Grass unloading point setting method and device, grass unloading equipment and computer program product

Abstract

The invention provides a grass unloading point setting method and device, grass unloading equipment and a computer program product, and the method comprises the steps that multiple groups of grass unloading points are set in a grass unloading area, each grass unloading point in the multiple groups of grass unloading points is used for dumping grass clippings for the grass unloading equipment, and the grass clippings are stored in the grass unloading area; the minimum distance between the grass clippings areas of any two grass unloading points in each group of grass unloading points is greater than or equal to the width of the grass unloading equipment, the minimum distance between any two grass unloading points in different groups is greater than or equal to 0, and each grass unloading point is positioned in the grass clippings area of each grass unloading point. Based on the scheme, the space of the grass unloading area can be fully utilized.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a method and device for setting a grass unloading point, grass unloading equipment and a computer program product. Background Art

[0002] As an efficient weeding tool, lawn mowers are widely used in urban greening, household weeding, garden pruning, etc. With the rapid development of artificial intelligence technology, various intelligent lawn mowing robots have gradually emerged. Lawn mowing robots can complete the weeding work autonomously without direct human control and operation, which can greatly reduce labor costs.

[0003] When the current mowing robot performs a weeding operation in the working area, it first temporarily collects the trimmed grass clippings into the grass collecting device (such as a grass collecting box / basket) of the mowing robot, and then when it needs to unload the grass, the mowing robot will move to the center of the unloading area to unload the grass, thereby clearing the grass clippings in the grass collecting device. Since the above-mentioned mowing robot only unloads grass at a fixed point in the center of the unloading area, the utilization rate of the unloading area is very low, and after multiple unloading operations, the grass clippings will be piled up too high at the fixed point, thereby triggering the mowing robot to lift up, thereby affecting the unloading efficiency of the mowing robot. Summary of the invention

[0004] The present application provides a grass unloading point setting method, device, grass unloading equipment and computer program product, which can fully utilize the grass unloading area space and improve the grass unloading efficiency of the grass unloading equipment.

[0005] In a first aspect, the present application provides a method for setting grass unloading points, the method comprising: setting multiple groups of grass unloading points in a grass unloading area, wherein each of the multiple groups of grass unloading points is used to dump grass clippings into the grass unloading equipment, the minimum distance between the grass clipping areas of any two grass unloading points in each group of grass unloading points is greater than or equal to the width of the grass unloading equipment, the minimum distance between any two grass unloading points in different groups is greater than or equal to 0, and each grass unloading point is located inside the grass clipping area of ​​each grass unloading point.

[0006] In the above scheme, multiple groups of unloading points in the unloading area meet the following two requirements:

[0007] (1) The minimum distance between the grass clippings areas of any two grass unloading points in each group of grass unloading points (i.e. any two grass unloading points in the same group) is greater than or equal to the width of the grass unloading equipment;

[0008] (2) The minimum distance between the grass clippings areas of any two grass unloading points in different groups is greater than or equal to 0.

[0009] When the above requirement (1) is met, the gap (minimum distance) between the grass clippings areas of any two grass clippings in any group of grass clippings allows the grass clippings equipment to pass through, so that the grass clippings equipment can move from the grass clippings of the current group to the grass clippings of other groups for grass clippings, effectively preventing the grass clippings equipment from being blocked by the grass clippings areas of the current group and unable to go to the grass clippings of other groups, which helps to make full use of the grass clippings area space, and also prevents the grass clippings equipment from hitting the grass clippings on the grass clippings when passing through the gap, thus affecting the cleanliness of the grass clippings area. When the above requirement (2) is met, the grass clippings areas of any two grass clippings in different groups will not overlap, so as to avoid the grass clippings of the two grass clippings from piling up together, thus affecting the cleanliness of the grass clippings area and the grass clippings efficiency of the grass clippings equipment.

[0010] Based on the first aspect, in a possible implementation, the first position information of the grass clippings area of ​​the first grass unloading point can be obtained, and then the first radius of the circumscribed circle of the grass clippings area of ​​the first grass unloading point can be determined according to the first position information, and then the first threshold value can be determined according to the first radius and the width of the grass unloading equipment. The first grass unloading point is any grass unloading point in each group of grass unloading points, and the grass unloading areas of different grass unloading points in each group of grass unloading points have the same size; the first threshold value is equal to the sum of twice the first radius and the width of the grass unloading equipment, and the distance between any two grass unloading points in each group of grass unloading points is greater than or equal to the first threshold value.

[0011] Based on the first aspect, in a possible implementation manner, the volume of grass clippings dumped by the grass unloading equipment at the first grass unloading point is acquired, and then the first position information is determined according to the volume of the grass clippings.

[0012] Based on the first aspect, in a possible implementation, the second position information of the grass clippings area of ​​the second unloading point and the third position information of the grass clippings area of ​​the third unloading point are obtained, wherein the second unloading point and the third unloading point are different unloading points in any two unloading points of different groups; the second radius of the circumscribed circle of the grass clippings area of ​​the second unloading point is determined according to the second position information, and the third radius of the circumscribed circle of the grass clippings area of ​​the third unloading point is determined according to the third position information; the second threshold is determined according to the second radius and the third radius, wherein the second threshold is equal to the sum of the second radius and the third radius, and the distance between any two unloading points of different groups is greater than or equal to the second threshold.

[0013] Based on the first aspect, in a possible implementation, second position information of a grass clippings area of ​​a second unloading point is obtained, wherein the second unloading point is any unloading point in different groups, and sizes of grass clippings areas of different unloading points in different groups are the same; a fourth radius of a circumscribed circle of the grass clippings area of ​​the second unloading point is determined according to the second position information; a second threshold is determined according to the fourth radius, wherein the second threshold is equal to twice the fourth radius, and the distance between any two unloading points in different groups is greater than or equal to the second threshold.

