Grass unloading method and related device

Abstract

The invention discloses a grass unloading method and related device.The method is applied to grass unloading equipment and comprises the steps that firstly, grass collecting belt information is obtained, and the grass collecting belt information comprises position information of a plurality of grass collecting points on a grass collecting belt; and then, when a grass unloading command is received, determining a target grass collecting point from the plurality of grass collecting points, and controlling the grass unloading equipment to dump grass clippings to the target grass collecting point based on the position information of the target grass collecting point. Therefore, the mower can select the grass collecting point to execute automatic grass unloading, the grass unloading flexibility is improved, and the grass unloading efficiency is also improved.

Description

Technical Field

[0001] The present application relates to the field of garden tools, and in particular to a grass unloading method and related devices. 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 grass unloading method and related devices. The grass unloading equipment can flexibly unload grass, effectively reduce lawn debris, and is conducive to improving grass unloading efficiency.

[0005] In a first aspect, the present application provides a grass unloading method, which is applied to grass unloading equipment, and the method comprises: obtaining grass collecting belt information, wherein the grass collecting belt information comprises position information of a plurality of grass collecting points on the grass collecting belt; in response to an unloading instruction, determining a target grass collecting point from the plurality of grass collecting points; and based on the position information of the target grass collecting point, controlling the grass unloading equipment to dump grass clippings to the target grass collecting point.

[0006] In the above method, a plurality of grass collecting points are arranged on the grass collecting belt, and when receiving a grass unloading command, the grass unloading device can freely select a grass collecting point to unload the grass, thereby improving the flexibility of grass unloading. In addition, the grass unloading device can be controlled to automatically dump grass clippings at different grass collecting points on the grass collecting belt, thereby making full use of the grass unloading space of the grass unloading belt, avoiding the problem of the grass pile being too high after multiple unloadings due to the grass unloading device dumping the grass clippings to a fixed position, and thus helping to improve the grass unloading efficiency.

[0007] In combination with the first aspect, in a possible implementation method of the first aspect, determining the target grass collecting point from the multiple grass collecting points includes: determining an available grass collecting point from the multiple 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; and determining the target grass collecting point from the candidate grass collecting points.

[0008] In combination with the first aspect, in a possible implementation of the first aspect, determining the target grass collecting point from the candidate grass collecting points includes: obtaining a first priority of the candidate grass collecting points; and taking the candidate grass collecting point with the highest first priority as the target grass collecting point.

[0009] In combination with the first aspect, in a possible implementation method of the first aspect, obtaining the first priority of the candidate grass collecting point includes: traversing the location information of all candidate grass collecting points and obtaining traversal results, and the traversal results include: whether there are candidate grass collecting points located outside the working area; determining the first priority of the candidate grass collecting point according to the traversal results.

[0010] 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.

[0011] In combination with the first aspect, in a possible implementation of the first aspect, the method also includes: determining any one of all the candidate grass collecting points as the target grass collecting point, or, determining the candidate grass collecting point with the largest available grass unloading space as the target grass collecting point based on the available grass unloading space of all the candidate grass collecting points.

[0012] In combination with the first aspect, in a possible implementation of the first aspect, the method also includes: calculating the first distance between each candidate grass collecting point and the grass unloading equipment; sorting the calculated first distances in descending order, and determining the second priority of each candidate grass collecting point according to the sorting result, wherein the candidate grass collecting point with a smaller first distance has a higher second priority; and taking the candidate grass collecting point with the highest second priority as the target grass collecting point.

[0013] 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.

[0014] In combination with the first aspect, in a possible implementation method of the first aspect, determining the first priority of the candidate grass collecting point according to the traversal result includes: obtaining the position information of the intersection area between the grass collecting belt and the working area; calculating the second 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 second 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 second distance has a higher first priority.

[0015] In combination with the first aspect, in a possible implementation method of the first aspect, determining the first priority of the 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 third 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 third 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 third distance has a higher first priority.

[0016] 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.

[0017] 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.

