A method of unloading grass and related apparatus

Abstract

The application discloses a grass unloading method and a related device. The method is applied to a grass unloading device. The method comprises the following steps: first, acquiring grass collecting belt information, wherein the grass collecting belt information comprises position information of a plurality of grass collecting points on a grass collecting belt; 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 device to dump grass clippings to the target grass collecting point based on position information of the target grass collecting point. In this way, the mower can select a grass collecting point to perform automatic grass unloading, improve the flexibility of grass unloading, and also facilitate improving the grass unloading efficiency.

Description

Technical Field

[0001] This application relates to the field of garden tools, and more particularly to a method for unloading grass and related devices. 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 method and related apparatus for unloading grass. The grass unloading equipment can unload grass flexibly, effectively reducing grass debris and improving grass unloading efficiency.

[0005] In a first aspect, this application provides a method for unloading grass, the method being applied to a grass unloading device, the method comprising: acquiring grass collection belt information, the grass collection belt information including location information of multiple grass collection points on the grass collection belt; in response to a grass unloading command, determining a target grass collection point from the multiple grass collection points; and controlling the grass unloading device to dump grass clippings to the target grass collection point based on the location information of the target grass collection point.

[0006] In the above method, multiple collection points are set on the hay collection belt. When a hay unloading command is received, the unloading equipment can freely select a collection point for unloading, improving the flexibility of unloading. In addition, the unloading equipment can be controlled to automatically dump hay clippings at different collection points on the hay collection belt, making full use of the unloading space of the belt and avoiding the problem of excessively high hay piles after multiple unloadings caused by dumping hay clippings into a fixed position, thus improving unloading efficiency.

[0007] In conjunction with the first aspect, in one possible implementation of the first aspect, determining the target grass collection point from the plurality of grass collection points includes: determining available grass collection points as candidate grass collection points from the plurality of grass collection points, wherein the 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.

[0008] 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: obtaining a first priority of the candidate grass collection points; and selecting the candidate grass collection point with the highest first priority as the target grass collection point.

[0009] In conjunction with the first aspect, in one possible implementation of the first aspect, obtaining the first priority of the candidate grass collection point includes: traversing the location information of all candidate grass collection points and obtaining the traversal result, wherein the traversal result includes: whether there are candidate grass collection points located outside the work area; and determining the first priority of the candidate grass collection point based on the traversal result.

[0010] 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.

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

[0012] In conjunction with the first aspect, in one possible implementation of the first aspect, the method further includes: calculating a first distance between each candidate grass collection point and the grass unloading device; sorting the calculated first distances in descending order, and determining a second priority for each candidate grass collection point based on the sorting result, wherein the candidate grass collection point with the smaller first distance has a higher second priority; and taking the candidate grass collection point with the highest second priority as the target grass collection point.

[0013] 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.

[0014] In conjunction with the first aspect, in one possible implementation of the first aspect, determining the first priority of the 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 second 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 second 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 second distance has a higher first priority.

[0015] In conjunction with the first aspect, in one possible implementation of the first aspect, determining the first priority of the 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 third 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 third 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 third distance corresponds to the higher first priority.

[0016] 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.

[0017] 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.

[0018] Secondly, this application provides a device for unloading hay, which is a hay unloading device or included in the hay unloading device. The device includes: an acquisition unit for acquiring hay collection belt information, the hay collection belt information including the location information of multiple hay collection points on the hay collection belt; a processing unit for determining a target hay collection point from the multiple hay collection points in response to a hay unloading command; the processing unit is further configured to control the hay unloading device to dump hay clippings to the target hay collection point based on the location information of the target hay collection point.

[0019] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is specifically used to: determine available grass collection points as candidate grass collection points from the plurality of 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.

[0020] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is specifically used to: obtain the first priority of the candidate grass collection point; and take the candidate grass collection point with the highest first priority as the target grass collection point.

[0021] 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 and obtain traversal results, the traversal results including: whether there are candidate grass collection points located outside the work area; and determine the first priority of the candidate grass collection points based on the traversal results.

[0022] 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.

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

[0024] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is further configured to: calculate a first distance between each candidate grass collection point and the grass unloading device; sort the calculated first distances in descending order, and determine the second priority of each candidate grass collection point according to the sorting result, wherein the candidate grass collection point with the smaller first distance has a higher second priority; and take the candidate grass collection point with the highest second priority as the target grass collection point.

