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 of obtaining position information corresponding to each sub-region in a plurality of sub-regions in an unloading region, obtaining a plurality of connection paths according to the position information corresponding to each sub-region, determining the number of times that each sub-region is passed by the plurality of connection paths, determining a first priority of each sub-region according to the number of times, and determining the sub-region with the highest first priority as a target sub-region, and controlling the loading equipment to move to the target sub-region to perform 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 first priorities 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, the unloading efficiency of the loading equipment is improved, and 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] Acquire position information corresponding to each of 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, and the connecting passage is connected to an entrance area of ​​the discharge area;

[0006] Acquire multiple connection paths according to the location information corresponding to each sub-area, each connection path is used to connect a sub-area and the entrance area, and each connection path passes through at least one sub-area;

[0007] Determining the number of times each sub-area is passed by the multiple connection paths;

[0008] Determine a first priority of each sub-region according to the number of times, and determine a sub-region with the highest first priority as a target sub-region;

[0009] The loading device is controlled to move from the working area to the target sub-area through the connecting passage to perform a discharge operation.

[0010] In a second aspect, the present application provides a loading device, the loading device comprising:

[0011] a determination module, configured to obtain position information corresponding to each of a plurality of sub-areas in a discharge area, and to obtain a plurality of connection paths according to the position information corresponding to each sub-area, wherein the discharge area is located outside a working area for loading materials by the loading equipment, and a connection passage is provided between the discharge area and the working area, and the connection passage is connected to an entrance area of ​​the discharge area, and each connection path is used to connect a sub-area with the entrance area, and each connection path passes through at least one sub-area; the determination module is further configured to determine the number of times each sub-area is passed by the plurality of connection paths, and to determine a first priority of each sub-area according to the number of times, and to determine the sub-area with the highest first priority as a target sub-area; and

[0012] A control module is used to control the loading device to move from the working area to the target sub-area through the connecting channel to perform a discharge operation.

[0013] 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.

[0014] 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.

[0015] 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 loaded materials, and the discharge method includes obtaining the position information corresponding to each sub-area in a discharge area, wherein the discharge area is located outside the working area where the loading device loads the materials, and a connecting channel is provided between the discharge area and the working area, and the connecting channel is connected to the entrance area of ​​the discharge area, and multiple connection paths are obtained according to the position information corresponding to each sub-area, each connection path is used to connect a sub-area with the entrance area, and each connection path passes through at least one sub-area, and the number of times each sub-area is passed by the multiple connection paths is determined, and the first priority of each sub-area is determined according to the number of times, and the sub-area with the highest first priority is determined as the target sub-area, and the loading device is controlled to move from the working area to the target sub-area through the connecting channel to perform the discharge operation. The present application can make more effective use of the unloading space by obtaining multiple sub-areas after dividing the unloading area, and the loading equipment goes to the target sub-area according to the first priority order of the multiple sub-areas, which can avoid the situation where 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 avoiding the situation where the loading equipment collides with materials in other sub-areas during movement, causing the unloaded materials to collapse. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 Flow chart of a discharging method in one embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of a working area and a discharge area in one embodiment of the present application.

[0019] Figure 3 This is a schematic diagram of a working area and a discharge area in another embodiment of the present application.

[0020] Figure 4 This is a schematic diagram of a working area and a discharge area in yet another embodiment of the present application.

[0021] Figure 5 Flow chart of determining a target sub-region in one embodiment of the present application.

[0022] Figure 6 The flowchart is a method for determining a target discharge point to perform a discharge operation in one embodiment of the present application.

[0023] Figure 7 for Figure 2 Schematic diagram of the discharge point in .

[0024] Figure 8 for Figure 3 Schematic diagram of the discharge point in .

[0025] Fig. 9 for Figure 4 Schematic diagram of the discharge point in .

[0026] Fig.10 This is a flow chart of determining an obstacle area in one embodiment of the present application.

[0027] Fig.11 It is a schematic diagram of determining an obstacle area based on a target unloading point in one embodiment of the present application.

