Unloading method, loading equipment, electronic equipment and computer readable storage medium

Abstract

The invention provides a discharging method, loading equipment, electronic equipment and a computer readable storage medium. The unloading method comprises the steps that a target sub-area is determined according to the priority sequence corresponding to a plurality of sub-areas in an unloading area, the unloading area is located outside a material loading working area of loading equipment, and a connecting channel is arranged between the unloading area and the working area; and controlling the loading equipment to move from the working area to the target sub-area of the unloading area through the inlet of the connecting channel so as to carry out unloading operation. According to the method, the unloading space can be fully utilized through the sub-regions obtained after the unloading region is divided, the loading equipment goes to the target unloading point according to the priority sequence of the sub-regions, the situation that some sub-regions are blocked by other sub-regions, so that the loading equipment cannot reach the target sub-region can be avoided, and the loading efficiency is improved. The unloading efficiency of the loading equipment is improved, and the loading equipment can be prevented from colliding with materials in other sub-areas in the moving process.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a discharge method, a loading device, an electronic device, and a computer-readable storage medium. Background Art

[0002] In the related art, when unloading materials, existing material unloading vehicles generally only select sub-areas of a fixed unloading area for unloading, which will result in the unloading space not being fully utilized, and the path planning of existing material unloading vehicles is poor. During the unloading process, some sub-areas are blocked by other sub-areas, making it difficult to reach the desired sub-areas, thereby reducing the unloading efficiency of the material unloading vehicle, or colliding with materials in other sub-areas, causing the collapse of the unloaded materials. Summary of the invention

[0003] The embodiments of the present application provide an unloading method, a loading device, an electronic device, and a computer-readable storage medium, which can solve at least part of the above-mentioned technical problems.

[0004] In a first aspect, the present application provides a discharging method for controlling a loading device to discharging loaded materials, the discharging method comprising:

[0005] Determining a target sub-area according to a priority order corresponding to a plurality of sub-areas in a discharge area, wherein the discharge area is located outside a working area where the loading device loads the material, and a connecting passage is provided between the discharge area and the working area;

[0006] The loading device is controlled to move from the working area to the target sub-area of ​​the unloading area through the entrance of the connecting passage to perform the unloading operation.

[0007] In a second aspect, the present application provides a loading device, the loading device comprising:

[0008] a determination module, configured to determine a target sub-area according to a priority order corresponding to a plurality of sub-areas in a discharge area, wherein the discharge area is located outside a working area for loading materials by the loading device, and a connecting passage is provided between the discharge area and the working area; and

[0009] A control module is used to control the loading device to move from the working area to the target sub-area of ​​the unloading area through the entrance of the connecting channel to perform the unloading operation.

[0010] In a third aspect, the present application provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to perform the steps of the above-mentioned unloading method.

[0011] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is invoked by a processor to execute the steps of the above-mentioned unloading method.

[0012] The present application provides a discharge method, a loading device, an electronic device, and a computer-readable storage medium. The discharge method is used to control a loading device to discharge the loaded materials, and the discharge method includes determining a target sub-area according to the priority order corresponding to multiple sub-areas in the discharge area, wherein the discharge area is located outside the working area where the loading device loads the materials, and a connecting passage is provided between the discharge area and the working area, and the loading device is controlled to move from the working area to the target sub-area of ​​the discharge area through the entrance of the connecting passage to perform the discharge operation. The present application can make more full use of the discharge space through the multiple sub-areas obtained after the discharge area is divided, and the loading device goes to the target sub-area according to the priority order of the multiple sub-areas, which can avoid the situation that some of the sub-areas are blocked by other sub-areas so that the loading device cannot reach the target sub-area, thereby improving the discharge efficiency of the loading device, and can also avoid the situation that the loading device hits the materials in other sub-areas during the movement, causing the collapsed materials that have been discharged. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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 work.

[0014] Figure 1 Flow chart of a discharging method in one embodiment of the present application.

[0015] Figure 2 It is a schematic diagram of a working area and a discharge area in one embodiment of the present application.

[0016] Figure 3 This is a schematic diagram of a working area and a discharge area in another embodiment of the present application.

[0017] Figure 4 This is a schematic diagram of a working area and a discharge area in yet another embodiment of the present application.

[0018] Figure 5 Flow chart of a discharging method in another embodiment of the present application.

[0019] Figure 6 for Figure 5A further sub-flow chart of step S31.

[0020] Figure 7 for Figure 2 Schematic diagram of the discharge point in .

[0021] Figure 8 for Figure 3 Schematic diagram of the discharge point in .

[0022] Fig. 9 for Figure 4 Schematic diagram of the discharge point in .

[0023] Fig.10 The present invention is a flowchart for determining a target discharge point among candidate discharge points.

[0024] Fig.11 The flowchart is for dividing sub-areas and determining discharge points in one embodiment of the present application.

[0025] Fig.12 for Fig.11 A further sub-flow chart of step S52.

[0026] Fig.13 This is a flow chart of dividing sub-areas and determining unloading points in another embodiment of the present application.

[0027] Fig.14 for Figure 5 A further sub-flow chart of step S72.

[0028] Fig.15 It is a schematic block diagram of a loading device in one embodiment of the present application.

[0029] Fig.16 It is a schematic block diagram of an electronic device in an embodiment of the present application.

[0030] Figure Number:

[0031] Loading device-100; determination module-11; control module-12; working area-200; unloading area-300; sub-area-31; unloading point-32; connecting channel-400; entrance of connecting channel-500; electronic device-600; memory-61; processor-62. DETAILED DESCRIPTION

[0032] 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.

