Discharging method, loading device, electronic device, and computer-readable storage medium

Abstract

The application provides a discharging method, a loading device, an electronic device and a computer readable storage medium. The discharging method comprises the following steps: acquiring position information corresponding to each sub-region in a plurality of sub-regions in a discharging area; acquiring a plurality of connection paths according to the position information corresponding to each sub-region; determining the number of times each sub-region is passed through by the plurality of connection paths; determining a first priority of each sub-region according to the number of times; determining a target sub-region with the highest first priority; and controlling the loading device to move to the target sub-region to perform a discharging operation. The plurality of sub-regions obtained after the discharging area is divided can fully utilize the discharging space, and the loading device can move to a target discharging point according to the first priority of the plurality of sub-regions, so that the loading device can avoid being blocked by other sub-regions and cannot reach the target sub-region, the discharging efficiency of the loading device is improved, and the loading device can also avoid colliding with materials in other sub-regions during movement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control, and particularly relates to a discharging method, a loading device, an electronic device and a computer readable storage medium. BACKGROUND

[0002] In the related art, when discharging materials, the existing material discharging vehicle generally only selects a sub-region of a fixed discharging region to discharge, which causes the discharging space to be unable to be fully utilized, and the path planning of the existing material discharging vehicle is poor, and in the discharging process, it is difficult to reach the expected sub-region due to the blocking of some sub-regions by other sub-regions, which reduces the discharging efficiency of the material discharging vehicle, or the material discharging vehicle may collide with the materials in other sub-regions, causing the already discharged materials to collapse. SUMMARY

[0003] The embodiment of the present application provides a discharging method, a loading device, an electronic device and a computer readable storage medium, which can at least partially solve the above technical problems.

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

[0005] obtaining position information corresponding to each sub-region in a plurality of sub-regions in a discharging region, wherein the discharging region is located outside a working region in which the loading device loads the materials, and a connecting channel is provided between the discharging region and the working region, and the connecting channel is connected with an entrance region of the discharging region;

[0006] obtaining a plurality of connection paths according to the position information corresponding to each sub-region, each connection path being used to connect a sub-region and the entrance region, and each connection path passing through at least one sub-region;

[0007] determining a number of times each sub-region is passed through by the plurality of connection paths;

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

[0009] controlling the loading device to move from the working region to the target sub-region through the connecting channel to perform a discharging operation.

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

[0011] The determining module is configured to acquire position information corresponding to each of a plurality of sub-areas in an unloading area, and acquire a plurality of connection paths according to the position information corresponding to each of the sub-areas, wherein the unloading area is located outside a working area of the loading device, a connection passage is arranged between the unloading area and the working area, the connection passage is connected with an entrance area of the unloading 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; the determining module is further configured to determine a number of times each of the sub-areas is passed through by the plurality of connection paths, determine a first priority of each of the sub-areas according to the number of times, and determine a target sub-area with the highest first priority.

[0012] The control module is configured to control the loading device to move from the working area to the target sub-area through the connection passage to perform an unloading operation.

[0013] In a third aspect, the present application provides an electronic device, which comprises a processor and a memory, the memory stores a computer program, and the processor executes the computer program to perform the steps of the unloading method.

[0014] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program is used to perform the steps of the unloading method when called by a processor.

[0015] The application provides a discharging method, a loading device, an electronic device and a computer readable storage medium. The discharging method is used for controlling a loading device to discharge loaded materials. The discharging method comprises the following steps: acquiring position information corresponding to each sub-region in a plurality of sub-regions in a discharging area, wherein the discharging area is located outside a working area in which the loading device loads the materials, a connecting channel is arranged between the discharging area and the working area, the connecting channel is connected with an entrance area of the discharging area, a plurality of connecting paths are acquired according to the position information corresponding to each sub-region, each connecting path is used for connecting a sub-region and the entrance area, and each connecting path passes through at least one sub-region, the number of times that each sub-region is passed through by the plurality of connecting paths is determined, a first priority of each sub-region is determined according to the number of times, a sub-region with the highest first priority is determined as a target sub-region, and the loading device is controlled to move from the working area to the target sub-region through the connecting channel to perform a discharging operation. The application can more fully utilize the discharging space by dividing the discharging area into a plurality of sub-regions, and the loading device can move to the target sub-region according to the first priority order of the plurality of sub-regions, so that the loading device cannot reach the target sub-region due to being blocked by other sub-regions can be avoided, the discharging efficiency of the loading device is improved, and the situation that the loading device collides with the materials in other sub-regions during movement and causes the discharged materials to collapse can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0017] Figure 1 The flow chart of the discharging method in an embodiment of the present application.

[0018] Figure 2 The schematic diagram of the working area and the discharging area in an embodiment of the present application.