[0028] Fig.12 The flowchart is for dividing sub-areas and determining discharge points in one embodiment of the present application.

[0029] Fig.13 for Fig.12 A further sub-flow chart of step S52.

[0030] Fig.14 This is a flow chart of dividing sub-areas and determining unloading points in another embodiment of the present application.

[0031] Fig.15 for Figure 5 A further sub-flow chart of step S72.

[0032] Fig.16 It is a schematic block diagram of a loading device in one embodiment of the present application.

[0033] Fig.17 It is a schematic block diagram of an electronic device in an embodiment of the present application.

[0034] Figure Number:

[0035] 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 area-500; electronic device-600; memory-61; processor-62. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] 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:

[0039] S11: Acquire position information corresponding to each of 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, and the connecting passage is connected to an entrance area of ​​the discharge area;

[0040] S12: acquiring a plurality of connection paths according to the location information corresponding to each sub-area, each connection path being used to connect a sub-area with the entrance area, and each connection path passes through at least one sub-area;

[0041] S13: Determine the number of times each sub-area is passed by the multiple connection paths;

[0042] S14: determining a first priority of each sub-region according to the number of times, and determining a sub-region with the highest first priority as a target sub-region;

[0043] S15: Control the loading device to move from the working area to the target sub-area through the connecting channel to perform a unloading operation.

[0044] 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 obtains a plurality of connecting paths according to the position information of the plurality of sub-areas, so as to determine the first priority of each sub-area according to the number of times each sub-area is passed by the plurality of connecting paths, so as to determine the current target sub-area according to the first priority order of the plurality of sub-areas, and the loading device responds to the control instruction after loading the material in the working area, so as to move from the working area through the connecting passage to the target sub-area to unload the material.

[0045] 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 number of times, the first priority order of the multiple sub-areas is determined to control the loading equipment to go 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 so that 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 materials in other sub-areas during movement, causing the unloaded materials to collapse, so that the loading equipment can better perform path planning.

[0046] 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 schematically shown. Further, the unloading area 300 is provided with an entrance area 500, and the connecting channel 400 is connected to the entrance area 500, so that the unloading area 300 and the working area 200 are connected through the connecting channel 400, and the loading device 100 can be moved to the unloading area 300 through the connecting channel 400, so as to avoid the loading device 100 being damaged due to scratches in the external area, and improve the unloading efficiency of the loading device 100.

[0047] like Figure 2As 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.

[0048] like Figure 3 As 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 .

[0049] It can be understood that the unloading area 300 can be evenly divided into multiple sub-areas 31, or the unloading area 300 can be unevenly divided into multiple sub-areas 31, the shape of the unloading area 300 is not limited to rectangle, circle, sector, 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.

[0050] 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 .

[0051] In some embodiments, each connection path is a connection path from a center point of a corresponding sub-region among the multiple sub-regions to a center point of the entrance region, and determining the first priority of each sub-region according to the number of times, and determining the sub-region with the highest first priority as the target sub-region includes:

[0052] The determined times are sorted in order from small to large, and the first priority of each sub-region is determined according to the sorting result, wherein the smaller the number is, the higher the first priority of the sub-region corresponding to the number is.

[0053] Specifically, in combination with the above content, the number of times each sub-area 31 passes through the multiple connection paths is taken as the basis, and the number of times is sorted in ascending order, and the priority order of the arrival of the loading device 100 is set according to the arranged order, that is, the sub-area 31 with the smallest number of times is the first target sub-area arrived by the loading device 100, and the sub-area 31 with the largest number of times is the last target sub-area arrived by the loading device 100.

[0054] Thus, based on the area center point of each sub-area 31 and the center point of the entrance area 500, the connection path corresponding to each sub-area 31 is determined, and a standard for determining the first priority of each sub-area 31 is provided. Then, the loading device 100 is controlled to go to the target sub-area to unload materials in order of the first priority. This path planning method can avoid the situation where some sub-areas 31 cannot be reached by the loading device 100 due to being blocked by other sub-areas 31, thereby improving the unloading efficiency of the loading device 100, and 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.