[0033] In the description of the embodiments of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings. The term "connection" in this application, unless otherwise specified, mainly refers to a physical structural connection, and may also include meanings such as direct connection or indirect connection when specified. The terms "first" and "second" in the specification and claims of this application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "includes" and any variations thereof are intended to cover non-exclusive inclusions.

[0034] See also Figure 1 , Figure 1 This is a flow chart of a discharge method in an embodiment of the present application. The discharge method is used to control a loading device to discharge loaded materials, and the discharge method includes:

[0035] S1: determining a target sub-area according to a priority order corresponding to a plurality of sub-areas in a discharge area, wherein the discharge area is located outside a working area where the loading device loads the material, and a connecting passage is provided between the discharge area and the working area;

[0036] S2: Control the loading device to move from the working area to the target sub-area of ​​the unloading area through the entrance of the connecting passage to perform the unloading operation.

[0037] Specifically, the unloading area is divided into a plurality of sub-areas, and since the unloading area is located outside the working area, the connecting passage is set between the unloading area and the working area to connect the unloading area and the working area, and the loading device determines the current target sub-area according to the priority order of the plurality of sub-areas, and after loading materials in the working area, the loading device responds to a control instruction to move from the working area through the connecting passage to the entrance of the connecting passage, and goes from the entrance of the connecting passage to the target sub-area to unload materials.

[0038] Thus, by dividing the unloading area, it is ensured that the loading equipment unloads the material into the target sub-area, avoiding the situation that the loading equipment only unloads the material into a fixed area within the unloading area, which causes the material to be too high after multiple unloadings to affect the unloading efficiency, and makes more effective use of the unloading space; and, according to the priority order of the multiple sub-areas, the loading equipment is controlled to go from the entrance of the connecting channel to the target sub-area in sequence, so that the path planning of the loading equipment can avoid the situation that some sub-areas are blocked by other sub-areas and the loading equipment cannot reach the target sub-area, thereby improving the unloading efficiency of the loading equipment, and can also avoid the situation that the loading equipment collides with the materials in other sub-areas during the movement, causing the unloaded materials to collapse, so that the loading equipment can better perform path planning.

[0039] Please also read Figure 2-Figure 4 , Figure 2 This is a schematic diagram of a working area 200 and a discharge area 300 in one embodiment of the present application. Figure 3 This is a schematic diagram of a working area 200 and a discharge area 300 in another embodiment of the present application. Figure 4 FIG. 2 is a schematic diagram of a working area 200 and a discharge area 300 in another embodiment of the present application. Figure 2-Figure 4 Different shapes of unloading areas 300 are illustrated respectively. Further, the unloading area 300 and the working area 200 are connected through the connecting channel 400, and the area where the connecting channel 400 and the unloading area 300 meet is set as the entrance 500 of the connecting channel, so that the loading device 100 moves to the unloading area 300 through the connecting channel 400, thereby preventing the loading device 100 from being damaged due to scratches from the external area and improving the unloading efficiency of the loading device 100.

[0040] like Figure 2 As shown, the unloading area 300 is a rectangle, and the rectangular unloading area 300 is divided into a plurality of grid-shaped sub-areas 31. If the unloading area 300 is evenly divided into a plurality of grid-shaped sub-areas 31, the areas of the plurality of grid-shaped sub-areas 31 are the same. If the unloading area 300 is unevenly divided into a plurality of grid-shaped sub-areas 31, the areas of at least two of the plurality of grid-shaped sub-areas 31 are different.

[0041] like Figure 3As shown, specifically, the unloading area 300 is circular, and the unloading area 300 is divided into a plurality of concentric circles, so that the divided annular areas and the middle circular area together constitute the plurality of sub-areas 31. If the unloading area 300 is evenly divided into a plurality of concentric circles, the difference between the radii of two adjacent concentric circles in the plurality of concentric circles is the same. If the unloading area 300 is unevenly divided into a plurality of concentric circles, the difference between the radii of at least two adjacent concentric circles in the plurality of concentric circles is different. Figure 4 As shown, the discharge area 300 is fan-shaped, and the fan-shaped discharge area 300 is divided into a plurality of sub-areas 31 .

[0042] It can be understood that the unloading area 300 can be evenly divided into multiple sub-areas 31, or unevenly divided into multiple sub-areas 31, the shape of the unloading area 300 is not limited to rectangular, circular, or fan-shaped, and the method of dividing the unloading area 300 into multiple different sub-areas 31 is not limited to the above-mentioned division method, and is not limited here.

[0043] In some embodiments, the length of the connecting channel 400 is the shortest straight-line distance between the working area 200 and the discharge area 300 .

[0044] In some embodiments, determining the target sub-area according to the priority order corresponding to the multiple sub-areas in the unloading area includes:

[0045] The priority of each sub-region is determined based on a first distance from a region center point of each sub-region to an entrance of the connecting passage.

[0046] Thus, based on the area center point of each sub-area 31, the first distance from each sub-area 31 to the entrance 500 of the connecting channel is calculated, and the priority of each sub-area 31 is determined according to the first distance. A standard for determining the priority of each sub-area 31 is provided, which can better and more accurately determine the priority of each sub-area 31, thereby improving the accuracy of the priority of each sub-area 31.

[0047] In some embodiments, the unloading method further comprises:

[0048] The larger the first distance is, the higher the first priority of the sub-region corresponding to the first distance is.