[0019] Figure 3 The schematic diagram of the working area and the discharging area in another embodiment of the present application.

[0020] Figure 4 The schematic diagram of the working area and the discharging area in another embodiment of the present application.

[0021] Figure 5 The flow chart of determining the target sub-region in an embodiment of the present application.

[0022] Figure 6 Flowchart of determining a target discharge point for performing 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] Figure 9 for Figure 4 Schematic diagram of the discharge point in.

[0026] Figure 10 This is a flowchart of determining an obstacle area in one embodiment of the present application.

[0027] Figure 11 Schematic diagram of determining an obstacle area based on a target unloading point in one embodiment of the present application.

[0028] Figure 12 This is a flowchart of dividing sub-areas and determining unloading points in one embodiment of the present application.

[0029] Figure 13 for Figure 12 A further sub-flowchart of step S52.

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

[0031] Figure 15 for Figure 5 A further sub-flowchart of step S72.

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

[0033] Figure 17 This 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] With reference to the drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort are within the scope of the present application.

[0037] In the description of the embodiments of the present application, it should be understood that the terms "upper", "lower", and the like indicate the orientation or positional relationship shown in the drawings. The term "connection" in the present application mainly refers to physical structural connection, and when there is a description, it can also include direct connection or indirect connection and the like. The terms "first", "second", and the like in the description and claims of the present application and the drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the term "comprising" and any variations thereof are intended to cover non-exclusive inclusion.

[0038] Please refer to Figure 1 , Figure 1 is a flowchart of the unloading method in an embodiment of the present application. The unloading method is used to control a loading device to unload loaded materials, and the unloading method comprises:

[0039] S11: Obtain position information corresponding to each sub-region in a plurality of sub-regions in an unloading area, wherein the unloading area is located outside a working area in which the loading device loads the materials, and a connecting channel is provided between the unloading area and the working area, and the connecting channel is connected with an entrance area of the unloading area;

[0040] S12: Obtain a plurality of connection paths according to the position information corresponding to each sub-region, each connection path being used to connect a sub-region and the entrance area, and each connection path passing through at least one sub-region;

[0041] S13: Determine the number of times each sub-region is passed through by the plurality of connection paths;

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

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

[0044] Specifically, the unloading area is divided into multiple sub-areas, and since the unloading area is located outside the working area, the connecting channel is arranged between the unloading area and the working area to connect the unloading area and the working area. The loading device obtains multiple connection paths according to position information of the multiple sub-areas, determines a first priority of each sub-area according to a number of times each sub-area is passed through by the multiple connection paths, determines a current target sub-area according to a first priority order of the multiple sub-areas, and responds to a control instruction after loading materials in the working area to move from the working area to the target sub-area through the connecting channel to unload the materials.

[0045] Therefore, by dividing the unloading area, the loading device can unload materials to the target sub-area, avoiding the situation that the loading device only unloads materials to a fixed area in the unloading area, which may cause the materials to be too high after multiple unloading to affect the unloading efficiency, and the unloading space is more fully utilized. In addition, the first priority order of the multiple sub-areas is determined according to the number of times, so that the loading device can sequentially go to the target sub-area, thereby avoiding the situation that some sub-areas are blocked by other sub-areas, so that the loading device cannot reach the target sub-area, improving the unloading efficiency of the loading device, and also avoiding the situation that the loading device collides with the materials in other sub-areas during movement, causing the unloaded materials to collapse, so that the loading device can better plan the path.

[0046] Please refer to Figures 2-4 , Figure 2 for a schematic view of the working area 200 and the unloading area 300 in an embodiment of the present application, Figure 3 for a schematic view of the working area 200 and the unloading area 300 in another embodiment of the present application, Figure 4 for a schematic view of the working area 200 and the unloading area 300 in another embodiment of the present application. Among them, Figures 2-4 The unloading area 300 of different shapes is shown respectively. Further, the unloading area 300 is provided with an entrance area 500, and the connecting channel 400 is connected with 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 move to the unloading area 300 through the connecting channel 400, avoiding damage to the loading device 100 due to scratching by external areas, and improving the unloading efficiency of the loading device 100.

[0047] As Figure 2As shown, the unloading area 300 is rectangular, 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 central 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 in radius between 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 in radius between at least two adjacent concentric circles in the plurality of concentric circles is different. Figure 4 As shown, the unloading area 300 is fan-shaped, and the fan-shaped unloading 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, or 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 unloading area 300 .

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

[0052] The determined times are sorted in ascending order, 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 used 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 sorted 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 equipment 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 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 can also avoid the situation where the loading equipment 100 collides with materials in other sub-areas 31 during movement, causing the unloaded materials to collapse.

