Control method, device and equipment of ground operation equipment and storage medium

Abstract

The embodiment of the application provides a control method, device and equipment of ground operation equipment and a storage medium, the method comprises the following steps: in response to the received unloading execution instruction, obtaining unloading environment information of an unloading area, the unloading environment information comprises at least one of the following: unloading area information and stockpile state information, the stockpile state information comprises a stockpile identifier; determining a target unloading position in the unloading area according to the unloading position determination strategy corresponding to the stockpile identifier and the unloading environment information, and the unloading environment information used by the unloading position determination strategies corresponding to different stockpile identifiers is different; and controlling the ground operation equipment to unload according to the target unloading position. The technical scheme provided by the embodiment of the application improves the intelligence of the ground operation equipment and the efficiency of the unloading of the ground operation equipment.

Description

Technical Field

[0001] This application relates to the field of ground operation equipment technology, and in particular to a control method, device, equipment and storage medium for ground operation equipment. Background Technology

[0002] Ground-based work equipment, such as lawnmowers, snowplows, and agricultural harvesters, can move and operate within a work area, bringing convenience to users. Currently, these equipment can collect surface cover such as snow, fallen leaves, grass clippings, or fallen flowers within the work area, and then unload the collected surface cover from a set of pre-set unloading points. However, these pre-set unloading points cannot adapt to the dynamic changes in on-site operations, resulting in low levels of automation and impacting the unloading efficiency of the ground-based work equipment. Summary of the Invention

[0003] Based on this, embodiments of this application provide a control method, apparatus, device, and storage medium for ground operation equipment, which can improve the intelligence of ground operation equipment and the efficiency of unloading ground operation equipment.

[0004] In a first aspect, embodiments of this application provide a control method for ground operation equipment, including:

[0005] In response to the received unloading execution command, the unloading environment information of the unloading area is obtained, the unloading environment information including at least one of the following: unloading area information and stockpile status information, the stockpile status information including stockpile identifier;

[0006] Based on the unloading location determination strategy corresponding to the stockpile identifier and the unloading environment information, the target unloading location is determined in the unloading area. The unloading environment information used is different for different unloading location determination strategies corresponding to different stockpile identifiers.

[0007] The ground operation equipment is controlled to unload material according to the target unloading position.

[0008] Secondly, embodiments of this application also provide a control device for ground operation equipment, the control device including a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, to enable the ground operation equipment to implement the control method as described in the first aspect.

[0009] Thirdly, embodiments of this application also provide a ground operation device, including:

[0010] body;

[0011] A motion mechanism, connected to the body, is used to drive the body to move;

[0012] A control device is disposed in the fuselage to implement the control method as described in the first aspect.

[0013] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the control method as described in the first aspect.

[0014] This application provides a control method, device, equipment, and storage medium for ground operation equipment. When receiving a unloading execution command, this application can automatically determine the target unloading position in the unloading area based on the unloading environment information of the unloading area, and control the ground operation equipment to unload according to the target unloading position. There is no need to pre-set the unloading point, which has stronger scene adaptability and can adapt to the dynamic changes of the working site environment of the ground operation equipment in real time. It has a higher degree of intelligence, and the determined target unloading point is more matched with the working site environment of the ground operation equipment, making the unloading efficiency of the ground operation equipment based on the target unloading point higher.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic block diagram of the structure of the ground operation equipment that implements the control method provided in this application;

[0018] Figure 2 This is a schematic flowchart illustrating the steps of a control method for ground operation equipment provided in an embodiment of this application;

[0019] Figure 3 yes Figure 2 A schematic flowchart of a sub-step in the control method for ground operation equipment;

[0020] Figure 4 yes Figure 2 A schematic flowchart of another sub-step in the control method for ground operation equipment;

[0021] Figure 5 A schematic flowchart illustrating another sub-step of the control method for ground operation equipment in the process;

[0022] Figure 6 This is a schematic block diagram of the structure of a control device for ground operation equipment provided in an embodiment of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0025] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0026] Ground-based work equipment, such as lawnmowers, snowplows, and agricultural harvesters, can move and operate within a work area, bringing convenience to users. Currently, these equipment can collect surface cover such as snow, fallen leaves, grass clippings, or fallen flowers within the work area, and then unload the collected surface cover from a set of pre-set unloading points. However, these pre-set unloading points cannot adapt to the dynamic changes in on-site operations, resulting in low levels of automation and impacting the unloading efficiency of the ground-based work equipment.