[0055] in, Figure 2-Figure 4 The arrow routes in the figure are schematically shown as connection paths, and the position indicated by each arrow is the area center point of the corresponding sub-area 31. The multiple arrow paths converge at one point, which is the center point of the entrance area 500.

[0056] In some embodiments, the unloading method further comprises:

[0057] When there is only one sub-region with the highest first priority, the sub-region with the highest first priority is determined as the target sub-region.

[0058] Thus, by selecting the sub-area 31 with the highest first priority as the target sub-area, it is possible to 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 is also possible to avoid the situation where the loading device 100 collides with materials in other sub-areas 31 during movement, causing the unloaded materials to collapse.

[0059] In some embodiments, the unloading method further comprises:

[0060] When there are at least two sub-areas with the highest first priority, any one of the at least two sub-areas is determined as the target sub-area, or, based on the unloadable material quantities of the at least two sub-areas, the sub-area with the largest unloadable material quantity is determined as the target sub-area.

[0061] Specifically, in Figure 2-Figure 4In this step, the main application Figure 2 and Figure 3 In the embodiment, when the number of times at least two sub-areas 31 are passed by the multiple connection paths is the smallest, the first priorities of the at least two sub-areas 31 are the highest, that is, the first priorities of the at least two sub-areas 31 are the same. At this time, the target sub-area cannot be determined according to the first priority, so one of the at least two sub-areas 31 can be selected as the target sub-area, or each of the sub-areas 31 is set with its own unloadable material quantity. If the first priorities of at least two sub-areas 31 are the same but the unloadable material quantities are different, the sub-area 31 with the largest unloadable material quantity is determined as the target sub-area. If the first priorities and unloadable material quantities of at least two sub-areas 31 are the same, one of them can be selected as the target sub-area to complete the operation of determining the target sub-area.

[0062] Thereby, the efficiency of path planning and resource access is ensured, and the unloading area 300 is fully utilized. It can avoid the situation that some sub-areas 31 cannot be reached by the loading equipment 100 due to being blocked by other sub-areas 31, thereby improving the unloading efficiency of the loading equipment 100, and it can also avoid the situation that the loading equipment 100 collides with materials in other sub-areas 31 during movement, causing the collapse of the unloaded materials.

[0063] See also Figure 5 , Figure 5 This is a flow chart of determining a target sub-area in an embodiment of the present application. The unloading method further includes:

[0064] S21: when there are at least two sub-areas whose first priority is the highest, calculating a first distance between each of the at least two sub-areas and the entrance area;

[0065] S22: Determine a second priority of each of the at least two sub-areas according to the first distance;

[0066] S23: Taking the sub-region with the second highest priority as the target sub-region.

[0067] Thus, on the basis of determining the first priority order of the multiple sub-areas 31, the loading equipment 100 is controlled again in order from high to low according to the second priority order to go to the sub-areas 31 in turn to unload materials, so as to avoid the situation that some sub-areas 31 are blocked by other sub-areas 31 and the loading equipment 100 cannot reach them, thereby improving the unloading efficiency of the loading equipment 100 and avoiding the situation that the loading equipment 100 collides with the materials in other sub-areas 31 during movement, causing the collapse of the unloaded materials.

[0068] Specifically, Figure 3As shown, when the unloading area 300 is circular, the center points of the multiple concentric sub-areas 31 are all the center of the circular unloading area 300. Therefore, the first priorities of the multiple concentric sub-areas 31 are the same. Therefore, when the multiple first priorities are the same, the second priorities of the multiple sub-areas 31 can be determined according to the above steps.

[0069] In some embodiments, a restricted area is set in the entrance area 500 to prevent the loading device 100 from unloading materials in the entrance area 500 and blocking the entrance area 500, thereby preventing the loading device 100 from moving 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.