[0055] in, Figures 2-4 The arrow routes in the figure are connection paths, and the position indicated by each arrow is the 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] Therefore, selecting the sub-area 31 with the highest first priority as the target sub-area can avoid the situation where 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 where the loading equipment 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 Figures 2-4In this step, the main application Figure 2 and Figure 3 In this step, when the number of times that at least two sub-regions 31 are passed by the plurality of connection paths is the smallest, the first priority of the at least two sub-regions 31 is the highest, that is, the first priority of the at least two sub-regions 31 is the same, at this time, the target sub-region cannot be determined according to the first priority, so one of the at least two sub-regions 31 is selected as the target sub-region, or, the amount of unloadable material of each sub-region 31 is set, if the first priority of the at least two sub-regions 31 is the same and the amount of unloadable material is different, the sub-region 31 with the largest amount of unloadable material is determined as the target sub-region, if the first priority and the amount of unloadable material of the at least two sub-regions 31 are the same, one of them is selected as the target sub-region, so as to complete the operation of determining the target sub-region.

[0062] Thus, the efficiency of path planning and resource access is ensured, and the unloading area 300 is fully utilized, so that the situation that some sub-regions 31 are blocked by other sub-regions 31 and the loading device 100 cannot reach them is avoided, the unloading efficiency of the loading device 100 is improved, and the situation that the loading device 100 collides with the material of other sub-regions 31 during movement and the unloaded material collapses is also avoided.

[0063] Please refer to Figure 5 , Figure 5 is a flowchart for determining a target sub-region in an embodiment of the present application. The unloading method further comprises:

[0064] S21: When the first priority of at least two sub-regions is the highest, the first distance between each sub-region of the at least two sub-regions and the entrance region is calculated;

[0065] S22: The second priority of each sub-region of the at least two sub-regions is determined according to the first distance;

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

[0067] Thus, on the basis of determining the first priority order of the plurality of sub-regions 31, the loading device 100 is controlled to go to the sub-regions 31 in turn according to the second priority from high to low to unload material, so that the situation that some sub-regions 31 are blocked by other sub-regions 31 and the loading device 100 cannot reach them is avoided, the unloading efficiency of the loading device 100 is improved, and the situation that the loading device 100 collides with the material of other sub-regions 31 during movement and the unloaded material collapses is also avoided.

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

[0069] In some embodiments, a forbidden area is arranged in the entrance area 500 to avoid the material from blocking the entrance area 500 when the loading device 100 unloads the material in the entrance area 500, so that the loading device 100 cannot move to the working area 200 through the connecting passage 400. The size of the forbidden area can be set according to actual needs, which is not limited here.

[0070] In combination with the above, in some embodiments, in the plurality of sub-areas 31, the loading device 100 is controlled to unload the material in the sub-areas 31 in the order from high to low of the second priorities, that is, in the plurality of concentric circles, the material is unloaded in the order from the innermost circular area to the outermost annular area. Figure 3

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

[0072] The calculated first distances are sorted in the order from large to small, and the second priority of each of the at least two sub-areas is determined according to the sorting result, wherein the larger the first distance of a sub-area is, the higher the second priority of the sub-area is.

[0073] Therefore, on the basis of the first priority order, the loading device 100 is controlled to unload the material in the sub-areas 31 in the order from high to low of the second priorities again, which can avoid the situation that the loading device 100 collides with the material in other sub-areas 31 during movement and causes the already unloaded material to collapse.

[0074] Please refer to Figure 6 , Figure 6 which is a flowchart for determining a target unloading point for unloading operation in an embodiment of the present application. The target sub-area contains at least one unloading point, and the unloading method further comprises:

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

[0076] S32: obtaining position information of the target unloading point;

[0077] ​S33: controlling the loading device to move from the working area to the target unloading point through the connecting passage for unloading operation according to the position information.

[0078] Specifically, each unloading point 32 corresponds to an unloading operation of the loading device 100, after determining the target unloading point in the target sub-area, the loading device 100 is controlled to move to the target unloading point for unloading operation according to the position information of the target unloading point, and after the loading device 100 finishes unloading, it returns to the working area 200 through the connecting passage 400 for loading operation, at this time, a new target unloading point is determined, and the loading device 100 moves to the new target unloading point for unloading operation.

[0079] Therefore, at least one unloading point 32 is arranged in each sub-area 31, and the target unloading point is selected from the at least one unloading point contained in the target sub-area, and the loading device 100 is controlled to move to the target unloading point for unloading operation, so as to fully utilize the unloading area 300 and avoid the loading device 100 unloading multiple times at one unloading point 32, so as to avoid the case that the material is too much to hinder the movement of the loading device 100.

[0080] In some embodiments, the target unloading point is determined from the at least one unloading point contained in the target sub-area, including:

[0081] When the target sub-area contains one unloading point, the unloading point is taken as the target unloading point.