[0018] In a second aspect, the present application provides a device for unloading grass, which is a grass unloading device or is included in the grass unloading device, and the device includes: an acquisition unit, used to acquire grass collecting belt information, the grass collecting belt information including position information of multiple grass collecting points on the grass collecting belt; a processing unit, used to determine a target grass collecting point from the multiple grass collecting points in response to an unloading instruction; the processing unit is also used to control the unloading device to dump grass clippings to the target grass collecting point based on the position information of the target grass collecting point.

[0019] In combination with the second aspect, in a possible implementation method of the second aspect, the processing unit is specifically used to: determine an available grass collecting point from the multiple 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; and determine the target grass collecting point from the candidate grass collecting points.

[0020] In combination with the second aspect, in a possible implementation manner of the second aspect, the processing unit is specifically used to: obtain a first priority of the candidate grass collecting point; and use the candidate grass collecting point with the highest first priority as the target grass collecting point.

[0021] 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 and obtain traversal results, and the traversal results include: whether there are candidate grass collecting points located outside the working area; determine the first priority of the candidate grass collecting points according to the traversal results.

[0022] 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.

[0023] In combination with the second aspect, in a possible implementation method of the second aspect, the processing unit is specifically used to: determine any one of all the candidate grass collecting points as the target grass collecting point, or, based on the available grass unloading space of all the candidate grass collecting points, determine the candidate grass collecting point with the largest available grass unloading space as the target grass collecting point.

[0024] In combination with the second aspect, in a possible implementation of the second aspect, the processing unit is also used to: calculate the first distance between each candidate grass collecting point and the grass unloading equipment; sort the calculated first distances in descending order, and determine the second priority of each candidate grass collecting point according to the sorting result, wherein the candidate grass collecting point with a smaller first distance has a higher second priority; and use the candidate grass collecting point with the highest second priority as the target grass collecting point.

[0025] 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.

[0026] In combination with the second aspect, in a possible implementation method of the second aspect, the processing unit is specifically used to: obtain the position information of the intersection area between the grass collection belt and the working area; calculate the second 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 second 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 second distance has a higher first priority.

[0027] 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 third 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 third 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 result, wherein the candidate grass collecting point with a smaller third distance has a higher first priority.

[0028] In combination with the second aspect, in a possible implementation of the second aspect, after the grass clippings are dumped to the target grass collecting point, 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 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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

[0034] 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.

[0035] Figure 1 is a schematic diagram of a communication system provided in an embodiment of the present application;

[0036] Figure 2 is a flow chart of a grass unloading method provided in an embodiment of the present application;

[0037] Figure 3 It is a schematic diagram of the position of a grass collecting belt provided in an embodiment of the present application;

[0038] Figure 4 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;

[0039] Figure 5 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0040] 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;

[0041] 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;

[0042] Figure 8 is a structural schematic diagram of a control device provided in an embodiment of the present application;

[0043] Fig. 9 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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 communication device and a grass unloading device, wherein the grass unloading device and the communication device can communicate in a wireless or wired manner. A control device is disposed on the grass unloading device, and the grass unloading device can communicate with the communication device through the control device.

[0048] Exemplarily, the control device may be a chip, an integrated circuit, or the like.

[0049] Exemplarily, the communication device may be a user device or a network side device. The user device may be, for example, a user's mobile phone, tablet, laptop or other portable mobile device. The network side device may be a server of a grass unloading equipment control center or a component in the server, and the component may be, for example, a chip. The network side device may be deployed in a cloud environment or an edge environment.

[0050] Exemplarily, the control device of the grass unloading equipment can obtain grass collecting belt information from the communication device, and the grass collecting belt information is used to assist the grass unloading equipment in performing grass unloading. In some schemes, the grass collecting belt information can be pre-stored locally in the control device.

[0051] 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 As shown. The method provided in the embodiment of the present application can be applicable to the above communication system. In some schemes, the method provided in the embodiment of the present application can also be without the participation of the above communication device, which is not specifically limited here.

[0052] See also Figure 2 , Figure 2 is a flow chart of a grass unloading method provided in an embodiment of the present application. The method can be applied to a control device, which is deployed in the above Figure 1 In the grass unloading device shown. The method includes but is not limited to the following steps S201-S203.

[0053] S201: Acquire grass collecting belt information, where the grass collecting belt information includes location information of multiple grass collecting points on the grass collecting belt.