[0049] Specifically, in combination with the above content, the first distance from the center point of each sub-area 31 to the entrance 500 of the connecting channel is taken as the basis, the first distances are arranged in descending order, and the priority order of arrival of the loading device 100 is set according to the arranged order, that is, the sub-area 31 with the largest first distance is the first target sub-area to be arrived at by the loading device, and the sub-area 31 with the smallest first distance is the last target sub-area to be arrived at by the loading device.

[0050] Thus, the loading device 100 is controlled to go to the target sub-area in order of priority to unload materials. The path planning method can avoid the situation where some sub-areas 31 are blocked by other sub-areas 31 and the loading device 100 cannot reach them, thereby improving the unloading efficiency of the loading device 100. It can also avoid the situation where the loading device 100 collides with materials in other sub-areas 31 during movement, causing the unloaded materials to collapse.

[0051] In some embodiments, Figure 2-Figure 4 As shown, the entrance 500 of the connecting channel is a fixed area. A fixed point can be set in the area included in the entrance 500 of the connecting channel, and the straight-line distance between the center point of each sub-area 31 and the fixed point is calculated, and then the first distance of each sub-area 31 is calculated to determine the priority order corresponding to the multiple sub-areas 31 in the unloading area 300.

[0052] In some embodiments, the unloading method further comprises:

[0053] When the first distance is equal, a restricted area is set at the entrance of the connecting channel, and the restricted area is not used for unloading materials. The first priority of each sub-area decreases successively along the radial direction with the area center point of the unloading area as the starting point, wherein the sub-area closer to the area center point of the unloading area has a higher first priority.

[0054] Thus, a restricted area is set according to the above steps, and a first priority is set according to the distance in the radial direction along the center point of the unloading area 300 as the starting point, so as to further subdivide the priority of each sub-area 31 when the first distance is equal, so as to avoid the situation that some sub-areas 31 cannot be reached by the loading equipment due to being blocked by other sub-areas 31, thereby improving the unloading efficiency of the loading equipment 100, and also avoiding the situation that the loading equipment 100 collides with materials in other sub-areas 31 during movement, causing the unloaded materials to collapse.

[0055] Specifically, this step is mainly used for Figure 3In the embodiment, when the unloading area 300 is circular, the center points of the multiple concentric sub-areas 31 are all the center points of the circular unloading area 300, so the first distances of the multiple concentric sub-areas 31 are equal. Therefore, when the multiple first distances are equal, the priorities of the multiple sub-areas 31 can be determined according to the above steps. The restricted area is located at the entrance 500 of the connecting channel to avoid the situation that when the loading device 100 unloads materials at the entrance 500 of the connecting channel, the materials block the entrance 500 of the connecting channel, and the loading device 100 cannot move to the working area 200 through the connecting channel 400. The size of the restricted area can be set according to actual needs and is not limited here.

[0056] In some embodiments, determining the target sub-area according to the priority order corresponding to the multiple sub-areas in the unloading area includes:

[0057] A sub-region with the highest first priority is selected from the multiple sub-regions as the target sub-region.

[0058] Combining the above contents, Figure 3 In the process, materials are discharged in the order of the first priorities from high to low, that is, materials are discharged in the order from the innermost circular area to the outermost annular area in multiple concentric circles.

[0059] Thus, the loading device 100 is controlled to go to the sub-areas 31 in sequence to unload materials in accordance with the first priority from high to low, so as to avoid the situation that some sub-areas 31 are blocked by other sub-areas 31 and the loading device 100 cannot reach them, thereby improving the unloading efficiency of the loading device 100 and avoiding the situation that the loading device 100 collides with materials in other sub-areas 31 during movement, causing the unloaded materials to collapse.

[0060] In some embodiments, the unloading method further comprises:

[0061] A target discharge point is selected from at least one discharge point included in the target sub-area.

[0062] Therefore, at least one unloading point 32 is set in each sub-area 31, and the target unloading point is selected from the at least one unloading point 32 contained in the target sub-area to control the loading device 100 to go to the target unloading point to unload the material, so as to make full use of the unloading area, avoid the loading device 100 unloading multiple times at one unloading point 32 and causing excessive material, and further avoid the situation where excessive material hinders the movement of the loading device 100.

[0063] Specifically, each unloading point corresponds to an operation of the loading device 100 unloading materials. After determining the target unloading point in the target sub-area, the loading device 100 responds to the control instruction and goes to the target unloading point to unload materials. After the loading device 100 unloads the materials, it returns to the working area 200 through the connecting channel 400 to load materials. At this time, a new target unloading point is determined again, and the loading device 100 goes to the new target unloading point to unload materials.

[0064] See also Figure 5 , Figure 5 Flow chart of a discharge method in another embodiment of the present application. The step of selecting a target discharge point from at least one discharge point included in the target sub-area includes:

[0065] S31: Selecting a discharge point with the second highest priority from at least one discharge point included in the target sub-area as the target discharge point;

[0066] The controlling the loading device to move from the working area to the target sub-area of ​​the unloading area through the entrance of the connecting passage to perform the unloading operation includes:

[0067] S32: Control the loading device to move from the working area to the target unloading point of the target sub-area through the entrance of the connecting passage to perform an unloading operation.

[0068] Thus, at least one unloading point 32 is set in each sub-area 31, and a target sub-area is determined among the multiple sub-areas 31, so that the target unloading point is selected from the at least one unloading point 32 contained in the target sub-area, and the loading device 100 is controlled to go to the target unloading point to unload the material, so as to make full use of the unloading area, avoid the loading device 100 unloading multiple times at one unloading point 32 and causing excessive material, and further avoid the situation where excessive material hinders the movement of the loading device 100.