[0082] When the target sub-area contains at least two unloading points, any one of the at least two unloading points is determined as the target unloading point, or the unloading point with the largest unloading material amount is determined as the target unloading point according to the unloading material amounts of the at least two unloading points.

[0083] Specifically, when the target sub-area contains one unloading point 32, it is directly taken as the target unloading point without other operations. When the target sub-area contains at least two unloading points 32, a selection is made among the at least two unloading points 32 to determine the target unloading point. According to the rule for determining the target unloading point, any one of the at least two unloading points 32 can be selected as the target unloading point, or each unloading point 32 is provided with a respective unloading material amount, if the unloading material amounts of the at least two unloading points 32 contained in the target sub-area are different, the unloading point 32 with the largest unloading material amount is determined as the target unloading point, and if the unloading material amounts of the at least two unloading points 32 contained in the target sub-area are the same, any one of them is selected as the target unloading point.

[0084] Thus, the efficiency of path planning and resource access is ensured, and the unloading area 300 is fully utilized, avoiding the situation that the loading device 100 unloads multiple times at one unloading point 32, resulting in excessive material, and further avoiding the situation that excessive material hinders the movement of the loading device 100.

[0085] In some embodiments, when the target sub-area contains at least two unloading points 32, a second distance between each unloading point 32 and the entrance area 500 can be calculated, and the calculated second distances are sorted in descending order, and the third priority of each unloading point 32 is determined according to the sorting result, wherein the greater the second distance, the higher the third priority of the unloading point 32 corresponding to the second distance, and the unloading point 32 with the highest third priority is selected from the at least two unloading points 32 contained in the target sub-area as the target unloading point, which is the unloading point 32 on which 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 unloading point 32 is provided with a respective unloadable material amount, and if the third priorities of the at least two unloading points 32 contained in the target sub-area are the same and the unloadable material amounts are different, the unloading point 32 with the largest unloadable material amount is determined as the target unloading point, and if the third priorities of the at least two unloading points 32 contained in the target sub-area are the same and the unloadable material amounts are the same, one of them is selected as the target unloading point.

[0087] Please refer to Figures 7-9 , Figure 7 for Figure 2 the schematic diagram of the unloading point 32 in Figure 8 for Figure 3 the schematic diagram of the unloading point 32 in Figure 9 for Figure 4 the schematic diagram of the unloading point 32 in. In some embodiments, as shown in Figures 7-9 , the entrance area 500 is a fixed area, a fixed point can be set in the entrance area 500, the straight-line distance between each unloading point 32 in the target sub-area and the fixed point is calculated, and then the second distance between each unloading point 32 in the target sub-area and the entrance area 500 is calculated to determine the third priority order of the unloading points 32 in the target sub-area. Wherein, the fixed point can be the center point of the entrance area 500.

[0088] In some embodiments, the unloading point 32 in the target sub-area that has not currently unloaded 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 determined 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 among all the unloading points 32 that have not unloaded materials. 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 based on the pre-determined 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 passage 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 Figure 10 , Figure 10 This is a flow chart of determining an obstacle area in an embodiment of the present application. In some embodiments, marking the obstacle area within the unloading area based on the location information of the target unloading point includes:

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

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

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

[0097] Thus, by obtaining the obstacle area according to the above steps, it is possible to prevent the loading device from colliding with the unloaded materials during movement, and to prevent the loading device from being obstructed during movement.

[0098] See alsoFigure 11 , Figure 11 This is a schematic diagram of determining the obstacle area based on the target unloading point in one embodiment of the present application. For example, the obstacle area can be a circular area with the target unloading 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 Figure 11 The circular area shown by the slash pattern in the figure is expanded into an obstacle area based on one of the unloading points 32, so as to prevent the loading equipment 100 from hitting the haystack in the obstacle area when operating in the unloading area 300.

[0099] I understand. Figure 11 This is only an example of determining the obstacle area based on the unloading point 32, and does not limit the shape of the obstacle area. In some schemes, the obstacle area can also be represented as a regular shape such as a rectangle or a sector, or as an irregular shape, which is not specifically limited here.

[0100] See also Figure 12 , Figure 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 unloading point corresponding to each of the sub-areas to obtain multiple unloading points corresponding to the multiple 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 in a fixed area within the unloading area 300, resulting in the material being too high after multiple unloadings to affect the unloading efficiency, and making more effective use of the unloading space.

[0104] See also Figure 13 , Figure 13 for Figure 12 The step S52 is a further sub-flowchart of step S52. The step of determining at least one discharge point corresponding to each of the sub-areas to obtain multiple discharge points corresponding to the multiple sub-areas includes:

[0105] S61: Determine a position point in one of the plurality of grid-shaped sub-regions as a first unloading point, or determine a position point on a boundary of one of the plurality of grid-shaped sub-regions as the first unloading 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 according to the sub-area 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 more fully utilizing the unloading space; and, setting multiple unloading points 32 according to preset rules can avoid the situation where the loading equipment 100 collides with the material at other unloading points 32 during movement, causing the unloaded material to collapse.