[0070] Combining the above contents, Figure 3 In the multiple sub-areas 31, the loading device 100 is controlled to go to the sub-areas 31 to unload materials in the order of the second priority from high to low, that is, to unload materials in the order from the innermost circular area to the outermost annular area in multiple concentric circles.

[0071] In some embodiments, determining the second priority of each of the at least two sub-areas according to the first distance includes:

[0072] The calculated first distances are sorted in descending order, and the second priority of each of the at least two sub-regions is determined according to the sorting result, wherein the sub-region with a larger first distance corresponds to a higher second priority.

[0073] Thus, on the basis of the first priority sequence, the loading device 100 is controlled again in the order of the second priority from high to low to go to the sub-areas 31 in turn to unload materials, which can avoid the loading device 100 colliding with materials in other sub-areas 31 during movement, causing the unloaded materials to collapse.

[0074] See also Figure 6 , Figure 6 This is a flow chart of determining a target discharge point for performing a discharge operation in an embodiment of the present application. The target sub-area includes at least one discharge point, and the discharge method further includes:

[0075] S31: determining a target discharge point from the at least one discharge point included in the target sub-area;

[0076] S32: Acquire the location information of the target unloading point;

[0077] S33: Control the loading device to move from the working area to the target unloading point through the connecting channel to perform unloading operations according to the position information.

[0078] Specifically, each unloading point 32 corresponds to an operation of the loading device 100 unloading materials. After determining the target unloading point in the target sub-area, based on the position information of the target unloading point, the loading device 100 responds to the control instruction to go 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.

[0079] Thus, 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, 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 300, 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.

[0080] In some embodiments, determining a target discharge point from the at least one discharge point included in the target sub-area comprises:

[0081] When the target sub-area includes a discharge point, the discharge point is used as the target discharge point;

[0082] When the target sub-area includes at least two unloading points, any one of the at least two unloading points is determined as the target unloading point, or, based on the amount of unloadable materials at the at least two unloading points, the unloading point with the largest amount of unloadable materials is determined as the target unloading point.

[0083] Specifically, when the target sub-area includes one discharge point 32, no other operations are required, and it can be directly used as the target discharge point. When the target sub-area includes at least two discharge points 32, it is necessary to make a selection from the at least two discharge points 32 to determine the target discharge point. According to the rule for determining the target discharge point, one of the at least two discharge points 32 can be selected as the target discharge point, or each of the discharge points 32 is set with its own dischargeable material quantity. If the at least two discharge points 32 included in the target sub-area have different dischargeable material quantities, the discharge point 32 with the largest dischargeable material quantity is determined as the target discharge point. If the at least two discharge points 32 included in the target sub-area have the same dischargeable material quantities, one of them can be selected as the target discharge 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, when the target sub-area includes at least two unloading points 32, the second distance between each unloading point 32 and the entrance area 500 can be calculated, and the calculated second distances can be sorted in order from large to small, and the third priority of each unloading point 32 can be determined according to the sorting result, wherein the larger the second distance is, the higher the third priority of the unloading point 32 corresponding to the second distance is, and the unloading point 32 with the highest third priority is selected from the at least two unloading points 32 included in the target sub-area as the target unloading point, and the target unloading point also represents the unloading point 32 where the loading device 100 is about to perform the unloading operation.

[0086] In some embodiments, when the target sub-area contains at least two unloading points 32, and the third priorities of the at least two unloading points 32 are the same, one of the at least two unloading points 32 with the same third priority can be selected as the target unloading point, or each of the unloading points 32 is set with its own unloading amount of materials. If the at least two unloading points 32 contained in the target sub-area have the same third priority and different unloading amounts of materials, the unloading point 32 with the largest unloading amount of materials is determined as the target unloading point. If the at least two unloading points 32 contained in the target sub-area have the same third priority and the same unloading amounts of materials, one of them can be selected as the target unloading point.

[0087] 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 area 500 is a fixed area, and a fixed point can be set in the entrance area 500 to calculate the straight-line distance between each discharge point 32 in the target sub-area and the fixed point, and then calculate the second distance between each discharge point 32 in the target sub-area and the entrance area 500 to determine the third priority order of the discharge points 32 in the target sub-area. The fixed point can be the area center point of the entrance area 500.