[0014] Based on the first aspect, in a possible implementation, after a plurality of groups of grass unloading points are set in the grass unloading area, a target grass unloading point is determined from the plurality of groups of grass unloading points, and then the grass unloading equipment is controlled to perform a grass unloading operation at the target grass unloading point.

[0015] Based on the first aspect, in a possible implementation, available unloading points can be determined from multiple groups of unloading points as candidate unloading points, where the available unloading points are unloading points with unloading space greater than 0, and then the target unloading point can be determined from the candidate unloading points.

[0016] Based on the first aspect, in a possible implementation, the first distance between each candidate unloading point and the unloading equipment can be calculated, and then the candidate unloading point with the smallest first distance can be determined as the target unloading point; or, any candidate unloading point can be determined as the target unloading point.

[0017] Based on the first aspect, in a possible implementation, when there is only one candidate unloading point with the smallest first distance, the candidate unloading point with the smallest first distance is determined as the target unloading point; when there are at least two candidate unloading points with the smallest first distance, any one of the at least two candidate unloading points is determined as the target unloading point, or the candidate unloading point with the largest available unloading space among the at least two candidate unloading points is determined as the target unloading point.

[0018] Based on the first aspect, in a possible implementation, after controlling the unloading equipment to perform the unloading operation at the target unloading point, the location information of the target unloading point can also be obtained, and then the obstacle area can be marked in the unloading area according to the location information of the target unloading point, wherein the obstacle area includes the target unloading point.

[0019] In a second aspect, the present application also provides a grass unloading point setting device, including a determination module, which is used to: set multiple groups of grass unloading points in the grass unloading area, wherein each of the multiple groups of grass unloading points is used to dump grass clippings into the grass unloading equipment, the minimum distance between the grass clipping areas of any two grass unloading points in each group of grass unloading points is greater than or equal to the width of the grass unloading equipment, the minimum distance between the grass clipping areas of any two grass unloading points in different groups is greater than or equal to 0, and each grass unloading point is located inside its respective grass clipping area.

[0020] The above-mentioned grass unloading point setting device is specifically used to execute the method of the first aspect or any possible implementation method of the first aspect, which will not be described in detail here.

[0021] In a third aspect, the present application further provides a grass unloading device, comprising a processor and a memory, wherein the processor is configured to execute instructions stored in the memory so that the grass unloading device executes a method as in the first aspect or any possible implementation manner of the first aspect.

[0022] In a fourth aspect, the present application further provides a computer program product comprising instructions, which, when executed on a grass unloading device, enables the grass unloading device to execute the method of the first aspect or any possible implementation of the first aspect.

[0023] Based on the implementation methods provided in the above aspects, this application can also be further combined to provide more implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments.

[0025] Figure 1 It is a flow chart of a method for setting a grass unloading point provided in an embodiment of the present application;

[0026] Figure 2 is a schematic diagram of multiple groups of grass unloading points provided in an embodiment of the present application;

[0027] Figure 3 is a schematic diagram of the positional relationship between the grass unloading points of the same group and the grass unloading points of different groups provided in an embodiment of the present application;

[0028] Figure 4 is a schematic diagram of the positional relationship between two grass unloading points of different groups provided in an embodiment of the present application;

[0029] Figure 5 is a schematic diagram of determining a first distance between a grass unloading point and grass unloading equipment provided by an embodiment of the present application;

[0030] Figure 6 is a schematic diagram of marking an obstacle area in a grass unloading area provided by an embodiment of the present application;

[0031] Figure 7 It is a structural schematic diagram of a grass unloading point setting device provided in an embodiment of the present application;

[0032] Figure 8 It is a structural schematic diagram of a grass unloading device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] To facilitate understanding of the technical solution of the present application, the following is a brief introduction to the grass unloading equipment and grass unloading area involved in the present application.

[0034] The grass unloading area is used to dump grass clippings to the grass unloading equipment. Specifically, when the grass unloading equipment with a grass removal function performs a grass removal operation in the working area, it can temporarily collect the trimmed grass clippings through its own grass collecting device (such as a grass collecting basket / grass collecting box), and can also collect other debris in the working area, such as leaves, branches, garbage, etc., and then when it is necessary to unload the grass (such as when the grass clippings stored in the grass collecting device reach a certain amount or are full, or when the grass unloading equipment obtains a grass unloading instruction), the grass unloading equipment goes to the grass unloading area to perform the grass unloading operation, thereby removing the debris stored in the grass collecting device.

[0035] The present application does not specifically limit the shape and size of the grass unloading area. For example, the grass unloading area can be a regular shape such as a circle, an ellipse, a sector, a triangle, a rectangle, or other polygons, or the grass unloading area can be an irregular shape.

[0036] It should be noted that the grass unloading equipment described in this application may be equipment with both grass unloading and grass removal functions, or equipment with grass unloading functions but without grass unloading functions. For grass unloading equipment with only grass unloading functions, the grass unloading equipment is used to collect grass clippings (and other debris) in the working area, and then dump the collected debris into the grass unloading area.

[0037] Based on the foregoing description, an embodiment of the method for setting a grass unloading point provided by the present application is introduced below.

[0038] See also Figure 1 , Figure 1 It is a flow chart of a method for setting a grass unloading point provided in an embodiment of the present application, including steps S101 to S103.

[0039] S101. Multiple groups of grass unloading points are set in the grass unloading area, wherein each of the multiple groups of grass unloading points is used to dump grass clippings into the grass unloading equipment, the minimum distance between the grass clipping areas of any two grass unloading points in each group of grass unloading points is greater than or equal to the width of the grass unloading equipment, the minimum distance between the grass clipping areas of any two grass unloading points in different groups is greater than or equal to 0, and each grass unloading point is located inside its own grass clipping area.

[0040] Regarding the shape and size of the unloading area, please refer to the previous introduction and will not be repeated here.