[0025] 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.

[0026] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is specifically configured to: acquire the location information of the area where the grass collection strip intersects with the work area; calculate the second 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 second 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 second distance has the higher first priority.

[0027] In conjunction with the second aspect, in one possible implementation of the second aspect, the processing unit is specifically configured to: when there are no available candidate grass collection points in the first group of grass collection points, calculate the third distance between each candidate grass collection point in the second group of grass collection points and the intersecting region based on the location information; sort the calculated third 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 third distance corresponds to the higher first priority.

[0028] In conjunction with the second aspect, in one possible implementation of the second aspect, after the grass clippings are dumped to the target grass collection point, 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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

[0034] 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.

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

[0036] Figure 2 This is a flowchart of a method for unloading grass provided in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the location of a grass collection strip provided in an embodiment of this application;

[0038] Figure 4 This is a schematic diagram showing the location of grass collection points on a grass collection strip, provided in an embodiment of this application.

[0039] Figure 5 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0040] 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.

[0041] 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.

[0042] Figure 8 This is a schematic diagram of the structure of a control device provided in an embodiment of this application;

[0043] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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 communication equipment and unloading equipment, wherein the unloading equipment and the communication equipment can communicate wirelessly or via wired means. A control device is deployed on the unloading equipment, which can communicate with the communication equipment through the control device.

[0048] For example, the control device may be a chip, integrated circuit, etc.

[0049] For example, the communication device can be a user device or a network-side device. The user device can be a user's mobile device such as a smartphone, tablet, or laptop. The network-side device can be a server in the control center of the equipment or a component within a server; the component can be, for example, a chip. The network-side device can be deployed in a cloud environment or an edge environment.

[0050] For example, the control unit of the hay unloading equipment can obtain hay collection belt information from a communication device, which is used to assist the hay unloading equipment in performing hay unloading. In some solutions, the hay collection belt information can be pre-stored locally on the control unit.

[0051] 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. In some solutions, the method provided in this application embodiment may not require the participation of the above-described communication equipment, and no specific limitations are made here.

[0052] See Figure 2 , Figure 2 This is a flowchart illustrating a method for unloading grass according to an embodiment of this application. This method can be applied to a control device, which is deployed in the aforementioned... Figure 1 The method is included, but is not limited to, the following steps S201-S203, in the unloading equipment shown.

[0053] S201: Obtain grass collection belt information, which includes the location information of multiple grass collection points on the grass collection belt.

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

[0055] For example, the control device first sends a grass collection tape acquisition request to the communication device; in response to the grass collection tape acquisition request, the communication device sends grass collection tape information to the control device, and then the control device receives the grass collection tape information from the communication device.

[0056] For communication equipment, please refer to the aforementioned text. Figure 1 The relevant descriptions of the communication devices in the embodiments will not be repeated here.

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

[0058] For example, the grass collection strip can be a straight line or a curve. Here, the number of grass collection strips included in the grass collection strip information is not limited; it can be one or multiple strips.

[0059] Here, the grass collection strip can be located within the work area, outside the work area, or intersect with the work area. The work area specifically refers to the geographical area covered by the grass-cutting equipment during grass-cutting operations.

[0060] See Figure 3 , Figure 3 This is a schematic diagram of the location of a grass collection belt provided in an embodiment of this application. Figure 3 The image shows three grass collection zones: grass collection zone 1, grass collection zone 2, and grass collection zone 3. It can be seen that grass collection zone 1 and grass collection zone 3 are both curves, while grass collection zone 2 is a straight line. Grass collection zone 1 is located outside the work area, grass collection zone 2 is located within the work area, and grass collection zone 3 intersects with the work area, indicating that part of grass collection zone 3 is located within the work area and another part is located outside the work area.

[0061] For example, the hay collection points on the hay collection strip can be understood as unloading points, that is, places where hay piles or hay clippings are placed. The number of hay collection points on different hay collection strips can be the same or different.