[0027] To address the aforementioned issues, this application provides a control method, apparatus, device, and storage medium for ground operation equipment. Upon receiving an unloading execution command, this application can automatically determine the target unloading location within the unloading area based on the unloading environment information, and control the ground operation equipment to unload according to the target unloading location. This eliminates the need for pre-setting unloading points, enhances scenario adaptability, and enables real-time adaptation to dynamic changes in the operating environment of the ground operation equipment. It also boasts a higher level of intelligence, and the determined target unloading point is more closely matched to the operating environment of the ground operation equipment, resulting in higher efficiency for the ground operation equipment to unload based on the target unloading point.

[0028] Furthermore, by coupling the stockpile identifier with differentiated unloading environment information, this invention provides customized decision input for two fundamentally different operational scenarios: "with stockpile" and "without stockpile." This solves the defects of computational redundancy, response lag, and rigid decision-making caused by the indiscriminate processing of all information in the prior art, avoids invalid data processing, shortens decision-making time, speeds up operational response, and improves computational efficiency.

[0029] It should be noted that the ground operation equipment in the embodiments of this application includes, but is not limited to, lawn mowers, sweepers, agricultural harvesters, snowplows, and snowplows.

[0030] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] Please see Figure 1 , Figure 1 This is a schematic block diagram of the structure of the ground operation equipment that implements the control method provided in this application.

[0032] like Figure 1 As shown, the ground operation equipment 100 includes a body 110, a motion mechanism 120, and a control device 130. The motion mechanism 120 is connected to the body 110 and is used to drive the body 110 to move. The control device 130 is disposed on the body 110 and implements the control method provided in the embodiments of this application.

[0033] In some embodiments, the control device 130 is configured to perform the following steps:

[0034] In response to the received unloading execution command, the unloading environment information of the unloading area is obtained, the unloading environment information including at least one of the following: unloading area information and stockpile status information, the stockpile status information including stockpile identifier;

[0035] Based on the unloading location determination strategy corresponding to the stockpile identifier and the unloading environment information, the target unloading location is determined in the unloading area. The unloading environment information used is different for different unloading location determination strategies corresponding to different stockpile identifiers.

[0036] The ground operation equipment is controlled to unload material according to the target unloading position.

[0037] In some embodiments, the unloading environment information includes unloading area information and stockpile status information. When the control device 130 determines the target unloading location in the unloading area based on the unloading location determination strategy corresponding to the stockpile identifier and the unloading environment information, it is used to:

[0038] In response to the stockpiling identifier indicating the existence of a stockpiled area in the unloading area, a target unloading location is determined in the unloading area based on a first unloading location determination strategy and the unloading environment information. The unloading environment information used in the first unloading location determination strategy includes the stockpiling area information of the stockpiled area in the unloading area information and the stockpiling status information.

[0039] In some embodiments, the target unloading location is a location within a target range that borders the stockpiled area in the unloading area.

[0040] In some embodiments, the target range is determined based on the area of ​​the ground region occupied by the current unloading volume of the ground operation equipment and the boundary of the stockpiled area.

[0041] In some embodiments, the target unloading location is the location within the target range that minimizes the distance between the center of the ground area occupied by the current unloading volume of the ground operation equipment and the center of the stockpiled area.

[0042] In some embodiments, the target unloading location is the location within the target range closest to the boundary of the unloading area.

[0043] In some embodiments, the target unloading location at least partially overlaps with the stockpiled area; or the target unloading location is a location outside the stockpiled area within the unloading area.

[0044] In some embodiments, the target unloading location is a location that allows the ground operation equipment to enter the unloading area for unloading and to leave the unloading area after unloading.

[0045] In some embodiments, the target unloading location is a location that enables the ground operation equipment to enter the unloading area via a first path for unloading, and to leave the unloading area via the first path after unloading, wherein the first path is determined based on the unloading area information and the stockpiling area information.

[0046] In some embodiments, the target unloading location is a location that allows the ground operation equipment to enter the unloading area via a first path for unloading and to leave the unloading area via a second path after unloading. The first path and the second path are at least partially different, and the second path is determined based on the unloading area information and the stockpiling area information after the ground operation equipment has completed unloading.