[0054] In one implementation, obtaining grass collecting strip information includes: receiving grass collecting strip information from a communication device.

[0055] Exemplarily, the control device first sends a grass collecting belt acquisition request to the communication device; in response to the grass collecting belt acquisition request, the communication device sends grass collecting belt information to the control device, and the control device receives the grass collecting belt information from the communication device.

[0056] Here, please refer to the above communication equipment Figure 1 The relevant description of the communication device in the embodiment will not be repeated here.

[0057] In one implementation, obtaining the grass collecting strip information includes: obtaining the grass collecting strip information from a local memory. As an example, the grass collecting strip information may be pre-stored locally. In some solutions, the control device may also generate the grass collecting strip information locally and store it in a memory.

[0058] Exemplarily, the grass collecting belt may be a straight line or a curve. Here, the number of grass collecting belts included in the grass collecting belt information is not limited, and may be one or more.

[0059] Here, the grass collecting belt may be located within the operation area, may be located outside the operation area, or may intersect with the operation area. The operation area is specifically the operation area where the grass unloading equipment mows the grass, and refers to the geographical range covered by the grass unloading equipment when performing the mowing operation.

[0060] See also Figure 3 , Figure 3 This is a schematic diagram of the position of a grass collecting belt provided in an embodiment of the present application. Figure 3 Three grass collecting belts are shown, namely grass collecting belt 1, grass collecting belt 2 and grass collecting belt 3. It can be seen that grass collecting belt 1 and grass collecting belt 3 are both curves, grass collecting belt 2 is a straight line, grass collecting belt 1 is located outside the working area, grass collecting belt 2 is located within the working area, and grass collecting belt 3 intersects with the working area, which means that part of grass collecting belt 3 is located within the working area and another part is located outside the working area.

[0061] For example, the grass collecting points on the grass collecting belt can be understood as grass unloading points, that is, the places where the grass piles or grass clippings are placed. The number of grass collecting points on different grass collecting belts can be the same or different.

[0062] See also Figure 4 , Figure 4 This is a schematic diagram of the location of grass collecting points on a grass collecting belt provided in an embodiment of the present application. Figure 4 It can be seen that there are 5 grass collecting points on the grass collecting belt 1, namely P1, P2, P3, P4 and P5; there are 2 grass collecting points on the grass collecting belt 2, namely P6 and P7; there are 3 grass collecting points on the grass collecting belt 3, namely P8, P9 and P10. Based on the positional relationship between the grass collecting belt and the working area, the positional relationship between the grass collecting points on the grass collecting belt and the working area can be known. Specifically, since the grass collecting belt 1 is located outside the working area, the grass collecting points P1-P5 on the grass collecting belt 1 are all located outside the working area; since the grass collecting belt 2 is located outside the working area, the grass collecting points P6 and P7 on the grass collecting belt 2 are both located within the working area; since the grass collecting belt 3 intersects with the working area, it means that some of the grass collecting points on the grass collecting belt 3 (namely the grass collecting point P8) are located within the working area and another part of the grass collecting points (namely the grass collecting points P9 and P10) are located outside the working area. It can be understood that Figure 4 It is only an example of the grass collecting points on the grass collecting belt, and does not limit the number of grass collecting points on the grass collecting belt, nor does it limit the intervals between adjacent grass collecting points on the grass collecting belt.

[0063] For example, the distance between two adjacent grass collecting points among the multiple grass collecting points on the grass collecting belt is greater than the length of the grass unloading device, wherein the length of the grass unloading device does not include the length of the grass unloading frame, which may also be called a grass unloading basket, a grass unloading box, etc. In this way, the grass unloading device can be prevented from hitting grass piles placed at other grass collecting points during the grass unloading process.

[0064] S202: In response to the grass unloading instruction, a target grass collecting point is determined from the plurality of grass collecting points.

[0065] Exemplarily, the control device first receives a grass unloading instruction sent by the mowing device, wherein the grass unloading instruction instructs the grass unloading device to execute grass unloading.