[0041] Multiple groups of unloading points can be set in the unloading area. How to set multiple groups of unloading points in the unloading area can be achieved in the following ways:

[0042] First, the grass unloading area is divided into multiple concentric areas, and the different areas have the same shape but different sizes. For example, multiple concentric circles, concentric ellipses or concentric polygons (such as concentric rectangles, concentric triangles, concentric hexagons, etc.) can be divided based on the center of the grass unloading area. The "center" here can refer to the center of gravity of the area, the center of the circumscribed circle or the center of the inscribed circle, etc. This application does not make specific restrictions on this.

[0043] Then, multiple unloading points are set on the border of each area, wherein the unloading points on the border of the same area belong to the same group, and different unloading points on the borders of different areas belong to different groups. Since the unloading area is divided into multiple concentric areas, multiple groups of unloading points can be obtained.

[0044] The present application does not specifically limit the number of grass unloading points in the multiple grass unloading point groups (i.e., the total number of grass unloading points in the grass unloading area) and the number of grass unloading points in each grass unloading point group. For example, the total number of grass unloading points and / or the number of grass unloading points in each grass unloading point group can be set by the user, or can be a default value, or can be automatically determined based on the area, shape, and other information of the grass unloading area to ensure that the grass unloading points in the grass unloading area meet the following two requirements:

[0045] (1) The minimum distance between the grass clippings areas of any two grass unloading points in each group of grass unloading points (i.e. any two grass unloading points in the same group) is greater than or equal to the width of the grass unloading equipment;

[0046] (2) The minimum distance between the grass clippings areas of any two grass unloading points in different groups is greater than or equal to 0.

[0047] It should be understood that the grass clippings area at any grass unloading point refers to the area formed / occupied by the grass clippings dumped by the grass unloading equipment at the grass unloading point. The present application does not make any specific restrictions on the shape and size of the grass clippings area. The above-mentioned dumped grass clippings can be grass clippings that the grass unloading equipment allows to be dumped at the grass unloading point and that meet the volume threshold. The volume threshold can be set by the user, or it can be a default value, and it can also be determined based on information such as the volume of the grass collecting device of the grass unloading equipment and the grass unloading frequency of the grass unloading equipment. The present application does not make any specific restrictions on this.

[0048] For example, assuming that the grass unloading device performs the grass unloading operation when the grass collecting device is full, the capacity of the grass collecting device can be used as the volume threshold (ie, the volume of grass clippings dumped by the grass unloading device at one grass unloading point).

[0049] For another example, assuming that the grass unloading device performs the grass unloading operation when the grass clippings in the grass collecting device reach a set value, the set value can be used to represent the volume of grass clippings dumped by the grass unloading device at a grass unloading point. The set value is less than or equal to the capacity of the grass collecting device, and can be set by the user or a default value, which is not specifically limited in this application.

[0050] For another example, assuming that the grass unloading equipment performs mowing and unloading operations periodically, such as performing a grass unloading operation once every time a weeding operation is performed for a time period T (such as 2 hours), the volume threshold V of grass clippings dumped by the grass unloading equipment each time can be determined according to the following formula (1):

[0051] V=D×H×E×T Formula (1)

[0052] Where D is the lawn density, that is, the volume of grass clippings produced after the grass per unit area is cut, usually in square meters. H is the mowing height of the unloading equipment. E is the mowing efficiency of the unloading equipment, that is, the lawn area that the unloading equipment can cover per unit time (such as 1 hour), usually in square meters per hour. T is the time period for the unloading equipment to perform the weeding operation.

[0053] When the above requirement (1) is met, the gap (minimum distance) between the grass clippings areas of any two grass clippings points in any group of grass clippings allows the grass clippings equipment to pass through, so that the grass clippings equipment can move from the grass clippings of the current group to the grass clippings of other groups for unloading grass, effectively preventing the grass clippings equipment from being blocked by the grass clippings areas of the current group of grass clippings and being unable to go to the grass clippings of other groups, which helps to make full use of the space of the grass clippings area and prevent the grass clippings equipment from hitting the grass clippings on the grass clippings when passing through the gap, thereby affecting the cleanliness of the grass clippings area.

[0054] When requirement (2) is met, the grass clippings areas of any two grass unloading points in different groups will not overlap, so as to avoid the grass clippings of the two grass unloading points from piling up together and affecting the cleanliness of the grass unloading areas and the grass unloading efficiency of the grass unloading equipment. When the minimum distance between the grass clippings areas of any two grass unloading points in different groups is equal to 0, the grass unloading areas of the two grass unloading points are just close to each other without any gap. When the minimum distance between the grass clippings areas of any two grass unloading points in different groups is greater than 0, there is still a gap between the grass unloading areas of the two grass unloading points.

[0055] For example, Figure 2 As shown, assume that three concentric rectangles are divided in the grass unloading area (that is, the shape of the concentric area is a rectangle). For the convenience of description, these three concentric rectangles are marked as areas ①, ②, and ③ from the inside to the outside. Then, multiple groups of grass unloading points are set in the grass unloading area according to these three concentric rectangles. Multiple grass unloading points are set on the edge of each rectangle. The grass unloading points on the same rectangle are grouped as a group. There are three groups of grass unloading points in total, and these three groups of grass unloading points meet the above requirements (1) and (2). That is, the minimum distance d between the grass unloading areas (represented by pentagons) of any two grass unloading points in each group of grass unloading points min1is greater than or equal to the width of the unloading equipment, so that the unloading equipment can pass through the gap between the unloading areas of any two unloading points in the same group, and the minimum distance d between the unloading areas of any two unloading points in different groups min2 Greater than or equal to 0 to ensure that the unloading areas of any two unloading points in different groups do not overlap.

[0056] It should be noted that for the sake of brevity, Figure 2 Only some of the unloading areas are drawn, and Figure 2 The shapes and numbers of the concentric areas and grass clippings areas in the figure are only examples and do not constitute limitations. In actual application scenarios, the grass unloading area can be divided into more or fewer concentric areas. The concentric areas divided in the grass unloading area can be shapes other than rectangles, such as circles, ellipses, other polygons or irregular shapes, etc. The grass clippings area of ​​each grass unloading point can also be shapes other than pentagons, such as circles, ellipses, other polygons or irregular shapes, etc. This application does not make specific limitations on this. For ease of description, the shapes and numbers of the concentric areas and grass clippings areas in the subsequent figures are the same as those in the figure. Figure 2 Keep it consistent, but it does not mean that the shape and number of concentric areas and grass clippings areas can only follow Figure 2 .