[0088] In some embodiments, the unloading point 32 in the target sub-area that has not currently discharged materials is determined as a candidate unloading point, and the unloading point 32 with the third highest priority among the candidate unloading points is determined as the target unloading point.

[0089] In some embodiments, such as Figure 7 As shown, when at least one unloading point 32 is set in each of the sub-areas 31, it is not necessary to determine whether the sub-area 31 is the target sub-area. Instead, the second distance between each of the unloading points 32 and the entrance area 500 is directly calculated to predetermine the third priority order of all the unloading points 32 in the unloading area 300 based on multiple second distances, and again determine whether there are candidate unloading points at which materials have not been unloaded among all the unloading points 32. If there are candidate unloading points, the candidate unloading point with the highest third priority order among all the candidate unloading points can be determined as the target unloading point according to the predetermined third priority order of all the unloading points 32.

[0090] In some embodiments, after controlling the loading device to move from the working area to the target unloading point through the connecting channel according to the position information to perform the unloading operation, the unloading method further includes:

[0091] An obstacle area is marked in the unloading area according to the position information of the target unloading point, wherein the obstacle area includes the target unloading point.

[0092] Thus, marking the obstacle area can prevent the loading device from hitting the unloaded materials during the movement, and can also prevent the loading device from being blocked during the movement.

[0093] See also Fig.10 , Fig.10 Flow chart of determining an obstacle area in an embodiment of the present application. In some embodiments, marking the obstacle area in the unloading area according to the location information of the target unloading point includes:

[0094] S41: Obtaining the volume of material dumped by the loading equipment at the target unloading point;

[0095] S42: determining an expansion distance according to the volume of the material;

[0096] S43: Expanding the target unloading point according to the expansion distance to obtain the obstacle area.

[0097] Thus, the obstacle area is obtained according to the above steps, which can prevent the loading device from hitting the unloaded materials during the movement, and can also prevent the loading device from being blocked during the movement.

[0098] See also Fig.11 , Fig.11 Schematic diagram of determining an obstacle area based on a target discharge point in an embodiment of the present application. For example, the obstacle area may be a circular area with the target discharge point as the center and the expansion distance as the radius. Figure 7 In the embodiment, it is assumed that the discharge point 32 has been selected, and after the loading device 100 is controlled to dump the material to the discharge point 32, the volume of the material dumped at the discharge point 32 is identified by the visual sensor, and the expansion distance is determined according to the volume of the material dumped at the discharge point 32. The obstacle area is determined based on the position information of the discharge point 32 and the expansion distance, that is, the obstacle area is Fig.11 The circular area shown by the slash pattern in the figure realizes expansion into an obstacle area based on the unloading point 32, which can prevent the loading equipment 100 from hitting the haystack in the obstacle area when operating in the unloading area 300.

[0099] Understandably, Fig.11 It is only an example of determining the obstacle area based on the unloading point 32, and the shape of the obstacle area is not limited. In some schemes, the obstacle area can also be represented by regular shapes such as rectangles and sectors, and can also be represented by irregular shapes, which are not specifically limited here.

[0100] See also Fig.12 , Fig.12 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:

[0101] S51: Dividing the unloading area into a plurality of grid-shaped sub-areas;

[0102] 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.

[0103] 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.

[0104] See also Fig.13 , Fig.13 for Fig.12 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:

[0105] 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;

[0106] 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.

[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 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.

[0108] 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 third 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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:

[0115] Determine a position point in one of the multiple grid-shaped sub-areas whose straight-line distance to the entrance area 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 area is the largest as the first unloading point.

[0116] Therefore, a position point with the largest straight-line distance from the entrance area 500 is determined as the first unloading point 32 to facilitate better unloading and avoid the unloaded materials from hindering the movement of the loading device 100, thereby ensuring the efficiency of path planning and resource access.