[0069] See also Figure 6 , Figure 6 for Figure 5 The step of selecting the discharge point with the highest second priority from at least one discharge point included in the target sub-area as the target discharge point comprises:

[0070] S311: Calculating a second distance between each discharge point in the target sub-area and the entrance of the connecting channel;

[0071] S312: sorting the calculated second distances in descending order, and determining the priority of each discharge point according to the sorting result, wherein the larger the second distance is, the higher the second priority of the discharge point corresponding to the second distance is.

[0072] Thus, the loading device 100 discharges the materials to the corresponding discharge point 32 in the target sub-area according to the order of the second priority, which can avoid obstruction of the movement route of the loading device 100 and improve the discharge efficiency.

[0073] Specifically, the target sub-area is determined according to the above steps, and the second distance between each unloading point 32 in the target sub-area and the entrance 500 of the connecting channel is calculated. Since the loading device 100 starts from the entrance 500 of the connecting channel, the loading device 100 needs to unload materials in a certain order to avoid obstruction of the movement route of the loading device 100. Therefore, the second distance corresponding to each unloading point 32 in the target sub-area is sorted in descending order, and the unloading point 32 with the largest second distance is set as the unloading point 32 with the highest priority, that is, it represents the unloading point where the loading device 100 performs the unloading operation for the first time, and the priority order continues to be set in sequence according to the sorting results.

[0074] In some embodiments, the second distance is a straight-line distance between each of the discharge points 32 and the entrance 500 of the connecting channel.

[0075] Please also read Figure 7-Figure 9 , Figure 7 for Figure 2 A schematic diagram of the discharge point 32 in FIG. Figure 8 for Figure 3 A schematic diagram of the discharge point 32 in FIG. Fig. 9 for Figure 4 Schematic diagram of the discharge point 32 in FIG. In some embodiments, as Figure 7-Figure 9 As shown, the entrance 500 of the connecting channel is a fixed area. A fixed point can be set in the entrance 500 of the connecting channel, and the straight-line distance between each discharge point 32 in the target sub-area and the fixed point is calculated, and then the second distance between each discharge point 32 in the target sub-area and the entrance 500 of the connecting channel is calculated to determine the priority order of the discharge points 32 in the target sub-area.

[0076] See also Fig.10 , Fig.10 The flow chart of determining the target discharge point among the candidate discharge points is as follows. The discharge method further comprises:

[0077] S41: Determine a discharge point in the target sub-area that has not discharged materials currently as a candidate discharge point; and

[0078] S42: Determine the discharge point with the highest second priority among the candidate discharge points as the target discharge point.

[0079] Thus, the unloading point 32 in the target sub-area where materials have not been unloaded is selected as a candidate unloading point, and a target unloading point is selected from the candidate unloading points to unload materials. This can avoid obstruction of the movement route of the loading device 100, thereby improving the unloading efficiency, and avoid the loading device 100 unloading multiple times at one unloading point 32, resulting in excessive materials, thereby avoiding the situation where excessive materials hinder the movement of the loading device 100.

[0080] In some embodiments, determining the discharge point with the second highest priority among the candidate discharge points as the target discharge point includes:

[0081] When there is only one candidate discharge point with the highest second priority, determining the candidate discharge point with the highest second priority as the target discharge point;

[0082] When there are at least two candidate unloading points whose second priority is the highest, any one of the at least two candidate unloading points is determined as the target unloading point, or, based on the amount of unloadable materials of the at least two candidate unloading points, the candidate unloading point with the largest amount of unloadable materials is determined as the target unloading point.

[0083] Specifically, when there are at least two candidate unloading points with the highest second priority order, that is, when at least two candidate unloading points have the same priority order, one of them is selected as the target unloading point, or each of the unloading points 32 is set with its own unloading material quantity. If at least two candidate unloading points have the same priority order but different unloading material quantities, the candidate unloading point with the largest unloading material quantity is determined as the target unloading point. If at least two candidate unloading points have the same priority order and the same unloading material quantity, one of them is selected as the target unloading point.

[0084] Thereby, the efficiency of path planning and resource access is ensured, and the unloading area 300 is fully utilized to avoid the loading device 100 unloading multiple times at one unloading point 32 and causing excessive material, thereby avoiding the situation where excessive material hinders the movement of the loading device 100.

[0085] In some embodiments, Figure 7As shown, when a discharge point 32 is set in each of the sub-areas 31, it is not necessary to determine whether the sub-area 31 is a target sub-area. Instead, the second distance between each of the discharge points 32 and the entrance 500 of the connecting channel is directly calculated to predetermine the priority order of all the discharge points 32 in the discharge area 300 based on multiple second distances, that is, to determine the priority order of the multiple sub-areas 31. After determining the candidate discharge points existing in all the discharge points 32, the candidate discharge point with the highest priority order among all the candidate discharge points can be determined as the target discharge point according to the predetermined priority order of all the discharge points 32.

[0086] In some embodiments, when at least one unloading point 32 is set in each of the sub-areas 31, it is not necessary to determine whether each sub-area 31 is a target sub-area. Instead, the second distance between each of the unloading points 32 and the entrance 500 of the connecting channel is directly calculated as described above, so as to predetermine the priority order of all the unloading points 32 in the unloading area 300 based on multiple second distances. At this time, the obtained priority order is not necessarily the priority order of the multiple sub-areas 31.

[0087] See also Fig.11 , Fig.11 This is a flow chart of dividing sub-areas 31 and determining discharge points 32 in an embodiment of the present application. The discharge method further includes:

[0088] S51: Dividing the unloading area into a plurality of grid-shaped sub-areas;

[0089] S52: Determine at least one discharge point corresponding to each of the sub-areas to obtain a plurality of discharge points corresponding to the plurality of sub-areas.