[0057] Optionally, the first position information of the grass clippings area of ​​the first grass unloading point may be obtained first, and then the first radius of the circumscribed circle of the grass clippings area of ​​the first grass unloading point may be determined according to the first position information, and then the first threshold may be determined according to the first diameter and the width of the grass unloading equipment. The first grass unloading point is any grass unloading point in each group of grass unloading points, the grass unloading areas of different grass unloading points in each group of grass unloading points have the same size, the first threshold is equal to the sum of twice the first radius and the width of the grass unloading equipment, and the distance between any two grass unloading points in each group of grass unloading points is greater than or equal to the first threshold.

[0058] That is to say, if the grass clippings areas of each grass unloading point in the same group have the same size (same shape and area), then the grass clippings areas of each grass unloading point in the same group have the same size (same radius, i.e., first radius), and then the grass unloading points in the same group can be set according to the first radius of the grass clippings area of ​​any grass unloading point in the same group, so that the distance between any two grass unloading points in the same group is greater than or equal to the first threshold, which is equal to the sum of twice the first radius and the width of the grass unloading device. It should be understood that at this time, any two grass unloading points in the same group can still meet the above requirement (1).

[0059] If the distance between any two grass unloading points in the same group is equal to the first threshold, the grass unloading equipment can pass through the gap between the grass unloading areas of the two grass unloading points; if the distance between any two grass unloading points in the same group is greater than the first threshold, the gap between the grass unloading areas of the two grass unloading points can allow the grass unloading equipment to pass through, and there is also a certain margin to allow the grass unloading equipment to pass more safely, and the margin = the distance between the two grass unloading points - the first threshold. It should be understood that the larger the margin, the more convenient it is for the grass unloading equipment to pass through the above gap. The value of the margin can be set by the user or can be a default value, and this application does not make specific restrictions on this.

[0060] For example, Figure 3 As shown, assume that three concentric rectangles are divided in the grass unloading area. For the convenience of description, these three concentric rectangles are marked as areas ①, ②, and ③ from the inside to the outside, and then multiple groups of grass unloading points are set in the grass unloading area according to these three concentric rectangles. Among them, multiple grass unloading points are set on the edge of each rectangle. The grass unloading points on the same rectangle are grouped as a group. There are a total of three groups of grass unloading points. These three groups of grass unloading points meet the above requirements (1) and (2). In addition, the grass unloading areas of the grass unloading points in the same group have the same size (first position information), so the radius of the circumscribed circle of the grass unloading areas of the grass unloading points in the same group is the same (i.e., the first radius r1). According to the first radius r1, the first threshold value can be determined, i.e., 2*r1. The distance L1 between any two grass unloading points in the same group is greater than or equal to the first threshold value.

[0061] The first position information can be determined in the following manner: first, the volume of grass clippings dumped by the grass unloading device at the first grass unloading point is obtained, and then the first position information is determined according to the volume of the grass clippings. The grass clippings dumped at the first grass unloading point refer to grass clippings that the grass unloading device is allowed to dump at the first grass unloading point and that meet the volume threshold. The volume threshold can be referred to in the previous description and will not be elaborated here.

[0062] Optionally, the second position information of the grass clippings area of ​​the second grass unloading point and the third position information of the grass clippings area of ​​the third grass unloading point can be obtained, and then the second radius of the circumscribed circle of the grass clippings area of ​​the second grass unloading point is determined according to the second position information, and the third radius of the circumscribed circle of the grass clippings area of ​​the third grass unloading point is determined according to the third position information, and then the second threshold is determined according to the second radius and the third radius. The second grass unloading point and the third grass unloading point are different grass unloading points in any two grass unloading points of different groups, the second threshold is equal to the sum of the second radius and the third radius, and the distance between any two grass unloading points of different groups is greater than or equal to the second threshold. The second radius and the third radius may be the same or different.

[0063] For example, Figure 3As shown, assume that three concentric rectangles are divided in the grass unloading area. For ease of description, these three concentric rectangles are marked as areas ①, ②, and ③ from the inside to the outside, and then multiple groups of grass unloading points are set in the grass unloading area according to these three concentric rectangles. Among them, multiple grass unloading points are set on the edge of each rectangle. The grass unloading points on the same rectangle are grouped as a group. There are three groups of grass unloading points in total. These three groups of grass unloading points meet the above requirements (1) and (2). In addition, the distance between any two grass unloading points in different groups is greater than or equal to the second threshold value, which is equal to the sum of the radii of the circumscribed circles of the grass clippings areas of any two grass unloading points in different groups.

[0064] Taking two unloading points located in area ② and area ③ as examples, according to the second position information of the unloading area of ​​an unloading point in area ②, the radius of the circumscribed circle of the unloading area is determined to be the second radius r2. According to the third position information of the unloading area of ​​an unloading point in area ③, the radius of the circumscribed circle of the unloading area is determined to be the third radius r3. Regarding the method of determining the second position information and the third position information, please refer to the introduction of the first position information in the previous article, which will not be repeated here. According to the second radius r2 and the third radius r3, the second threshold value, that is, r2+r3, can be determined, and then the unloading points in area ② and area ③ are set according to the second threshold value. The distance L2 between any two unloading points located in area ② and area ③, respectively, needs to be greater than or equal to the second threshold value.

[0065] It should be understood that if the distance between any two grass unloading points in different groups is equal to the second threshold, the circumscribed circles of the grass clippings areas of the two grass unloading points are just tangent; if the distance between any two grass unloading points in different groups is greater than the second threshold, the circumscribed circles of the grass clippings areas of the two grass unloading points are separated (not tangent and not intersecting), and there is a certain margin so that the grass clippings areas of the two grass unloading points can be separated, and the margin = the distance between the two grass unloading points - the second threshold. It should be understood that the larger the margin, the more separated the grass clippings areas of the two grass unloading points are, and the value of the margin can be set by the user or can be a default value, and this application does not make specific restrictions on this.