[0117] See also Fig.14 , Fig.14 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:

[0118] S71: Divide the circular unloading area into a plurality of concentric circles to form a plurality of sub-areas;

[0119] 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.

[0120] 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.

[0121] See also Fig.15 , Fig.15 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:

[0122] 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;

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] In some embodiments, specifically, Figure 7 and 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 area 500 are directly calculated, and the obtained multiple straight-line distances are sorted in order from large to small, and the third priority of the multiple unloading points 32 is determined according to the arrangement order. Among them, the unloading point 32 with a larger straight-line distance has a higher third priority, that is, the loading device 100 arrives at the unloading point 32 earlier to unload the material.

[0129] 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.

[0130] 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:

[0131] Determine a position point in each of the multiple sub-areas with a maximum straight-line distance from the entrance area as the first unloading point of each sub-area, or determine a position point on the boundary of each of the multiple sub-areas with a maximum straight-line distance from the entrance area as the first unloading point of each sub-area.

[0132] Thus, a position point with the largest straight-line distance from the entrance area 500 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.

[0133] In some embodiments, if the straight-line distance between some of the multiple discharge points 32 and the entrance area 500 is less than a preset distance, the some of the discharge points 32 are removed.

[0134] In some embodiments, the unloading method further comprises:

[0135] The loading device moves to the entrance area after completing unloading in the target sub-area, and returns from the entrance area to the working area to load materials.

[0136] 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.

[0137] 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 unloading point, and the material is grass or grass clippings.

[0138] Please also read Fig.16 , Fig.16 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 obtain position information corresponding to each of the multiple sub-areas 31 in the unloading area 300, and obtain multiple connection paths according to the position information corresponding to each sub-area 31, wherein the unloading area 300 is located outside the working area 200 for loading materials of the loading device 100, and a connecting passage 400 is provided between the unloading area 300 and the working area 200, and the connecting passage 400 is connected to the entrance area 500 of the unloading area 300. , each connection path is used to connect a sub-area 31 and the entrance area 500, and each connection path passes through at least one sub-area 31; the determination module 11 is also used to determine the number of times each sub-area 31 is passed by the multiple connection paths, and determine the first priority of each sub-area 31 according to the number, and determine the sub-area 31 with the highest first priority as the target sub-area, 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 through the connection channel 400 to perform unloading operations.

[0139] 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.

[0140] 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.

[0141] See also Fig.17 , Fig.171 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.

[0142] For example, the unloading method includes:

[0143] Acquire position information corresponding to each of 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, and the connecting passage is connected to an entrance area of ​​the discharge area;

[0144] Acquire multiple connection paths according to the location information corresponding to each sub-area, each connection path is used to connect a sub-area and the entrance area, and each connection path passes through at least one sub-area;

[0145] Determining the number of times each sub-area is passed by the multiple connection paths;

[0146] Determine a first priority of each sub-region according to the number of times, and determine a sub-region with the highest first priority as a target sub-region;

[0147] The loading device is controlled to move from the working area to the target sub-area through the connecting passage to perform a discharge operation.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] For example, the unloading method includes:

[0153] Acquire position information corresponding to each of 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, and the connecting passage is connected to an entrance area of ​​the discharge area;

[0154] Acquire multiple connection paths according to the location information corresponding to each sub-area, each connection path is used to connect a sub-area and the entrance area, and each connection path passes through at least one sub-area;

[0155] Determining the number of times each sub-area is passed by the multiple connection paths;

[0156] Determine a first priority of each sub-region according to the number of times, and determine a sub-region with the highest first priority as a target sub-region;

[0157] The loading device is controlled to move from the working area to the target sub-area through the connecting passage to perform a discharge operation.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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).

[0163] 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: Acquire position information corresponding to each of 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, and the connecting passage is connected to an entrance area of ​​the discharge area; Acquire multiple connection paths according to the location information corresponding to each sub-area, each connection path is used to connect a sub-area and the entrance area, and each connection path passes through at least one sub-area; Determining the number of times each sub-area is passed by the multiple connection paths; Determine a first priority of each sub-region according to the number of times, and determine a sub-region with the highest first priority as a target sub-region; The loading device is controlled to move from the working area to the target sub-area through the connecting passage to perform a discharge operation.