[0066] Exemplarily, the grass unloading instruction is transmitted to the control device when any of the following conditions is met:

[0067] The mowing device stops the mowing operation;

[0068] The mowing device completes the mowing work in the designated area;

[0069] The weight of grass clippings collected by the grass unloading equipment reaches a first threshold;

[0070] Detecting that the user turns on the grass unloading switch key or the grass unloading switch member; or,

[0071] Determine the situation where the user confirms to perform the unloading operation.

[0072] Here, the first threshold may be preset by a user or a factory default setting, which is not specifically limited here.

[0073] In some embodiments, the trigger condition for transmitting the grass unloading instruction to the control device may also be that at least one of the parameters such as the volume and height of the grass clippings currently collected by the grass unloading equipment meets a preset condition.

[0074] In one implementation, determining the target grass collecting point from the plurality of grass collecting points includes: determining an available grass collecting point from 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; and determining the target grass collecting point from the candidate grass collecting points. In this way, the target grass collecting point to which the grass unloading device will go has a grass unloading space that can accommodate grass clippings dumped by the grass unloading device.

[0075] As an example, determining the target grass collecting point from the candidate grass collecting points includes: obtaining the first priority of the candidate grass collecting points; and taking the candidate grass collecting point with the highest first priority as the target grass collecting point. In other words, the grass unloading equipment is preferentially controlled to dump grass clippings to the candidate grass collecting point with the highest first priority.

[0076] Exemplarily, obtaining the first priority of a candidate grass collecting point may be: traversing the location information of all candidate grass collecting points and obtaining a traversal result, the traversal result including: whether there are candidate grass collecting points located outside the working area; and determining the first priority of each candidate grass collecting point according to the traversal result.

[0077] In one implementation, when there are no candidate grass collecting points outside the working area in the traversal results, the first priorities of all candidate grass collecting points are equal. In other words, when all candidate grass collecting points are located in the working area, the first priorities of all candidate grass collecting points are the same. Figure 4 , that is, the first priorities of the grass gathering points P6, P7 and P8 are the same.

[0078] As an example, when there are no candidate grass collecting points outside the working area in the traversal results (that is, when all candidate grass collecting points are located within the working area), any one candidate grass collecting point can be selected from all the candidate grass collecting points to be determined as the target grass collecting point, or, based on the available grass unloading space of the candidate grass collecting point, the candidate grass collecting point with the largest available grass unloading space can be determined as the target grass collecting point from all the candidate grass collecting points.

[0079] As an example, when there are no candidate grass collecting points outside the working area in the traversal results (that is, when all candidate grass collecting points are within the working area), the target grass collecting point can be determined in combination with the second priority of the candidate grass collecting points. Specifically, the first distance between each candidate grass collecting point and the grass unloading equipment is calculated; the calculated first distances are sorted in descending order, and the second priority of each candidate grass collecting point is determined according to the sorting result, wherein the candidate grass collecting point with a smaller first distance has a higher second priority; the candidate grass collecting point with the highest second priority is used as the target grass collecting point. In other words, when all candidate grass collecting points are within the working area, a candidate grass collecting point that is closest to the current position of the grass unloading equipment can be selected as the target grass collecting point, so that the grass unloading equipment can quickly unload the grass.

[0080] Exemplarily, the measurement method of the first distance may be straight-line distance (Euclidean distance) or Manhattan distance.

[0081] See also Figure 5 , Figure 5 is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 5 In , assuming that based on the traversal results, there is no candidate grass collection point outside the working area, and all candidate grass collection points only include grass collection point P6 and grass collection point P7, the current position of the grass unloading equipment is Figure 5 Position A in the figure, the second priority of the grass collecting point is determined based on the distance between the grass collecting point and the current position of the grass unloading equipment. It can be known that the distance between the grass collecting point P6 and position A is smaller than the distance between the grass collecting point P7 and position A, then the second priority of the grass collecting point P6 is greater than the second priority of the grass collecting point P7, so the grass collecting point P6 is taken as the target grass collecting point.

[0082] In another implementation, 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. In other words, when all candidate grass collecting points include both candidate grass collecting points outside the working area and candidate grass collecting points within 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.

[0083] As an example, the first priority of the candidate grass collecting points can be determined by: obtaining the location information of the intersection area between the grass collecting belt and the working area; calculating the second distance between each candidate grass collecting point in the first 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 first group of grass collecting points according to the sorting result, wherein the candidate grass collecting point with a larger second distance has a higher first priority. In other words, for grass collecting points outside the working area, grass collecting points are selected in order from far to near.