[0066] Optionally, the second position information of the grass clippings area of ​​the second grass unloading point may be obtained first, and then the fourth radius of the circumscribed circle of the grass clippings area of ​​the second grass unloading point may be determined according to the second position information, and then the second threshold may be determined according to the fourth radius. The second grass unloading point is any grass unloading point in different groups, the grass clippings areas of different grass unloading points in different groups have the same size, the second threshold is equal to twice the fourth radius, and the distance between any two grass unloading points in different groups is greater than or equal to the second threshold.

[0067] For example, Figure 4As shown, it is assumed that three concentric rectangles are divided in the grass unloading area, and these three concentric rectangles are marked as areas ①, ②, and ③ from the inside to the outside, and then multiple groups of grass unloading points are set in the grass unloading area according to these three concentric rectangles. Among them, multiple grass unloading points are set on the edge of each rectangle, and the grass unloading points on the same rectangle are grouped as a group. There are a total of three groups of grass unloading points, and these three groups of grass unloading points meet the above requirements (1) and (2). In addition, the grass clippings areas of different grass unloading points in different groups (the grass clippings areas are not directly drawn in the figure) have the same size, so the radius of the circumscribed circle of the grass clippings areas of any two grass unloading points in different groups is the same (that is, the fourth radius r4). According to the fourth radius r4, the second threshold value can be determined, that is, 2*r4, and the distance L3 between any two grass unloading points in different groups needs to be greater than or equal to the second threshold value.

[0068] S102: determining a target grass unloading point from a plurality of grass unloading points, and controlling the grass unloading equipment to perform grass unloading operations at the target grass unloading point.

[0069] Optionally, when the grass unloading instruction is obtained, the target grass unloading point can be determined from the multiple groups of grass unloading points set previously, and then the grass unloading equipment can be controlled to move to the target grass unloading point to perform the grass unloading operation. The present application does not limit the specific manner in which the grass unloading equipment performs the grass unloading operation at the target grass unloading point. For example, the grass unloading equipment can rotate around the target grass unloading point so as to evenly dump the grass clippings at the target grass unloading point, or the grass unloading equipment can be kept from rotating, and only the grass collecting device of the grass unloading equipment needs to be controlled to align with the target grass unloading point to unload the grass.

[0070] The above-mentioned grass unloading instruction is used to instruct the grass unloading equipment to perform the grass unloading operation. This application does not make any specific limitation on the method of obtaining the grass unloading instruction.

[0071] For example, a user can send a grass unloading instruction to a grass unloading device (short range / long range) by remote control, and the grass unloading device receives the grass unloading instruction and then determines the target grass unloading point to perform the grass unloading operation. The device used for remote control here can be a smart phone, a computer, a smart wearable device, a remote controller, etc., and this application does not make specific limitations on this.

[0072] For another example, the user may directly operate on the grass unloading device (such as clicking a button on the grass unloading device or operating a touch screen, etc.) to input grass unloading instructions to the grass unloading device.

[0073] For another example, assuming that a grass unloading strategy is pre-set on the grass unloading device, when the grass unloading time specified in the grass unloading strategy is reached, or the volume of grass clippings stored in the grass collecting device reaches the volume threshold specified in the grass unloading strategy, the grass unloading device will automatically generate an unloading instruction.

[0074] Optionally, the grass unloading device may first determine available grass unloading points from the above multiple groups of grass unloading points as candidate grass unloading points, and then determine the target grass unloading point from the candidate grass unloading points, wherein the available grass unloading point is a grass unloading point with an available grass unloading space greater than 0. The number of available grass unloading points may be greater than or equal to 1, and accordingly, the number of candidate grass unloading points may be greater than or equal to 1.

[0075] This application does not make any specific restrictions on how to determine the available unloading space (i.e., the remaining available unloading space, or the amount of material that can be unloaded) of the unloading point. For example, the available unloading space of the unloading point can be obtained by subtracting the used unloading space of the unloading point from the total unloading space of the unloading point, wherein the total unloading space of each unloading point can be set and adjusted, which is not specifically limited in this application.

[0076] Optionally, each unloading point has a corresponding status mark, and the status mark is used to indicate whether the unloading space of the corresponding unloading point is greater than 0. The unloading point with the unloading space greater than 0 is an available unloading point, and the unloading point with the unloading space equal to 0 is an unavailable unloading point. If the unloading space of an unloading point is 0, then the status of the unloading point can be marked as an unavailable state, and the unavailable state indicates that the unloading point is unavailable, so the unloading equipment cannot select the unloading point for unloading operations. If the unloading space of an unloading point is greater than 0, then the status of the unloading point can be marked as an available state, and the available state indicates that the unloading point is available. The unloading point may not have dumped grass clippings, or the unloading point may have dumped grass clippings but still has remaining unloading space, so the unloading equipment can select the unloading point for unloading operations.

[0077] It should be understood that if all the unloading points in the unloading area are available, then all the unloading points can be used as candidate unloading points. If only some of the unloading points in the unloading area are available unloading points, then only these unloading points can be used as candidate unloading points.

[0078] For example, see Figure 5 , Figure 5 There are 3 groups of unloading points in the unloading area, group ① includes 2 unloading points, group ② includes 8 unloading points, group ③ includes 8 unloading points, and a total of 18 unloading points. Currently, there are 5 available unloading points (represented by dots) among the 18 unloading points, and the other unloading points are unavailable unloading points (represented by triangles), so these 5 available unloading points can be used as candidate unloading points, and then the target unloading point can be determined from the candidate unloading points.