[0108] Specifically, such as Figure 7 As shown, Figure 7 and Figure 2 The method for dividing the unloading area 300 into multiple sub-areas 31 is the same as in the above. After obtaining 20 sub-areas 31, a unloading point 32 is set at the center of each sub-area 31. First, a unloading point 32 is set at the middle position of one of the multiple grid-shaped sub-areas 31, and this unloading point 32 is used as the first unloading point 32. The remaining 19 unloading points 32 are then obtained based on the position of the first unloading point 32 and the preset rules. The 20 unloading points 32 are then sorted in descending order according to the second distance and numbered from 1 to 20 to obtain the third priority order of the 20 unloading points 32. The side length of each grid-shaped sub-area 31 must also meet certain conditions so that the straight-line distance between two adjacent unloading points 32 in the multiple unloading points 32 is equal to the vehicle length of the loading device 100.

[0109] In another embodiment, after the plurality of sub-regions 31 are obtained, a position point on the boundary of one of the plurality of grid-shaped sub-regions 31 is determined as the first unloading point 32, and the remaining unloading points 32 can be on the boundary or within the sub-region 31, and the number of unloading points 32 for each sub-region 31 is at least one, and the unloading points 32 can be set according to actual needs, as long as the straight-line distance between two adjacent unloading points 32 in the plurality of unloading points 32 is greater than or equal to the length of the loading device 100, which is not limited here.

[0110] In some embodiments, the preset rule further includes the number of unloading points 32 corresponding to each sub-region 31, and the condition that the straight-line distance between two adjacent unloading points 32 in the plurality of unloading points 32 is greater than or equal to the length of the loading device 100 still needs to be met.

[0111] In some embodiments, the preset rule further includes an unloading point trajectory, and an unloading point trajectory is preset to determine the remaining unloading points 32 corresponding to the plurality of sub-regions 31 according to the position of the first unloading point 32 and the unloading point trajectory, so as to obtain the plurality of unloading points 32 corresponding to the plurality of sub-regions 31, and when the unloading point trajectory is set, the condition that the straight-line distance between two adjacent unloading points 32 in the plurality of unloading points 32 is greater than or equal to the length of the loading device 100 still needs to be met.

[0112] Specifically, in some embodiments, the loading device 100 includes a vehicle body and an unloading frame, and after the loading device 100 reaches the target unloading point, it can rotate around the unloading point 32 to unload the material in the unloading frame to the area where the unloading point 32 is located. In order to avoid colliding with other materials on the unloading point 32 during rotation, the straight-line distance between two adjacent unloading points 32 should be greater than or equal to the length of the loading device 100, wherein the length of the loading device 100 is the length of the vehicle body.

[0113] In some embodiments, the length of the vehicle body is 0.5 m, and the length of the unloading frame is 0.5 m, so the straight-line distance between two adjacent unloading points 32 should be greater than or equal to 0.5 m.

[0114] In some embodiments, the determination of a position point in one of the plurality of grid-shaped sub-regions as the first unloading point, or the determination of a position point on the boundary of one of the plurality of grid-shaped sub-regions as the first unloading point, includes:

[0115] determining a position point in one of the plurality of grid-shaped sub-regions that has the maximum straight-line distance from the entrance region as the first drop-off point, or determining a position point on the boundary of one of the plurality of grid-shaped sub-regions that has the maximum straight-line distance from the entrance region as the first drop-off point.

[0116] Thus, a position point having the maximum straight-line distance from the entrance region 500 is determined as the first drop-off point 32, so as to better perform the dropping-off, avoid the dropped-off material from hindering the movement of the loading device 100, and ensure the efficiency of path planning and resource access.

[0117] Referring to Figure 14 , Figure 14 is a flowchart of the process of dividing the sub-regions 31 and determining the drop-off points 32 in another embodiment of the present application. The dropping-off method further includes:

[0118] S71: dividing the circular drop-off region into a plurality of concentric circles to form a plurality of sub-regions;

[0119] S72: determining at least one drop-off point corresponding to each of the sub-regions to obtain a plurality of drop-off points corresponding to the plurality of sub-regions.

[0120] Thus, by dividing the drop-off region 300 and setting the drop-off points 32 through the sub-regions 31 obtained after the division, it is ensured that the loading device 100 drops off the material to the corresponding region at the target drop-off point, and the situation that the loading device 100 only drops off the material to a fixed region in the drop-off region 300 and causes the dropped-off material to be too high to affect the dropping-off efficiency after multiple dropping-off of the material is avoided, and the drop-off space is more fully utilized.