[0062] See Figure 4 , Figure 4 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. Based on Figure 4 It can be seen that there are 5 grass collection points on grass collection belt 1, namely P1, P2, P3, P4, and P5; 2 grass collection points on grass collection belt 2, namely P6 and P7; and 3 grass collection points on grass collection belt 3, namely P8, P9, and P10. Based on the positional relationship between the grass collection belts and the work area, the positional relationship between the grass collection points on the grass collection belts and the work area can be determined. Specifically, since grass collection belt 1 is located outside the work area, grass collection points P1-P5 on grass collection belt 1 are all located outside the work area; since grass collection belt 2 is located outside the work area, grass collection points P6 and P7 on grass collection belt 2 are both located within the work area; since grass collection belt 3 intersects with the work area, it indicates that some grass collection points (i.e., grass collection point P8) on grass collection belt 3 are located within the work area, while another group of grass collection points (i.e., grass collection points P9 and P10) are located outside the work area. This is understandable. Figure 4 This is merely an example of a grass collection point on a grass collection strip and should not be construed as limiting the number of grass collection points on the grass collection strip or the spacing between adjacent grass collection points on the grass collection strip.

[0063] For example, the distance between any two adjacent hay collection points on the hay collection belt is greater than the length of the unloading equipment, where the length of the unloading equipment does not include the length of the unloading frame, which can also be called an unloading basket, unloading box, etc. This prevents the unloading equipment from colliding with hay piles placed at other hay collection points during the unloading process.

[0064] S202: In response to the unloading instruction, determine the target grass collection point from the above multiple grass collection points.

[0065] For example, the control device first receives a grass-unloading command from the grass-cutting device. The grass-unloading command instructs the grass-unloading device to perform grass unloading.

[0066] For example, the straw unloading command is transmitted to the control device when any of the following conditions are met:

[0067] The mowing device stops mowing.

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

[0069] The weight of the hay clippings collected by the hay unloading equipment reaches the first threshold.

[0070] The system detects that the user has activated the unloading switch or unloading mechanism; or,

[0071] Under the condition that the user confirms the execution of the grass removal operation.

[0072] Here, the first threshold can be a user-preset value or a factory default value; no specific limitation is made here.

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

[0074] In one implementation, determining the target hay collection point from the plurality of hay collection points includes: determining available hay collection points as candidate hay collection points from the plurality of hay collection points, wherein available hay collection points are hay collection points with unloading space greater than 0; and determining the target hay collection point from the candidate hay collection points. Thus, the target hay collection point to which the unloading equipment will proceed has unloading space capable of accommodating the hay clippings dumped by the unloading equipment.

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

[0076] For example, obtaining the first priority of a candidate grass collection point can be done by: traversing the location information of all candidate grass collection points and obtaining the traversal results, which include: whether there are candidate grass collection points located outside the work area; and determining the first priority of each candidate grass collection point based on the traversal results.

[0077] In one implementation, when no candidate grass collection points are 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. Figure 4 That is, the first priority of grass collection points P6, P7 and P8 is the same.

[0078] As an example, when there are no candidate grass collection points located outside the work area in the traversal results (i.e., all candidate grass collection points are located within the work area), any candidate grass collection point can be selected from all these candidate grass collection points to be determined as the target grass collection point. Alternatively, based on the grass unloading space of the candidate grass collection points, the candidate grass collection point with the largest grass unloading space can be determined from all candidate grass collection points as the target grass collection point.

[0079] As an example, when no candidate hay collection points are found outside the work area during the traversal (i.e., all candidate hay collection points are within the work area), the target hay collection point can be determined by combining the second priority of the candidate hay collection points. Specifically, the first distance between each candidate hay collection point and the unloading equipment is calculated; the calculated first distances are sorted in descending order, and the second priority of each candidate hay collection point is determined based on the sorting result, where the candidate hay collection point with the smaller first distance corresponds to the higher second priority; the candidate hay collection point with the highest second priority is selected as the target hay collection point. In other words, when all candidate hay collection points are within the work area, the candidate hay collection point closest to the current position of the unloading equipment can be selected as the target hay collection point, enabling the unloading equipment to quickly perform hay unloading.

[0080] For example, the first distance mentioned above can be measured as a straight-line distance (Euclidean distance) or a Manhattan distance.

[0081] See Figure 5 , Figure 5 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application. Figure 5 In this scenario, assuming that based on the traversal results, there are no candidate hay collection points located outside the work area, and all candidate hay collection points include only hay collection points P6 and P7, the current position of the hay unloading equipment is... Figure 5 Position A is determined based on the distance between the grass collection point and the current position of the grass unloading equipment. It can be seen that the distance between grass collection point P6 and position A is less than the distance between grass collection point P7 and position A. Therefore, the second priority of grass collection point P6 is greater than the second priority of grass collection point P7. Thus, grass collection point P6 is taken as the target grass collection point.