[0090] Thus, by dividing the unloading area 300 and setting the unloading point 32 through the sub-areas 31 obtained after the division, it is ensured that the loading equipment 100 unloads the material to the corresponding area at the target unloading point, avoiding the situation where the loading equipment 100 only unloads the material into a fixed area within the unloading area 300, resulting in the material being too high after multiple unloadings to affect the unloading efficiency, and the unloading space is more fully utilized.

[0091] See also Fig.12 , Fig.12 for Fig.11 The step of determining at least one discharge point corresponding to each of the sub-areas to obtain a plurality of discharge points corresponding to the plurality of sub-areas comprises:

[0092] S61: Determine a position point in one of the plurality of grid-shaped sub-regions as a first discharge point, or determine a position point on a boundary of one of the plurality of grid-shaped sub-regions as the first discharge point;

[0093] S62: According to the position of the first unloading point and the preset rules, the positions of the remaining unloading points corresponding to the multiple sub-areas are determined to obtain multiple unloading points corresponding to the multiple sub-areas, wherein the preset rules at least include that the straight-line distance between two adjacent unloading points among the multiple unloading points is greater than or equal to the vehicle length of the loading equipment.

[0094] Thus, by dividing the unloading area 300 and setting the unloading point 32 through the sub-areas 31 obtained after the division, it is ensured that the loading device 100 unloads the material to the corresponding area at the target unloading point, avoiding the situation where the loading device 100 only unloads the material in a fixed area of ​​the unloading area 300, resulting in the material being too high after multiple unloadings to affect the unloading efficiency, and more fully utilizing the unloading space; and, setting multiple unloading points 32 according to preset rules can avoid the situation where the loading device 100 collides with the material at other unloading points 32 during movement, causing the unloaded material to collapse.

[0095] Specifically, Figure 7 As shown, Figure 7 and Figure 2 The method of dividing the unloading area 300 into a plurality of sub-areas 31 is the same as that in the above, and after obtaining 20 sub-areas 31, a unloading point 32 needs to be set at the center position of each sub-area 31, and a unloading point 32 is first set at the middle position of one of the plurality of grid-shaped sub-areas 31, so that the unloading point 32 is used as the first unloading point 32, and the remaining 19 unloading points 32 are obtained according to the position of the first unloading point 32 and the preset rule, and then the 20 unloading points 32 are sequentially sorted in descending order according to the second distance, and numbered from number 1 to number 20, so as to obtain the priority order of the 20 unloading points 32. Among them, the side length of each grid-shaped sub-area 31 also needs to meet certain conditions, so that the straight-line distance between two adjacent unloading points 32 in the plurality of unloading points 32 is equal to the vehicle length of the loading device 100.

[0096] In another embodiment, after obtaining the multiple sub-areas 31, a position point on the boundary of one of the multiple grid-shaped sub-areas 31 is determined as the first unloading point 32, and the remaining unloading points 32 may be on the boundary or within the sub-area 31, and the number of unloading points 32 in each sub-area 31 is at least one. The unloading points 32 can be set according to actual needs, as long as the straight-line distance between two adjacent unloading points 32 among the multiple unloading points 32 is greater than or equal to the vehicle length of the loading equipment 100, and no limitation is made here.

[0097] In some embodiments, the preset rules also include the number of unloading points 32 corresponding to each sub-area 31, and the condition that the straight-line distance between two adjacent unloading points 32 among the multiple unloading points 32 is greater than or equal to the vehicle length of the loading equipment 100 must still be satisfied.

[0098] In some embodiments, the preset rules also include a unloading point trajectory, and a unloading point trajectory is pre-set to determine the remaining unloading points 32 corresponding to the multiple sub-areas 31 based on the position of the first unloading point 32 and the unloading point trajectory, so as to obtain multiple unloading points 32 corresponding to the multiple sub-areas 31, wherein when setting the unloading point trajectory, it is still necessary to meet the condition that the straight-line distance between two adjacent unloading points 32 among the multiple unloading points 32 is greater than or equal to the vehicle length of the loading equipment 100.

[0099] Specifically, in some embodiments, the loading device 100 includes a body and a unloading frame. After reaching the target unloading point, the loading device 100 can rotate around the unloading point 32 to unload the materials in the unloading frame into the area where the unloading point 32 is located. In order to avoid colliding with materials on other unloading points 32 during the rotation process, the straight-line distance between two adjacent unloading points 32 should be greater than or equal to the vehicle length of the loading device 100, wherein the vehicle length is the length of the body.

[0100] In some embodiments, the length of the vehicle body is 0.5 m, and the length of the discharge frame is 0.5 m, so the straight-line distance between two adjacent discharge points 32 should be greater than or equal to 0.5 m.

[0101] In some embodiments, determining a position point in one of the plurality of grid-shaped sub-regions as the first discharge point, or determining a position point on the boundary of one of the plurality of grid-shaped sub-regions as the first discharge point, comprises:

[0102] Determine a position point in one of the multiple grid-shaped sub-areas whose straight-line distance to the entrance of the connecting channel is the largest as the first unloading point, or determine a position point on the boundary of one of the multiple grid-shaped sub-areas whose straight-line distance to the entrance of the connecting channel is the largest as the first unloading point.

[0103] Therefore, a position point with the largest straight-line distance to the entrance 500 of the connecting channel is determined as the first unloading point 32 to facilitate better unloading and avoid the unloading materials hindering the movement of the loading equipment 100, thereby ensuring the efficiency of path planning and resource access.