[0121] Referring to Figure 15 , Figure 15 is a further sub-flowchart of step S72 of Figure 5 . The determining of at least one drop-off point corresponding to each of the sub-regions to obtain a plurality of drop-off points corresponding to the plurality of sub-regions includes:

[0122] S81: determining a position point in each of the plurality of sub-regions as the first drop-off point in each of the sub-regions, or determining a position point on the boundary of each of the plurality of sub-regions as the first drop-off point in each of the sub-regions;

[0123] S82: determining the positions of the rest of the unloading points in each of the sub-regions according to the position of the first unloading point in each of the sub-regions and a preset rule, to obtain a plurality of unloading points corresponding to the plurality of sub-regions, wherein the preset rule at least comprises that the straight-line distance between two adjacent unloading points in the plurality of unloading points is greater than or equal to the vehicle length of the loading device.

[0124] Therefore, by dividing the unloading region 300 and setting the unloading points 32 by the sub-regions 31 obtained after the division, it is ensured that the loading device 100 unloads materials to the corresponding region at the target unloading point, avoiding the situation that the loading device 100 only unloads materials to a fixed region of the unloading region 300, and the material is too high after multiple unloading to affect the unloading efficiency, and the unloading space is more fully utilized.

[0125] As shown in Figure 8 , Figure 8 and Figure 3 , the method of dividing the unloading region 300 into a plurality of sub-regions 31 is the same, and after obtaining the plurality of sub-regions 31, a position point in each of the sub-regions 31 or on the boundary is set as the first unloading point 32 in each of the sub-regions 31, and the positions of the rest of the unloading points 32 in each of the sub-regions 31 are determined according to the position of the first unloading point 32 and a preset rule, to obtain a plurality of unloading points 32 corresponding to the plurality of sub-regions 31.

[0126] In some embodiments, the preset rule further comprises an unloading point trajectory, and an unloading point trajectory is preset to determine the positions of the rest of the unloading points 32 in each of the sub-regions 31 according to the position of the first unloading point 32 and the unloading point trajectory, to obtain a plurality of unloading points 32 corresponding to the plurality of sub-regions 31, wherein when the unloading point trajectory is set, the condition that the straight-line distance between two adjacent unloading points 32 in the plurality of unloading points 32 is greater than or equal to the vehicle length of the loading device 100 still needs to be met.

[0127] In some embodiments, the preset number of unloading points 32 on the boundary of each of the sub-regions 31 can be determined according to the preset rule that the straight-line distance between two adjacent unloading points 32 in the plurality of unloading points 32 is greater than or equal to the vehicle length of the loading device 100.

[0128] In some embodiments, specifically, in Figure 7 and Figure 8In the unloading area 300 and the plurality of sub-areas 31, a target sub-area is not determined, but a straight-line distance between each of the plurality of unloading points 32 and the entrance area 500 is directly calculated, the plurality of straight-line distances obtained are sorted in descending order, and a third priority of the plurality of unloading points 32 is determined according to the arrangement order. Among them, the third priority of the unloading point 32 with the greater straight-line distance is higher, that is, the loading device 100 reaches the unloading point 32 to unload materials earlier.

[0129] As shown in Figure 9 Specifically, the unloading area 300 is a fan shape, the unloading area 300 is divided into a plurality of sub-areas 31, after obtaining the plurality of sub-areas 31, the vertex of the fan shape 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 a preset rule, to obtain a plurality of unloading points 32 corresponding to the plurality of sub-areas 31.

[0130] In some embodiments, the determination of a position point in each of the plurality of sub-areas as the first unloading point in each of the plurality of sub-areas, or the determination of a position point on the boundary of each of the plurality of sub-areas as the first unloading point in each of the plurality of sub-areas, comprises:

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

[0132] Thus, the position point with the maximum straight-line distance from the entrance area 500 is determined as the first unloading point 32, so as to better unload and avoid hindering the movement of the loading device 100 after unloading, thereby ensuring the efficiency of path planning and resource access.

[0133] In some embodiments, if the straight-line distance between part of the plurality of unloading points 32 and the entrance area 500 is less than a preset distance, the part of the plurality of unloading points 32 is 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 to the working area from the entrance area to load materials.

[0136] Thus, each of the unloading points 32 corresponds to an unloading operation, and the loading device 100 needs to return to the working area 200 to load materials again after unloading materials to ensure the continuity of the unloading operation.

[0137] In some embodiments, the loading device 100 is a mower, the working area 200 is a grassland, the unloading area 300 is an unloading area, the unloading points 32 are unloading points, and the materials are grass or grass clippings.