[0082] In another implementation, when candidate grass collection points located outside the work area are found in the traversal results, all candidate grass collection points outside the work area are designated as the first group of grass collection points, and candidate grass collection points within the work area are designated as the second group of grass collection points. The first priority of any candidate grass collection point in the first group is greater than the first priority of all candidate grass collection points in the second group. In other words, when all candidate grass collection points include both those outside and inside the work area, the candidate grass collection points outside the work area are preferentially selected as the target grass collection points. This avoids the dumped grass clippings interfering with the operation of the grass unloading equipment within the work area, thus improving the efficiency of the grass unloading equipment within the work area.

[0083] As an example, the method for determining the first priority of candidate grass collection points could be as follows: Obtain the location information of the area where the grass collection strip intersects with the work area; calculate the second distance between each candidate grass collection point in the first group 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 first group based on the sorting results, where the candidate grass collection point with the larger the second distance has the higher its first priority. In other words, for grass collection points outside the work area, they are selected sequentially from farthest to closest.

[0084] 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 second 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.

[0085] For example, the second distance mentioned above can be measured as a straight-line distance (Euclidean distance) or a Manhattan distance.

[0086] 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 6In the diagram, grass collection strip 2 is located within the work area, and grass collection strip 3 intersects with the work area. Grass collection points on grass collection strip 2 include P6 and P7, while grass collection points on grass collection strip 3 include P8, P9, and P10. It can be seen that grass collection points P6, P7, and P8 are within the work area, while grass 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 grass collection strip 3 and the work area is location B. For grass collection points P9 and P10, which are outside the work area, since the distance between grass collection point P10 and location B is greater than the distance between grass collection point P9 and location B, the first priority of grass collection point P10 is greater than the first priority of grass collection point P9.

[0087] 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 third 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 third 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 third distance has a higher first priority. In this way, when all grass collection points outside the work area are unavailable, proceeding to each candidate grass collection point in the work area in order from the outside to the inside helps improve the operating efficiency of the grass unloading equipment within the work area.

[0088] Combination Figure 6 It can be known that the first group of hay collection points includes hay collection points P9 and P10, and the second group of hay collection points includes hay collection points P6, P7, and P8. When hay collection points P9 and P10 in the first group are both unavailable, the first priority of each candidate hay collection point in the first group is determined based on the ranking of the distances between each candidate hay collection point and location B (intersecting area). Figure 6 It can be seen that the distance between grass collection point P8 and position B is less than the distance between grass collection point P7 and position B, which is less than the distance between grass collection point P6 and position B. 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.

[0089] S203: Based on the location information of the target grass collection point, control the grass unloading equipment to dump grass clippings to the target grass collection point.

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

[0091] It is understandable that when the target hay collection point is within the work area, the unloading equipment can be controlled to navigate to the target hay collection point from any direction. When the target hay collection point is outside the work area, the unloading equipment can be controlled to navigate to the target hay collection point from any direction. However, when there is a connecting passage between the hay collection belt and the work area, the unloading equipment can be controlled to navigate to the target hay collection point through the connecting passage.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] See Figure 7 , Figure 7 This is a schematic diagram illustrating how obstacle areas are determined based on grass collection points, as provided in an embodiment of this application. Figure 5 In this scenario, assuming the target hay collection point is P6, after the unloading equipment dumps hay clippings to P6, a visual sensor identifies the volume of hay clippings dumped at P6. This volume is used to determine the expansion distance. Based on the location information of P6 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.

[0096] 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.

[0097] 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.

[0098] Implementation Figure 2 In this embodiment, the hay collection belt is equipped with multiple hay collection points. Upon receiving an unloading command, the unloading equipment can freely select a collection point for unloading, improving the flexibility of unloading. Furthermore, the unloading equipment can be controlled to automatically dump hay clippings at different collection points on the hay collection belt, fully utilizing the unloading space and avoiding the problem of excessively high hay piles after multiple unloadings caused by dumping hay clippings into a fixed location, thus improving unloading efficiency.

[0099] See Figure 8 , Figure 8 This 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.

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

[0101] 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.

[0102] 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).