[0104] See also Fig.13 , Fig.13 This is a flow chart of dividing sub-areas 31 and determining discharge points 32 in another embodiment of the present application. The discharge method further includes:

[0105] S71: Divide the circular unloading area into a plurality of concentric circles to form a plurality of sub-areas;

[0106] S72: Determine at least one discharge point corresponding to each of the sub-areas to obtain multiple discharge points corresponding to the multiple sub-areas.

[0107] Thus, by dividing the unloading area 300 and setting the unloading point 32 through the sub-areas 31 obtained after the division, it is ensured that the loading equipment 100 unloads the material to the corresponding area at the target unloading point, avoiding the situation where the loading equipment 100 only unloads the material into a fixed area within the unloading area 300, resulting in the material being too high after multiple unloadings to affect the unloading efficiency, and the unloading space is more fully utilized.

[0108] See also Fig.14 , Fig.14 for Figure 5 The step of determining at least one discharge point corresponding to each of the sub-areas to obtain a plurality of discharge points corresponding to the plurality of sub-areas comprises:

[0109] S81: Determine a position point in each of the multiple sub-areas as the first discharge point in each of the multiple sub-areas, or determine a position point on the boundary of each of the multiple sub-areas as the first discharge point in each of the multiple sub-areas;

[0110] S82: Determine the positions of the remaining unloading points in each of the sub-areas based on the position of the first unloading point in each of the sub-areas and preset rules to obtain multiple unloading points corresponding to the multiple sub-areas, wherein the preset rules at least include that the straight-line distance between two adjacent unloading points among the multiple unloading points is greater than or equal to the vehicle length of the loading equipment.

[0111] Thus, by dividing the unloading area 300 and setting the unloading point 32 through the sub-areas 31 obtained after the division, it is ensured that the loading equipment 100 unloads the material to the corresponding area at the target unloading point, avoiding the situation where the loading equipment 100 only unloads the material in a fixed area of ​​the unloading area 300, resulting in the material being too high after multiple unloadings to affect the unloading efficiency, and the unloading space is more fully utilized.

[0112] like Figure 8 As shown, Figure 8 and Figure 3 The method of dividing the unloading area 300 into multiple sub-areas 31 is the same as that in the above-mentioned embodiment. After obtaining the multiple sub-areas 31, a position point in or on the boundary of each of the sub-areas 31 is set as the first unloading point 32 in each of the sub-areas 31, and the positions of the remaining unloading points 32 in each of the sub-areas 31 are determined according to the position of the first unloading point 32 and preset rules, so as to obtain multiple unloading points 32 corresponding to the multiple sub-areas 31.

[0113] In some embodiments, the preset rules also include a unloading point trajectory, and a unloading point trajectory is pre-set to determine the positions of the remaining unloading points 32 in each of the sub-areas 31 based on the position of the first unloading point 32 and the unloading point trajectory, so as to obtain multiple unloading points 32 corresponding to the multiple sub-areas 31, wherein when setting the unloading point trajectory, it is still necessary to meet the condition that the straight-line distance between two adjacent unloading points 32 among the multiple unloading points 32 is greater than or equal to the vehicle length of the loading equipment 100.

[0114] In some embodiments, the preset number of unloading points 32 on the boundary of each sub-area 31 can be determined based on a preset rule that the straight-line distance between two adjacent unloading points 32 among the multiple unloading points 32 is greater than or equal to the vehicle length of the loading device 100.

[0115] In some embodiments, specifically, Figure 8In the unloading area 300 and the multiple sub-areas 31, the target sub-area is not determined, but the straight-line distances between the multiple unloading points 32 and the entrance 500 of the connecting channel are directly calculated, and the obtained multiple straight-line distances are sorted in order from large to small, and the priorities of the multiple unloading points 32 are determined according to the arrangement order. Among them, the unloading point 32 with a larger straight-line distance has a higher priority, that is, the loading device 100 arrives at the unloading point 32 earlier to unload the material.

[0116] like Fig. 9 As shown, specifically, the unloading area 300 is fan-shaped, and the unloading area 300 is divided into multiple sub-areas 31. After obtaining the multiple sub-areas 31, the vertex of the fan is determined as the first unloading point 32, and the positions of the remaining unloading points 32 in each of the sub-areas 31 are determined according to the position of the first unloading point 32 and preset rules, so as to obtain multiple unloading points 32 corresponding to the multiple sub-areas 31.

[0117] In some embodiments, determining a position point in each of the plurality of sub-areas as the first discharge point in each of the plurality of sub-areas, or determining a position point on a boundary of each of the plurality of sub-areas as the first discharge point in each of the plurality of sub-areas, comprises:

[0118] Determine a position point in each of the multiple sub-areas whose straight-line distance to the entrance of the connecting channel is the largest as the first unloading point of each sub-area, or determine a position point on the boundary of each of the multiple sub-areas whose straight-line distance to the entrance of the connecting channel is the largest as the first unloading point of each sub-area.

[0119] Thus, a position point with the largest straight-line distance to the entrance 500 of the connecting channel is determined as the first unloading point 32 to facilitate better unloading, avoid the unloading material hindering the movement of the loading device 100, and ensure the efficiency of path planning and resource access.

[0120] In some embodiments, if the straight-line distance between some of the plurality of discharge points 32 and the entrance 500 of the connecting channel is less than a preset distance, the some of the discharge points 32 are removed.

[0121] In some embodiments, the unloading method further comprises:

[0122] The loading device moves to the entrance of the connecting passage after completing unloading in the target sub-area, and returns to the working area from the entrance of the connecting passage to load materials.