[0084] For example, 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 second 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.

[0085] Exemplarily, the measurement method of the second distance may be straight-line distance (Euclidean distance) or Manhattan distance.

[0086] 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 6In the figure, the grass collecting belt 2 is located in the working area, the grass collecting belt 3 intersects with the working area, the grass collecting points on the grass collecting belt 2 include grass collecting point P6 and grass collecting point P7, and the grass collecting points on the grass collecting belt 3 include grass collecting point P8, grass collecting point P9 and grass collecting point P10. It can be known that grass collecting points P6, P7 and P8 belong to the grass collecting points in the working area, and grass collecting points P9 and P10 both belong to the grass collecting points outside the working area, that is, the first group of grass collecting points mentioned above includes grass collecting points P9 and P10. The intersection area of ​​the grass collecting belt 3 and the working area is position B. For the grass collecting points P9 and P10 located outside the working area, since the distance between the grass collecting point P10 and position B is greater than the distance between the grass collecting point P9 and position B, the first priority of the grass collecting point P10 is greater than the first priority of the grass collecting point P9.

[0087] 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 third 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 third 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 third 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.

[0088] Combination Figure 6 It can be known that 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 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 B (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 B is < the distance between grass collecting point P7 and position B < the distance between grass collecting point P6 and position B, 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.

[0089] S203: Based on the position information of the target grass collecting point, the grass unloading equipment is controlled to dump the grass clippings to the target grass collecting point.

[0090] Exemplarily, after determining the target grass collecting point, the location information of the target grass collecting point is obtained from the grass collecting belt information, navigation is performed based on the location information of the target grass collecting point, and the grass unloading equipment is controlled to dump grass clippings to the target grass collecting point.

[0091] It can be understood that when the target grass collection point is located within the working area, the grass unloading equipment can be controlled to navigate to the target grass collection point from any direction. When the target grass collection point is located outside the working area, the grass unloading equipment can be controlled to navigate to the target grass collection point from any direction, but when there is a connecting passage between the grass collection belt and the working area, the grass unloading equipment can be controlled to navigate to the target grass collection point through the connecting passage.

[0092] 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.

[0093] In one implementation, an obstacle area is marked in the grass unloading area according to the location information of the target grass collecting point, including: obtaining the volume of grass clippings dumped by the grass unloading equipment at the target grass collecting point; determining an expansion distance according to the volume of grass clippings; and expanding the target grass collecting point according to the expansion distance to obtain an obstacle area.

[0094] 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.

[0095] See also Figure 7 , Figure 7 Schematic diagram of determining obstacle areas based on grass collection points provided in an embodiment of the present application. Figure 5 In the example, it is assumed that the target grass collecting point is grass collecting point P6. After the grass unloading equipment is controlled to dump grass clippings to grass collecting point P6, the volume of grass clippings dumped at grass collecting point P6 is identified by the visual sensor, and the expansion distance is determined based on the volume of grass clippings dumped at grass collecting point P6. The obstacle area is determined based on the position information of grass collecting point P6 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.

[0096] 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.

[0097] 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.

[0098] Implementation Figure 2 In the embodiment, a plurality of grass collecting points are arranged on the grass collecting belt. When receiving a grass unloading command, the grass unloading device can freely select a grass collecting point to unload the grass, thereby improving the flexibility of grass unloading. In addition, the grass unloading device can be controlled to automatically dump grass clippings at different grass collecting points on the grass collecting belt, thereby making full use of the grass unloading space of the grass unloading belt, avoiding the problem of the grass pile being too high after multiple unloadings due to the grass unloading device dumping the grass clippings to a fixed position, thereby improving the grass unloading efficiency.

[0099] See also Figure 8 , Figure 8 3 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.

[0100] Here, the control device 30 may be a control device in the above-mentioned grass unloading equipment, wherein the acquisition unit 310 is used to acquire grass collecting belt information, which includes the location information of multiple grass collecting points on the grass collecting belt; the processing unit 312 is used to perform the following operations: in response to the grass unloading instruction, determine the target grass collecting point from the above-mentioned multiple grass collecting points; based on the location information of the target grass collecting point, control the grass unloading equipment to dump grass clippings to the target grass collecting point.