[0138] Please refer to Figure 16 , Figure 16 is a schematic block diagram of the loading device 100 in an embodiment of the present application. The loading device 100 includes a determination module 11 and a control module 12. The determination module 11 is configured to obtain position information corresponding to each of a plurality of sub-areas 31 in an unloading area 300, and obtain a plurality of connection paths according to the position information corresponding to each of the sub-areas 31. The unloading area 300 is located outside a working area 200 in which the loading device 100 loads materials, and a connection passage 400 is arranged between the unloading area 300 and the working area 200. The connection passage 400 is connected to an 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 further configured to determine a number of times each of the sub-areas 31 is passed through by the plurality of connection paths, and determine a first priority of each of the sub-areas 31 according to the number of times. The sub-area 31 with the highest first priority is determined as a target sub-area. The control module 12 is configured to control the loading device 100 to move from the working area 200 to the target sub-area through the connection passage 400 to perform an unloading operation.

[0139] Thus, the loading device 100 avoids the situation that the loading device 100 only unloads materials to a fixed area in the unloading area 300, and the materials are too high after multiple unloading operations to affect the unloading efficiency, and more fully utilizes the unloading space. In addition, the path planning of the loading device 100 can avoid the situation that some unloading points 32 are blocked by other unloading points 32, so that the loading device 100 cannot reach the target unloading point.

[0140] The determination module 11 and the control module 12 perform operations corresponding to the steps in the methods of the foregoing embodiments, and more specific operations performed by the determination module 11 and the control module 12 can be found in the steps in the methods of the foregoing embodiments.

[0141] Please refer to Figure 17 , Figure 17A schematic block diagram of an electronic device 600 in an embodiment of the present application. The electronic device 600 comprises a processor 62 and a memory 61, the memory 61 storing a computer program, and the processor 62 executing the computer program to perform the unloading method as described above.

[0142] For example, the unloading method comprises:

[0143] Obtaining position information corresponding to each of a plurality of sub-areas in an unloading area, wherein the unloading area is located outside a working area of the loading device loading the material, and a connecting passage is provided between the unloading area and the working area, and the connecting passage is connected with an entrance area of the unloading area;

[0144] According to the position information corresponding to each of the sub-areas, a plurality of connection paths are obtained, each connection path being used to connect a sub-area with the entrance area, and each connection path passing through at least one sub-area;

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

[0146] According to the number of times, a first priority of each sub-area is determined, and a target sub-area with the highest first priority is determined;

[0147] Controlling the loading device to move from the working area to the target sub-area through the connecting passage to perform unloading operation.

[0148] Thus, it is avoided that the material is only unloaded in a fixed area in the unloading area 300, which causes the material to be too high after multiple unloading operations to affect the unloading efficiency, and the unloading space is more fully utilized. Moreover, the path planning of the electronic device 600 can avoid that some sub-areas 31 are blocked by other sub-areas 31.

[0149] The other steps in the unloading method performed by the processor 62 executing the computer program can refer to the steps in the method of each of the above embodiments.

[0150] The processor 62 can be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The memory 61 can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. For example, it can be, but is not limited to, a flash memory, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk. The processor 62 is connected to the memory 61.

[0151] The application further provides a computer readable storage medium, which stores a computer program. The computer program is called by the processor 62 and executes the unloading method as described above.

[0152] For example, the unloading method comprises:

[0153] obtaining position information corresponding to each of a plurality of sub-areas in an unloading area, wherein the unloading area is located outside a working area of the loading device loading the material, and a connecting channel is arranged between the unloading area and the working area, and the connecting channel is connected to an entrance area of the unloading area;

[0154] obtaining a plurality of connection paths according to the position information corresponding to each of the sub-areas, each connection path being used to connect a sub-area and the entrance area, and each connection path passing through at least one sub-area;

[0155] determining a number of times each sub-area is passed through by the plurality of connection paths;

[0156] determining a first priority of each sub-area according to the number, and determining a target sub-area with the highest first priority as the target sub-area;

[0157] controlling the loading device to move from the working area to the target sub-area through the connecting channel to perform an unloading operation.

[0158] The other steps of the unloading method executed by the computer program called by the processor can refer to the steps in the methods of the foregoing embodiments.

[0159] The computer storage medium of the embodiments of the present application can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0160] The computer-readable signal medium can include a data signal propagated in baseband or propagated as a carrier wave in a propagated data signal, in which the computer-readable program code is contained. Such propagated data signal can take a variety of forms, including but not limited to electro-magnetic, optical or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium that is not a storage medium and that can be used to carry or propagate program code that is used by or in connection with an instruction execution system, apparatus or device.

[0161] The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the above.

[0162] The computer program code for carrying out operations of the present application can be written in one or more programming languages or combinations of languages including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). The present application can be implemented in a computing system that includes a back-end component, or a middleware component, or a front-end component or any combinations thereof.

[0163] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered in the protection scope of the present application; in the case of no 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 should be subject to the protection scope of the claims.