[0123] Therefore, each of the unloading points 32 corresponds to an operation of unloading materials. After unloading materials, the loading device 100 needs to return to the working area 200 to load materials again to ensure the continuity of the unloading operation.

[0124] In some embodiments, the loading device 100 is a lawn mower, which includes a body and a unloading frame, the working area 200 is a grassland, the unloading area 300 is a unloading area, the unloading point 32 is a grass unloading point, and the material is grass or grass clippings.

[0125] Please also read Fig.15 , Fig.15 1 is a schematic block diagram of a loading device 100 in an embodiment of the present application. The loading device 100 includes a determination module 11 and a control module 12, wherein the determination module 11 is used to determine a target sub-area according to a priority order corresponding to a plurality of sub-areas 31 in a discharge area 300, wherein the discharge area 300 is located outside a working area 200 for loading materials of the loading device 100, and a connecting passage is provided between the discharge area 300 and the working area 200, and the control module 12 is used to control the loading device 100 to move from the working area 200 to the target sub-area of ​​the discharge area 300 through the entrance 500 of the connecting passage to perform a discharge operation.

[0126] Thus, the loading device 100 avoids the situation where the loading device 100 only unloads the materials into a fixed area within the unloading area 300, which causes the materials to be too high after multiple unloadings to affect the unloading efficiency, and makes more effective use of the unloading space; and the path planning of the loading device 100 can avoid the situation where some unloading points 32 are blocked by other unloading points 32, making the loading device 100 unable to reach the target unloading point.

[0127] The operations performed by the determination module 11 and the control module 12 correspond to the steps in the methods in the aforementioned embodiments. For more specific operations performed by the determination module 11 and the control module 12, reference can be made to the steps in the methods in the aforementioned embodiments.

[0128] See also Fig.16 , Fig.16 1 is a schematic block diagram of an electronic device 600 in an embodiment of the present application. The electronic device 600 includes a processor 62 and a memory 61, wherein the memory 61 stores a computer program, and the processor 62 runs the computer program to perform the above-mentioned unloading method.

[0129] For example, the unloading method includes:

[0130] Determining a target sub-area according to a priority order corresponding to a plurality of sub-areas in a discharge area, wherein the discharge area is located outside a working area where the loading device loads the material, and a connecting passage is provided between the discharge area and the working area;

[0131] The loading device is controlled to move from the working area to the target sub-area of ​​the unloading area through the entrance of the connecting passage to perform the unloading operation.

[0132] Thus, it is avoided that the materials are only unloaded in a fixed area within the unloading area 300, which would cause the materials to be too high after multiple unloadings to affect the unloading efficiency, and the unloading space is more fully utilized; and the path planning of the electronic device 600 can avoid certain sub-areas 31 being blocked by other sub-areas 31.

[0133] Among them, the other steps in the unloading method executed by the processor 62 running the computer program can be specifically referred to the steps in the methods in the aforementioned embodiments.

[0134] The processor 62 may be a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The memory 61 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. For example, it may be, but is not limited to, a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. The processor 62 is connected to the memory 61.

[0135] The present application also provides a computer-readable storage medium, in which a computer program is stored. The computer program is called by the processor 62 to execute the unloading method as described above.

[0136] For example, the unloading method includes:

[0137] Determining a target sub-area according to a priority order corresponding to a plurality of sub-areas in a discharge area, wherein the discharge area is located outside a working area where the loading device loads the material, and a connecting passage is provided between the discharge area and the working area;

[0138] The loading device is controlled to move from the working area to the target sub-area of ​​the unloading area through the entrance of the connecting passage to perform the unloading operation.

[0139] Among them, the other steps of the unloading method executed after the computer program is called by the processor can be specifically referred to the steps in the method in the aforementioned embodiments.

[0140] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0141] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0142] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0143] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer or may be connected to an external computer (e.g., via the Internet using an Internet service provider) through any type of network, including a local area network (LAN) or a wide area network (WAN).

[0144] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application; in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for unloading, for controlling a loading device to unload loaded materials, characterized in that: The unloading method comprises: Determining a target sub-area according to a priority order corresponding to a plurality of sub-areas in a discharge area, wherein the discharge area is located outside a working area where the loading device loads the material, and a connecting passage is provided between the discharge area and the working area; The loading device is controlled to move from the working area to the target sub-area of ​​the unloading area through the entrance of the connecting channel to perform the unloading operation.

2. The unloading method according to claim 1, characterized in that: The step of determining the target sub-area according to the priority order corresponding to the plurality of sub-areas in the unloading area includes: The priority of each sub-region is determined based on a first distance from a region center point of each sub-region to an entrance of the connecting passage.

3. The unloading method according to claim 2, characterized in that: The unloading method also includes: The larger the first distance is, the higher the first priority of the sub-region corresponding to the first distance is.

4. The unloading method according to claim 2, characterized in that: The unloading method also includes: When the first distance is equal, a restricted area is set at the entrance of the connecting channel, and the restricted area is not used for unloading materials. The first priority of each sub-area decreases successively along the radial direction with the area center point of the unloading area as the starting point, wherein the sub-area closer to the area center point of the unloading area has a higher first priority.

5. The unloading method according to any one of claims 1 to 4, characterized in that: The step of determining the target sub-area according to the priority order corresponding to the plurality of sub-areas in the unloading area includes: A sub-region with the highest first priority is selected from the multiple sub-regions as the target sub-region.

6. The unloading method according to claim 5, characterized in that: The unloading method also includes: A target discharge point is selected from at least one discharge point included in the target sub-area.

