt.

2. The method according to claim 1, characterized in that, The recording of the location information of the grass collection strip includes: The positioning module of the unloading device records the position information of the grass collection belt.

3. The method according to claim 1 or 2, characterized in that, The method for obtaining the recording command for the grass collection tape includes: Receive the recording instruction for the grass collection tape sent by the client; or, Based on the settings information input by the user, the recording instruction for the grass collection tape is generated.

4. The method according to claim 1 or 2, characterized in that, The distance between any two adjacent grass collection points is greater than the length of the grass unloading device.

5. The method according to claim 1 or 2, characterized in that, The method further includes: Obtain the unloading instruction; In response to the unloading command, the unloading device is controlled to dump grass clippings to a target grass collection point based on the grass collection belt information. The target grass collection point belongs to the plurality of grass collection points.

6. The method according to claim 5, characterized in that, After obtaining the unloading instruction, the method further includes: The available grass collection points among the plurality of grass collection points are selected as candidate grass collection points, wherein the available grass collection points are grass collection points with a grass unloading space greater than 0. The target grass collection point is determined from the candidate grass collection points.

7. The method according to claim 6, characterized in that, Determining the target grass collection point from the candidate grass collection points includes: The location information of all candidate grass collection points is traversed to obtain the traversal result, which includes whether there are candidate grass collection points located outside the work area; The first priority of each candidate grass point is determined based on the traversal results; The first candidate grass collection point with the highest priority is selected as the target grass collection point.

8. The method according to claim 7, characterized in that, When there are no candidate grass collection points located outside the work area in the traversal results, the first priority of all candidate grass collection points is equal.

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

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

11. The method according to claim 10, characterized in that, The step of determining the first priority of each candidate grass point based on the traversal results includes: Obtain the location information of the area where the grass collection strip intersects with the working area; Calculate the first distance between each candidate grass collection point in the first group of grass collection points and the intersecting area based on the location information; The calculated first distances are sorted in descending order, and the first priority of each candidate grass collection point in the first group of grass collection points is determined according to the sorting results, wherein the candidate grass collection point with the larger first distance has a higher first priority.

12. The method according to claim 11, characterized in that, The step of determining the first priority of each candidate grass point based on the traversal results includes: When there are no available candidate grass collection points in the first group of grass collection points, the second distance between each candidate grass collection point in the second group of grass collection points and the intersecting area is calculated based on the location information. The calculated second distances are sorted in descending order, and the first priority of each candidate grass collection point in the second group of grass collection points is determined according to the sorting results. The candidate grass collection point with the smaller second distance has a higher first priority.

13. A device for unloading hay, characterized in that, The device is a control device for a straw unloading equipment, and the device includes: The acquisition unit is used to acquire the grass collection tape recording instruction, which includes the starting position and the ending position of the grass collection tape. The processing unit is configured to respond to the recording command of the grass collection belt and record the position information of the grass collection belt during the process of controlling the grass unloading device to travel from the starting position to the ending position; The processing unit is further configured to obtain grass collection belt information based on the location information of the grass collection belt. The grass collection belt information includes the location information of multiple grass collection points on the grass collection belt. The grass collection belt information is used to assist the grass unloading equipment in dumping grass clippings at different grass collection points on the grass collection belt.

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

15. A straw unloading device, characterized in that, The unloading equipment includes the apparatus as described in claim 13 or 14.

16. A computer-readable storage medium containing computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the method as described in any one of claims 1-12.

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