2. The unloading method according to claim 1, characterized in that: Each connection path is a connection path from a center point of a corresponding sub-region among the multiple sub-regions to a center point of the entrance region, and determining a first priority of each sub-region according to the number of times, and determining a sub-region with the highest first priority as a target sub-region, comprises: The determined times are sorted in order from small to large, and the first priority of each sub-region is determined according to the sorting result, wherein the smaller the number is, the higher the first priority of the sub-region corresponding to the number is.

3. The unloading method according to claim 2, characterized in that: The unloading method also includes: When there is only one sub-region with the highest first priority, the sub-region with the highest first priority is determined as the target sub-region.

4. The unloading method according to claim 2, characterized in that: The unloading method also includes: When there are at least two sub-areas with the highest first priority, any one of the at least two sub-areas is determined as the target sub-area, or, based on the amounts of unloadable materials in the at least two sub-areas, the sub-area with the largest amount of unloadable materials is determined as the target sub-area; or When there are at least two sub-areas with the highest first priority, calculating a first distance between each of the at least two sub-areas and the entrance area; determining a second priority of each of the at least two sub-areas according to the first distance; The sub-region with the second highest priority is used as the target sub-region.

5. The unloading method according to claim 4, characterized in that: The determining, according to the first distance, a second priority of each of the at least two sub-areas includes: The calculated first distances are sorted in descending order, and the second priority of each of the at least two sub-regions is determined according to the sorting result, wherein the sub-region with a larger first distance corresponds to a higher second priority.

6. The unloading method according to any one of claims 1 to 5, characterized in that: The target sub-area includes at least one discharge point, and the discharge method further includes: determining a target discharge point from the at least one discharge point included in the target sub-area; Obtaining the location information of the target unloading point; The loading device is controlled to move from the working area to the target unloading point through the connecting channel to perform the unloading operation according to the position information.

7. The unloading method according to claim 6, characterized in that: The determining a target discharge point from the at least one discharge point included in the target sub-area comprises: When the target sub-area includes a discharge point, the discharge point is used as the target discharge point; When the target sub-area includes at least two unloading points, any one of the at least two unloading points is determined as the target unloading point, or, based on the amount of unloadable materials at the at least two unloading points, the unloading point with the largest amount of unloadable materials is determined as the target unloading point.

8. The unloading method according to claim 6, characterized in that: After controlling the loading device to move from the working area to the target unloading point through the connecting channel according to the position information to perform the unloading operation, the unloading method further includes: An obstacle area is marked in the unloading area according to the position information of the target unloading point, wherein the obstacle area includes the target unloading point.

9. The unloading method according to claim 8, characterized in that: The marking of the obstacle area in the discharge area according to the position information of the target discharge point includes: Obtaining the volume of material dumped by the loading equipment at the target unloading point; Determining the expansion distance according to the volume of the material; The target discharge point is expanded according to the expansion distance to obtain the obstacle area.

10. A loading device, characterized in that: The loading device comprises: a determination module, configured to obtain position information corresponding to each of a plurality of sub-areas in a discharge area, and to obtain a plurality of connection paths according to the position information corresponding to each sub-area, wherein the discharge area is located outside a working area for loading materials by the loading equipment, and a connection passage is provided between the discharge area and the working area, and the connection passage is connected to an entrance area of ​​the discharge area, and each connection path is used to connect a sub-area with the entrance area, and each connection path passes through at least one sub-area; the determination module is further configured to determine the number of times each sub-area is passed by the plurality of connection paths, and to determine a first priority of each sub-area according to the number of times, and to determine the sub-area with the highest first priority as a target sub-area; and A control module is used to control the loading device to move from the working area to the target sub-area through the connecting channel to perform a discharge operation.

11. 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 9.

12. 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 9.

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