[0079] It should be noted that the drawings of this application use dots and triangles as examples to represent available unloading points and unavailable unloading points, but this does not constitute a limitation. In actual application scenarios, other different marks can also be used to represent available unloading points and unavailable unloading points, for example, 1 and 0 can be used to represent available unloading points and unavailable unloading points, respectively, or different colors can be used to mark available unloading points and unavailable unloading points, and this application does not make specific limitations on this.

[0080] This application does not limit how to determine the target unloading point from the candidate unloading points. The following is an explanation using method 1 and method 2 as examples:

[0081] Method 1: taking any candidate unloading point as the target unloading point;

[0082] Method 2: firstly calculate the first distance between each candidate grass unloading point and the grass unloading equipment, and then determine the candidate grass unloading point with the smallest first distance as the target grass unloading point.

[0083] Continuing with the previous example, Figure 5 As shown in the figure, there are 5 available unloading points (represented by dots) in the unloading area, and the other unloading points are unavailable unloading points (represented by triangles), so these 5 available unloading points can be used as candidate unloading points. Then, the first distance between each candidate unloading point and the unloading equipment is calculated, and the candidate unloading point with the smallest first distance is determined as the target unloading point.

[0084] Optionally, when only one candidate unloading point has the smallest first distance, the candidate unloading point with the smallest first distance is directly determined as the target unloading point; when there are at least two candidate unloading points with the smallest first distance, any one of the at least two candidate unloading points is determined as the target unloading point, or the candidate unloading point with the largest unloading space among the at least two candidate unloading points is determined as the target unloading point.

[0085] S103: Mark an obstacle area in the grass unloading area, where the obstacle area includes a target grass unloading point.

[0086] It should be understood that after the target unloading point is determined, the unloading equipment is controlled to go to the target unloading point to perform the unloading operation, so that a grass pile is formed at the target unloading point. The grass pile has a certain volume and may affect the movement of the unloading equipment. In order to prevent the unloading equipment from hitting the existing grass pile at the target unloading point, an obstacle area including the target unloading point can be determined in the unloading area based on the position information of the target unloading point, or an obstacle area including the grass clippings area can be determined in the unloading area based on the position information of the grass clippings area of ​​the target unloading point (refer to the previous introduction), and the unloading equipment marks the obstacle area. The obstacle area is used to indicate that the unloading equipment needs to avoid during the movement, and the unloading equipment cannot enter the obstacle area, thereby ensuring that the grass pile at the target unloading point will not be hit by the unloading equipment.

[0087] The shape and size of the obstacle area are not specifically limited in this application. The shape and size of the obstacle area can be set by the user, or can be a default value, or can be determined based on the spacing between unloading points, boundary information of the unloading area, the volume of grass clippings dumped by the unloading equipment at the target unloading point, etc., and this application does not make any limitation on this.

[0088] For example, Figure 6 As shown, assuming that three groups of grass unloading points are set in the grass unloading area, grass unloading point A in group ③ is determined as the target grass unloading point, and the grass unloading equipment goes to grass unloading point A to perform the grass unloading operation, so that a grass pile / grass clippings area is formed at grass unloading point A. In order to prevent the grass unloading equipment from hitting the grass pile at grass unloading point A during the subsequent movement, an obstacle area can be determined with grass unloading point A as the center. The obstacle area can be a regular shape such as a circle, an ellipse, a rectangle or other polygons, or an irregular shape, which is not specifically limited in this application.

[0089] Here, it is assumed that the shape of the obstacle area is circular, the location information of the unloading point A is obtained, and then a circular obstacle area is constructed with the unloading point A as the center and k as the radius (i.e., the expansion distance). Among them, k is the distance expanded outward from the center of the target unloading point, and the value of k can be set by the user, or it can be a default value, and it can also be determined according to the spacing between unloading points, the boundary information of the unloading area, etc., and this application does not limit this.

[0090] Optionally, the volume of grass clippings dumped by the grass unloading equipment at the target grass unloading point can be obtained, and then the expansion distance k is determined based on the grass clippings volume, and then the target grass unloading point is expanded based on k to obtain the obstacle area. The obstacle area is used to instruct the grass unloading equipment to avoid, and the grass unloading equipment cannot enter the obstacle area to avoid colliding with the grass pile in the obstacle area. For the method of determining the above grass clippings volume, please refer to the previous introduction, which will not be repeated here.

[0091] In summary, the method for setting grass unloading points provided in the present application can set multiple groups of grass unloading points in the grass unloading area, and the multiple groups of grass unloading points meet the requirements (1) and (2) introduced in the previous article, so that the grass unloading equipment can move from the grass unloading points of the current group to the grass unloading points of other groups for unloading, which helps to make full use of the space of the grass unloading area, and can also prevent the grass unloading equipment from colliding with grass clippings on the grass unloading points when passing through the gap and affecting the cleanliness of the grass unloading area. In addition, the grass clipping areas of any two grass unloading points in different groups will not overlap, so as to prevent the grass clippings of the two grass unloading points from piling up together and affecting the cleanliness of the grass unloading area and affecting the grass unloading efficiency of the grass unloading equipment.

[0092] After setting multiple groups of grass unloading points, the target grass unloading point can be determined from the multiple groups of grass unloading points, and then the grass unloading equipment can be controlled to perform grass unloading operations at the target grass unloading point, thereby realizing grass unloading automation. The target grass unloading point is a point where the grass unloading space is greater than 0, so as to support the grass unloading equipment to dump grass clippings at the target grass unloading point. The grass unloading point where the grass unloading space is equal to 0 cannot be used as the target grass unloading point.

[0093] After completing the unloading operation at the target unloading point, the target unloading point can also be expanded into an obstacle area. The unloading equipment performs path planning based on the marked obstacle area to bypass the obstacle area, thereby preventing the unloading equipment from colliding with the grass pile at the target unloading point, ensuring the safety of the unloading equipment and the cleanliness of the unloading area, and improving the user experience.