[0103] 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 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 this application does not limit the number of processors and memories in the electronic device 40.

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

[0105] 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).

[0106] 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.

[0107] 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.

[0108] 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.

[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 embodiments.

[0110] 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 in the aforementioned grass unloading equipment), the processor 411 can be used to read one or more computer programs stored in memory to perform the following operations:

[0111] The grass collection belt information is acquired by the acquisition unit 310, which includes the location information of multiple grass collection points on the grass collection belt.

[0112] Obtain the unloading instruction, and in response to the unloading instruction, determine the target unloading point from the above multiple unloading points;

[0113] Based on the location information of the target hay collection point, the unloading equipment is controlled to dump hay clippings to the target hay collection point.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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 method for unloading straw, characterized in that, The method is applied to a straw unloading device, and the method includes: Acquire grass collection belt information, which includes the location information of multiple grass collection points on the grass collection belt; In response to the unloading command, available grass collection points are determined from the plurality of grass collection points as candidate grass collection points, wherein the available grass collection point is a grass collection point with a grass unloading space greater than 0; the first priority of the candidate grass collection points is obtained; the candidate grass collection point with the highest first priority is selected as the target grass collection point; the first priority of grass collection points located outside the working area of ​​the unloading equipment is greater than the first priority of grass collection points located within the working area; Based on the location information of the target grass collection point, the unloading equipment is controlled to dump grass clippings to the target grass collection point.

2. The method according to claim 1, characterized in that, The first priority for obtaining the candidate grass points includes: The location information of all candidate grass collection points is traversed and the traversal results are obtained. The traversal results include: whether there are candidate grass collection points located outside the work area. The first priority of the candidate grass point is determined based on the traversal results.

3. The method according to claim 2, 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.

4. The method according to claim 3, characterized in that, The method further includes: The target grass collection point is determined from any one of the candidate grass collection points, or the candidate grass collection point with the largest unloading space is determined from all the candidate grass collection points.

5. The method according to claim 3, characterized in that, The method further includes: Calculate the first distance between each candidate grass collection point and the grass unloading device; The calculated first distances are sorted in descending order, and the second priority of each candidate grass collection point is determined according to the sorting results, wherein the candidate grass collection point with the smaller first distance has a higher second priority. The candidate grass collection point with the highest second priority is taken as the target grass collection point.

6. The method according to claim 2, 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; Determining the first priority of the candidate grass points 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 second 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 second 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 second distance has a higher first priority.

7. The method according to claim 6, characterized in that, Determining the first priority of the candidate grass points based on the traversal results includes: When there are no available candidate grass collection points in the first group of grass collection points, calculate the third distance between each candidate grass collection point in the second group of grass collection points and the intersecting area based on the location information. The calculated third 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 third distance has the higher first priority.

8. The method according to any one of claims 1-7, characterized in that, After dumping the grass clippings into the target grass collection point, the method further includes: Obtain the location information of the target grass points; Based on the location information of the target grass collection point, an obstacle area is marked within the grass unloading area, wherein the obstacle area includes the target grass collection point.

9. The method according to claim 8, characterized in that, The step of marking obstacle areas within the unloading area based on the location information of the target hay collection point includes: Obtain the volume of hay clippings dumped by the unloading equipment at the target hay collection point; The expansion distance is determined based on the volume of the grass clippings. The target grass collection point is expanded according to the expansion distance to obtain the obstacle area.

10. A device for unloading hay, characterized in that, The device is a straw unloading device or is included in the straw unloading device, and the device includes: The acquisition unit is used to acquire grass collection belt information, which includes the location information of multiple grass collection points on the grass collection belt. The processing unit is configured to, in response to a straw unloading command, determine available straw collection points as candidate straw collection points from the plurality of straw collection points, wherein the available straw collection points are straw collection points with a straw unloading space greater than 0; obtain a first priority of the candidate straw collection points; select the candidate straw collection point with the highest first priority as the target straw collection point; and specify that the first priority of straw collection points located outside the operating area of ​​the straw unloading equipment is greater than the first priority of straw collection points located within the operating area. The processing unit is also used to control the unloading equipment to dump grass clippings to the target grass collection point based on the location information of the target grass collection point.

11. 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 1-9.

12. A straw unloading device, characterized in that, The unloading equipment includes the apparatus as described in claim 10 or 11.

13. 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 1-9.

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