[0101] 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 .

[0102] 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).

[0103] See also Fig. 9 , Fig. 9 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig. 9As 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.

[0104] The electronic device 40 may be the control device of the aforementioned grass unloading device, or the aforementioned control device 30 .

[0105] 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).

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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 in the above-mentioned 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:

[0111] The grass collecting belt information is obtained by the obtaining unit 310, and the grass collecting belt information includes the position information of a plurality of grass collecting points on the grass collecting belt;

[0112] Obtaining a grass unloading instruction, and in response to the grass unloading instruction, determining a target grass collecting point from the plurality of grass collecting points;

[0113] Based on the position information of the target grass collecting point, the grass unloading equipment is controlled to dump the grass clippings to the target grass collecting point.

[0114] 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.

[0115] 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 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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 method for unloading grass, characterized in that: The method is applied to grass unloading equipment, and the method comprises: Acquire grass collecting belt information, wherein the grass collecting belt information includes location information of a plurality of grass collecting points on the grass collecting belt; In response to the grass unloading instruction, determining a target grass collecting point from the plurality of grass collecting points; The grass unloading equipment is controlled to dump grass clippings to the target grass collecting point based on the position information of the target grass collecting point.

2. The method according to claim 1, characterized in that The step of determining a target grass collecting point from the plurality of grass collecting points comprises: Determining an available grass collecting point from 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; and The target grass collecting point is determined from the candidate grass collecting points.

3. The method according to claim 2, characterized in that Determining the target grass collecting point from the candidate grass collecting points includes: Obtaining the first priority of the candidate grass collecting point; The candidate grass collecting point with the highest first priority is used as the target grass collecting point.

4. The method according to claim 3, characterized in that The obtaining of the first priority of the candidate grass collecting point comprises: Traversing the location information of all candidate grass collecting points and obtaining a traversal result, wherein the traversal result includes: whether there is a candidate grass collecting point outside the operation area; The first priority of the candidate grass collecting point is determined according to the traversal result.

5. The method according to claim 4, 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.

6. The method according to claim 5, characterized in that The method further comprises: Any one of all the candidate grass collecting points is determined as the target grass collecting point, or, based on the available grass unloading spaces of all the candidate grass collecting points, a candidate grass collecting point with the largest available grass unloading space is determined as the target grass collecting point.

7. The method according to claim 5, characterized in that The method further comprises: Calculating a first distance between each candidate grass collecting point and the grass unloading equipment; Sorting the calculated first distances in descending order, and determining the second priority of each candidate grass collecting point according to the sorting result, wherein the candidate grass collecting point with a smaller first distance has a higher second priority; The candidate grass collecting point with the second highest priority is used as the target grass collecting point.

8. The method according to claim 4, characterized in that When there are candidate grass collecting points outside the working area in the traversal result, 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.

9. The method according to claim 8, characterized in that The determining the first priority of the 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 second 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 second 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 second distance has a higher first priority.

10. The method according to claim 9, characterized in that The determining the first priority of the 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 third 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 third 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 third distance has a higher first priority.

11. The method according to claims 1-10, characterized in that After dumping the grass clippings to the target grass collecting point, the method further includes: Acquire the location information of the target grass collecting point; An obstacle area is marked in the grass unloading area according to the position information of the target grass collecting point, wherein the obstacle area includes the target grass collecting point.

12. The method according to claim 11, characterized in that The step of 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 an expansion distance according to the volume of grass clippings; The target grass collecting point is expanded according to the expansion distance to obtain the obstacle area.

13. A device for unloading grass, characterized in that: The device is a grass unloading device or is included in the grass unloading device, and the device comprises: An acquisition unit, used for acquiring grass collecting belt information, wherein the grass collecting belt information includes position information of a plurality of grass collecting points on the grass collecting belt; a processing unit, configured to determine a target grass collecting point from the plurality of grass collecting points in response to a grass unloading instruction; The processing unit is further used to control the grass unloading equipment to dump grass clippings to the target grass collecting point based on the position information of the target grass collecting point.

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.

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