[0094] See also Figure 7 , Figure 7 is a schematic diagram of a grass unloading point setting device 700 provided in an embodiment of the present application. The grass unloading control device 700 can be used to execute Figure 1 The method for setting a grass unloading point includes a determination module 710.

[0095] The determination module 710 is used to: set up multiple groups of grass unloading points in the grass unloading area, wherein each of the multiple groups of grass unloading points is used to dump grass clippings into the grass unloading equipment, the minimum distance between the grass clipping areas of any two grass unloading points in each group of grass unloading points is greater than or equal to the width of the grass unloading equipment, the minimum distance between the grass clipping areas of any two grass unloading points in different groups is greater than or equal to 0, and each grass unloading point is located inside its own grass clipping area.

[0096] Optionally, the grass unloading point setting device 700 further includes an acquisition module 720, which is used to: acquire first position information of a grass clipping area of ​​a first grass unloading point, wherein the first grass unloading point is any grass unloading point in each group of grass unloading points, and the grass unloading areas of different grass unloading points in each group of grass unloading points have the same size. The determination module 710 is also used to: determine a first radius of a circumscribed circle of a grass clipping area of ​​the first grass unloading point according to the first position information, and then determine a first threshold according to the first radius and the width of the grass unloading device, wherein the first threshold is equal to the sum of twice the first radius and the width of the grass unloading device, and the distance between any two grass unloading points in each group of grass unloading points is greater than or equal to the first threshold.

[0097] Optionally, the acquisition module 720 is further used to: acquire the volume of grass clippings dumped by the grass unloading equipment at the first grass unloading point. The determination module 710 is further used to: determine the first position information according to the volume of the grass clippings.

[0098] Optionally, the acquisition module 720 is also used to: acquire the second position information of the grass clippings area of ​​the second grass unloading point and the third position information of the grass clippings area of ​​the third grass unloading point, wherein the second grass unloading point and the third grass unloading point are different grass unloading points in any two grass unloading points of different groups. The determination module 710 is also used to: determine the second radius of the circumscribed circle of the grass clippings area of ​​the second grass unloading point according to the second position information, and determine the third radius of the circumscribed circle of the grass clippings area of ​​the third grass unloading point according to the third position information, and then determine the second threshold value according to the second radius and the third radius, wherein the second threshold value is equal to the sum of the second radius and the third radius, and the distance between any two grass unloading points of different groups is greater than or equal to the second threshold value.

[0099] Optionally, the acquisition module 720 is further used to: acquire second position information of the grass clippings area of ​​the second grass unloading point, wherein the second grass unloading point is any grass unloading point in different groups, and the grass clippings areas of different grass unloading points in different groups have the same size. The determination module 710 is further used to: determine a fourth radius of the circumscribed circle of the grass clippings area of ​​the second grass unloading point according to the second position information, and then determine a second threshold according to the fourth radius, wherein the second threshold is equal to twice the fourth radius, and the distance between any two grass unloading points in different groups is greater than or equal to the second threshold.

[0100] Optionally, the determination module 710 is further used to determine a target grass unloading point from the above-mentioned multiple grass unloading points. The grass unloading point setting device 700 also includes a control module 730, which is used to control the grass unloading equipment to perform grass unloading operations at the target grass unloading point.

[0101] Optionally, the determination module 710 is specifically used to: determine an available unloading point from multiple groups of unloading points as a candidate unloading point, where the available unloading point is an unloading point with an available unloading space greater than 0, and then determine a target unloading point from the candidate unloading points.

[0102] Optionally, the determination module 710 is specifically used to: calculate the first distance between each candidate unloading point and the unloading equipment, and determine the candidate unloading point with the smallest first distance as the target unloading point; or determine any candidate unloading point as the target unloading point.

[0103] Optionally, the determination module 710 is specifically used to: when there is only one candidate unloading point with the smallest first distance, determine the candidate unloading point with the smallest first distance as the target unloading point; when there are at least two candidate unloading points with the smallest first distance, determine any one of the at least two candidate unloading points as the target unloading point, or, determine the candidate unloading point with the largest available unloading space among the at least two candidate unloading points as the target unloading point.

[0104] Optionally, after the control module 730 controls the unloading equipment to perform the unloading operation at the target unloading point, the determination module 710 is also used to: obtain the position information of the target unloading point, and mark the obstacle area in the unloading area according to the position information of the target unloading point, wherein the obstacle area includes the target unloading point.

[0105] It should be noted that Figure 7 The grass unloading point setting device 700 is only divided into a determination module 710, an acquisition module 720 and a control module 730 according to the exemplary functions. In actual application scenarios, the grass unloading point setting device 700 may also include more or fewer modules, and this application does not specifically limit this. For example, any of the above modules can be split into multiple modules, or at least two of the above modules can be combined into one module, and the above modules can also be combined into one module. Figure 7 Modules with other functions are added to the grass unloading point setting device 700. Each functional module can be implemented by software and / or hardware, and this application does not limit this.

[0106] See also Figure 8 , Figure 8 800 is a structural diagram of a grass unloading device 800 provided in an embodiment of the present application, including a bus 802, a processor 804, a memory 806, and a communication interface 808. The processor 804, the memory 806, and the communication interface 808 communicate with each other through the bus 802. The present application also does not limit the number of processors 804 and memories 806 in the grass unloading device 800.

[0107] The bus 802 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8The bus 802 may include a path for transmitting information between various components of the degrassing device 800 (eg, the memory 806, the processor 804, and the communication interface 808).

[0108] The processor 804 may include any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0109] The memory 806 may include a volatile memory, such as a random access memory (RAM). The processor 804 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0110] The memory 806 stores executable program codes. The processor 804 executes the executable program codes to respectively implement Figure 7 The functions of the determination module 710, the acquisition module 720 and the control module 730 in the present application are implemented. Figure 1 The operating steps in the method of setting the unloading point.

[0111] The communication interface 808 uses, for example but not limited to, a transceiver module such as a network interface card and a transceiver to implement communication between the grass unloading device 800 and other devices or a communication network.