7. The unloading method according to claim 6, characterized in that: The selecting a target discharge point from at least one discharge point included in the target sub-area comprises: Selecting a discharge point with the second highest priority from at least one discharge point included in the target sub-area as the target discharge point; The controlling the loading device to move from the working area to the target sub-area of ​​the unloading area through the entrance of the connecting passage to perform the unloading operation includes: The loading device is controlled to move from the working area to the target unloading point of the target sub-area through the entrance of the connecting passage to perform the unloading operation.

8. The unloading method according to claim 7, characterized in that: The step of selecting a discharge point with the second highest priority from at least one discharge point included in the target sub-area as the target discharge point comprises: Calculating a second distance between each discharge point in the target sub-area and the entrance of the connecting channel; The calculated second distances are sorted in descending order, and the priority of each discharge point is determined according to the sorting result, wherein the larger the second distance is, the higher the second priority of the discharge point corresponding to the second distance is.

9. The unloading method according to any one of claims 7-8, characterized in that: The unloading method also includes: Determine a discharge point in the target sub-area that has not currently discharged materials as a candidate discharge point; and The unloading point with the highest second priority among the candidate unloading points is determined as the target unloading point.

10. The unloading method according to claim 9, characterized in that: The step of determining the discharge point with the highest second priority among the candidate discharge points as the target discharge point comprises: When there is only one candidate discharge point with the highest second priority, determining the candidate discharge point with the highest second priority as the target discharge point; When there are at least two candidate unloading points whose second priority is the highest, any one of the at least two candidate unloading points is determined as the target unloading point, or, based on the amount of unloadable materials of the at least two candidate unloading points, the candidate unloading point with the largest amount of unloadable materials is determined as the target unloading point.

11. The unloading method according to any one of claims 1 to 10, characterized in that: The unloading method also includes: Dividing the unloading area into a plurality of grid-shaped sub-areas; At least one discharge point corresponding to each of the sub-areas is determined to obtain a plurality of discharge points corresponding to the plurality of sub-areas.

12. The unloading method according to claim 11, characterized in that: The determining of at least one discharge point corresponding to each of the sub-areas to obtain a plurality of discharge points corresponding to the plurality of sub-areas includes: Determine a position point in one of the plurality of grid-shaped sub-regions as a first discharge point, or determine a position point on a boundary of one of the plurality of grid-shaped sub-regions as the first discharge point; According to the position of the first unloading point and the preset rules, the positions of the remaining unloading points corresponding to the multiple sub-areas are determined to obtain multiple unloading points corresponding to the multiple sub-areas, wherein the preset rules at least include that the straight-line distance between two adjacent unloading points among the multiple unloading points is greater than or equal to the vehicle length of the loading equipment.

13. The unloading method according to claim 12, characterized in that: The step of determining a position point in one of the plurality of grid-shaped sub-regions as the first discharge point, or determining a position point on the boundary of one of the plurality of grid-shaped sub-regions as the first discharge point, comprises: Determine a position point in one of the multiple grid-shaped sub-areas whose straight-line distance to the entrance of the connecting channel is the largest as the first unloading point, or determine a position point on the boundary of one of the multiple grid-shaped sub-areas whose straight-line distance to the entrance of the connecting channel is the largest as the first unloading point.

14. The unloading method according to any one of claims 1 to 10, characterized in that: The unloading method also includes: Dividing the circular discharge area into a plurality of concentric circles to form a plurality of sub-areas; At least one discharge point corresponding to each of the sub-areas is determined to obtain a plurality of discharge points corresponding to the plurality of sub-areas.

15. The unloading method according to claim 14, characterized in that: The determining of at least one discharge point corresponding to each of the sub-areas to obtain a plurality of discharge points corresponding to the plurality of sub-areas includes: Determine a position point in each of the plurality of sub-areas as the first discharge point in each of the plurality of sub-areas, or determine a position point on the boundary of each of the plurality of sub-areas as the first discharge point in each of the plurality of sub-areas; According to the position of the first unloading point in each of the sub-areas and preset rules, the positions of the remaining unloading points in each of the sub-areas are determined to obtain multiple unloading points corresponding to the multiple sub-areas, wherein the preset rules at least include that the straight-line distance between two adjacent unloading points among the multiple unloading points is greater than or equal to the vehicle length of the loading equipment.

16. The unloading method according to claim 15, characterized in that: The step of determining a position point in each of the plurality of sub-areas as the first discharge point in each of the plurality of sub-areas, or determining a position point on a boundary of each of the plurality of sub-areas as the first discharge point in each of the plurality of sub-areas, comprises: Determine a position point in each of the multiple sub-areas whose straight-line distance to the entrance of the connecting channel is the largest as the first unloading point of each sub-area, or determine a position point on the boundary of each of the multiple sub-areas whose straight-line distance to the entrance of the connecting channel is the largest as the first unloading point of each sub-area.

17. The unloading method according to claim 1, characterized in that: The unloading method also includes: The loading device moves to the entrance of the connecting passage after completing unloading in the target sub-area, and returns to the working area from the entrance of the connecting passage to load materials.

18. A loading device, characterized in that: The loading device comprises: a determination module, configured to determine a target sub-area according to a priority order corresponding to a plurality of sub-areas in a discharge area, wherein the discharge area is located outside a working area for loading materials by the loading device, and a connecting passage is provided between the discharge area and the working area; and A control module is used to control the loading device to move from the working area to the target sub-area of ​​the unloading area through the entrance of the connecting channel to perform the unloading operation.

19. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to execute the unloading method according to any one of claims 1 to 17.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is called by a processor to execute the unloading method according to any one of claims 1 to 17.

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