Claims

1. A method of unloading for controlling an unloading of a load by a loading device, characterized by, The unloading method comprises: obtaining position information corresponding to each of a plurality of sub-areas in an unloading area, wherein the unloading area is located outside a working area of the loading device loading the material, and a connecting channel is provided between the unloading area and the working area, and the connecting channel is connected with an entrance area of the unloading area; obtaining a plurality of connection paths according to the position information corresponding to each of the sub-areas, each connection path being used to connect a sub-area with the entrance area, and each connection path passing through at least one sub-area; determining the number of times each sub-area is passed through by the plurality of connection paths; determining a first priority of each sub-area according to the number of times, and determining a target sub-area as the sub-area with the highest first priority; controlling the loading device to move from the working area to the target sub-area through the connecting channel to perform unloading operation.

2. The method of claim 1, wherein, Each connection path is a connection path from a region center point of a corresponding sub-area in the plurality of sub-areas to a center point of the entrance area, and the determining of the first priority of each sub-area according to the number of times and the determining of the target sub-area as the sub-area with the highest first priority comprises: sorting the determined number of times in descending order, and determining the first priority of each sub-area according to the sorting result, wherein the smaller the number of times is, the higher the first priority of the sub-area corresponding to the number of times is.

3. The method of claim 2, wherein, The unloading method further comprises: when only one sub-area has the highest first priority, determining the sub-area with the highest first priority as the target sub-area.

4. The method of claim 2, wherein, The unloading method further comprises: when at least two sub-areas have the highest first priority, determining any one of the at least two sub-areas as the target sub-area, or determining a sub-area with the largest unloadable material amount as the target sub-area according to the unloadable material amount of the at least two sub-areas; or when at least two sub-areas have the highest first priority, calculating a first distance of each sub-area in the at least two sub-areas from the entrance area; determining a second priority of each sub-area in the at least two sub-areas according to the first distance; determining the target sub-area as the sub-area with the highest second priority.

5. The method of claim 4, wherein, The determining of the second priority of each sub-area in the at least two sub-areas according to the first distance comprises: sorting the calculated first distance in descending order, and determining the second priority of each sub-area in the at least two sub-areas according to the sorting result, wherein the larger the first distance is, the higher the second priority of the sub-area corresponding to the first distance is.

6. The method of claim 1-5, wherein, The target sub-area contains at least one unloading point, and the unloading method further comprises: determining a target unloading point from the at least one unloading point contained in the target sub-area; obtaining position information of the target unloading point; controlling the loading device to move from the working area to the target unloading point through the connecting channel to perform unloading operation according to the position information.

7. The method of claim 6, wherein, The determining of the target unloading point from the at least one unloading point contained in the target sub-area comprises: when the target sub-region contains one drop-off point, taking the drop-off point as the target drop-off point; when the target sub-region contains at least two drop-off points, determining any one of the at least two drop-off points as the target drop-off point, or determining the drop-off point with the largest amount of unloadable material as the target drop-off point according to the amount of unloadable material of the at least two drop-off points.

8. The method of claim 6, wherein, After the loading device is controlled to move from the working area to the target drop-off point through the connecting channel according to the position information, the unloading method further comprises: marking an obstacle region in the unloading region according to the position information of the target drop-off point, wherein the obstacle region includes the target drop-off point.

9. The method of claim 8, wherein, The marking of the obstacle region in the unloading region according to the position information of the target drop-off point comprises: acquiring a material volume dumped by the loading device at the target drop-off point; determining an expansion distance according to the material volume; performing expansion processing on the target drop-off point according to the expansion distance to obtain the obstacle region.

10. A loading apparatus characterized by comprising: The loading device comprises: a determining module configured to acquire position information corresponding to each sub-region of a plurality of sub-regions in an unloading region, and acquire a plurality of connecting paths according to the position information corresponding to each sub-region, wherein the unloading region is located outside a working region where the loading device loads material, and a connecting channel is provided between the unloading region and the working region, the connecting channel is connected to an entrance region of the unloading region, each connecting path is used to connect a sub-region and the entrance region, and each connecting path passes through at least one sub-region; the determining module is further configured to determine a number of times each sub-region is passed through by the plurality of connecting paths, and determine a first priority of each sub-region according to the number of times, and determine a target sub-region with the highest first priority; and a control module configured to control the loading device to move from the working region to the target sub-region through the connecting channel to perform unloading operation.

11. An electronic device, comprising: A computer readable storage medium stores a computer program, and the computer program is used to execute the unloading method of any one of claims 1-9 when called by a processor.

12. A computer-readable storage medium, characterized in that, A computer readable storage medium stores a computer program, and the computer program is used to execute the unloading method of any one of claims 1-9 when called by a processor.

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