[0112] The present application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that can be stored / used by the grass unloading device 800. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk). The computer-readable storage medium includes instructions, which are specifically used to instruct the grass unloading device to execute Figure 1 The operating steps in the method of setting the unloading point.

[0113] The present application also provides a chip, including a processor and an interface, wherein the interface is used to interact with an external module or device of the chip, and the processor is used to execute Figure 1 The operating steps in the method of setting the unloading point.

[0114] The present application also provides a computer program product including instructions. The computer program product may be a software or program product including instructions that can be run on the grass unloading device or stored in any available medium. When the computer program product is run on the grass unloading device, the grass unloading device is caused to execute Figure 1 The operating steps in the method of setting the unloading point.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify or arbitrarily combine the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the protection scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for setting a grass unloading point, characterized in that: The method comprises: A plurality of groups of grass unloading points are arranged in the grass unloading area, wherein each of the plurality of grass unloading points is used for dumping grass clippings into the grass unloading equipment, a minimum distance between grass clipping areas of any two grass unloading points in each group of grass unloading points is greater than or equal to a width of the grass unloading equipment, a minimum distance between grass clipping areas of any two grass unloading points in different groups is greater than or equal to 0, and each grass unloading point is located inside its respective grass clipping area.

2. The method according to claim 1, characterized in that The method further comprises: Acquire first position information of a grass clipping area of ​​a first grass unloading point, wherein the first grass unloading point is any grass unloading point in each group of grass unloading points, and sizes of grass unloading areas of different grass unloading points in each group of grass unloading points are the same; Determine a first radius of a circumscribed circle of a grass clippings area of ​​the first grass unloading point according to the first position information; A first threshold is determined according to the first radius and the width of the unloading equipment, wherein the first threshold is equal to the sum of twice the first radius and the width of the unloading equipment, and the distance between any two unloading points in each group of unloading points is greater than or equal to the first threshold.

3. The method according to claim 2, characterized in that The step of obtaining first position information of a grass clipping area at a first grass unloading point includes: obtaining the volume of grass clippings dumped by the grass unloading equipment at the first grass unloading point; The first position information is determined according to the volume of the grass clippings.

4. The method according to claim 1, characterized in that The method further comprises: Acquire second position information of a grass clipping area at a second grass unloading point and third position information of a grass clipping area at a third grass unloading point, wherein the second grass unloading point and the third grass unloading point are different grass unloading points among any two grass unloading points in different groups; Determine a second radius of a circumscribed circle of a grass clippings area of ​​the second grass unloading point according to the second position information, and determine a third radius of a circumscribed circle of a grass clippings area of ​​the third grass unloading point according to the third position information; A second threshold is determined according to the second radius and the third radius, wherein the second threshold is equal to the sum of the second radius and the third radius, and the distance between any two unloading points of the different groups is greater than or equal to the second threshold.

5. The method according to claim 1, characterized in that The method further comprises: Acquire second position information of a grass clipping area of ​​a second grass unloading point, wherein the second grass unloading point is any grass unloading point in the different groups, and sizes of grass clipping areas of different grass unloading points in the different groups are the same; determining a fourth radius of a circumscribed circle of a grass clippings area of ​​the second grass unloading point according to the second position information; A second threshold is determined according to the fourth radius, wherein the second threshold is equal to twice the fourth radius, and a distance between any two unloading points of the different groups is greater than or equal to the second threshold.

6. The method according to any one of claims 1 to 5, characterized in that After setting a plurality of groups of grass unloading points in the grass unloading area, the method further comprises: Determining a target grass unloading point from the plurality of grass unloading points; The grass unloading equipment is controlled to perform grass unloading operation at the target grass unloading point.

7. The method according to claim 6, characterized in that The step of determining a target grass unloading point from the plurality of grass unloading points comprises: Determine an available grass unloading point from the plurality of grass unloading points as a candidate grass unloading point, wherein the available grass unloading point is a grass unloading point with a grass unloading space greater than 0; The target grass unloading point is determined from the candidate grass unloading points.

8. The method according to claim 7, characterized in that The step of determining the target grass unloading point from the candidate grass unloading points comprises: Calculating a first distance between each candidate grass unloading point and the grass unloading equipment, and determining the candidate grass unloading point with the smallest first distance as the target grass unloading point; Alternatively, any candidate grass unloading point is determined as the target grass unloading point.

9. The method according to claim 8, characterized in that The step of determining the candidate grass unloading point with the smallest first distance as the target grass unloading point comprises: When only one candidate unloading point has the smallest first distance, determining the candidate unloading point with the smallest first distance as the target unloading point; When the first distance between at least two candidate unloading points is the smallest, any one of the at least two candidate unloading points is determined as the target unloading point, or the candidate unloading point with the largest unloading space among the at least two candidate unloading points is determined as the target unloading point.

10. The method according to claim 6, characterized in that After controlling the grass unloading device to perform the grass unloading operation at the target grass unloading point, the method further includes: Obtaining the location information of the target grass unloading point; An obstacle area is marked in the grass unloading area according to the position information of the target grass unloading point, wherein the obstacle area includes the target grass unloading point.

11. A method for setting a grass unloading point, characterized in that: include: A determination module is used to set multiple groups of grass unloading points in a grass unloading area, wherein each of the multiple groups of grass unloading points is used to dump grass clippings to the grass unloading equipment, the minimum distance between the grass clipping areas of any two grass unloading points in each group of grass unloading points is greater than or equal to the width of the grass unloading equipment, the minimum distance between the grass clipping areas of any two grass unloading points in different groups is greater than or equal to 0, and each of the grass unloading points is located inside its respective grass clipping area.

12. A grass unloading device, characterized in that: The invention comprises a processor and a memory, wherein the processor is used to execute instructions stored in the memory, so that the grass unloading device executes the method according to any one of claims 1 to 10.

13. A computer program product comprising instructions, characterized in that When the instruction is executed on the grass unloading device, the grass unloading device is caused to perform the method according to any one of claims 1 to 10.

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