[0047] In some embodiments, the target unloading location is determined in the stockpiled area in response to the existence of remaining containment space in the stockpiled area of ​​the unloading area.

[0048] In some embodiments, the control device 130 is further configured to perform the following steps:

[0049] During the process of controlling the ground operation equipment to unload material in the stockpiled area, in response to the absence of remaining storage space in the stockpiled area and the ground operation equipment not having completed unloading, the target unloading location is redefined; and

[0050] Based on the newly determined target unloading location, the ground operation equipment is controlled to continue unloading.

[0051] In some embodiments, when the control device 130 controls the ground operation equipment to unload material according to the target unloading position, it is used to:

[0052] Control the ground operation equipment to move towards the target unloading position;

[0053] In response to the ground operation equipment arriving at the target unloading position, control the ground operation equipment to unload; or

[0054] During the process of controlling the ground operation equipment to move towards the target unloading position, at least one unloading position update operation is performed until the distance between the ground operation equipment and the stockpiled area is less than or equal to a target threshold, and the updated target unloading position is obtained. The ground operation equipment is then controlled to move towards the updated target unloading position. In response to the ground operation equipment arriving at the updated target unloading position, the ground operation equipment is controlled to unload.

[0055] The unloading position update operation includes:

[0056] In response to the distance between the ground operation equipment and the stockpiled area being within a corresponding preset range, the stockpiled area information is updated to obtain the updated stockpiled area information;

[0057] The target unloading location is updated based on the updated stockpiling area information.

[0058] In some embodiments, the unloading environment information includes unloading area information and stockpile status information. When the control device 130 determines the target unloading location in the unloading area based on the unloading location determination strategy corresponding to the stockpile identifier and the unloading environment information, it is used to:

[0059] In response to the material stacking identifier indicating that there is no material stacking area in the unloading area, a target unloading location is determined in the unloading area based on the second unloading location determination strategy and the unloading area information, wherein the unloading environment information adopted by the second unloading location determination strategy includes the unloading area information and preset rules.

[0060] In some embodiments, when the control device 130 determines the target unloading position in the unloading area based on the strategy determined by the second unloading position and the unloading environment information, it is configured to:

[0061] Based on the unloading area information, the target unloading scenario where the ground operation equipment is located is determined;

[0062] According to the preset rules corresponding to the target unloading scenario, the target unloading location is determined in the unloading area, wherein the preset rules corresponding to different target unloading scenarios are different.

[0063] In some embodiments, the unloading environment information includes unloading area information and stockpile status information, wherein the unloading area information includes at least one of the following: the geographical location of the unloading area, the boundary location of the unloading area, the shape of the unloading area, and the entrance location of the unloading area;

[0064] The stacking status information includes a stacking identifier and stacking area information of the stacked area. The stacking identifier is used to indicate whether there is a stacked area or not in the unloading area. The stacking area information includes at least one of the following: the location information of the stacked area, the stacked mass, the stacked height, and the status identifier. The status identifier is used to indicate whether the stacked area is in a stackable or unstackable state.

[0065] In some embodiments, the method for acquiring the unloading environment information includes at least one of the following: data collection via sensors on the ground operation equipment, data collection via sensors in the operation area of ​​the ground operation equipment, data generation via a preset map of the operation area, and data generation via a preset map of the unloading area. The sensors include at least one of radar, infrared sensors, and visual sensors.

[0066] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the ground operation equipment described above can be referred to the corresponding process in the control method embodiment of the ground operation equipment below, and will not be repeated here.

[0067] The following will combine Figure 1 The control method for the ground operation equipment 100 provided in the embodiments of this application will be described in detail. It should be noted that... Figure 1 The ground operation equipment 100 in the text is only used to explain the control method of the ground operation equipment provided in the embodiments of this application, but does not constitute a limitation on the application scenario of the control method of the ground operation equipment provided in the embodiments of this application.

[0068] Please seeFigure 2 , Figure 2 This is a schematic flowchart illustrating the steps of a control method for ground operation equipment provided in an embodiment of this application.

[0069] like Figure 2 As shown, the control method for the ground operation equipment includes steps S101 to S103.

[0070] Step S101: In response to the received unloading execution command, obtain the unloading environment information of the unloading area. The unloading environment information includes at least one of the following: unloading area information and stacking status information. The stacking status information includes the stacking identifier.

[0071] Step S102: Determine the strategy and unloading environment information based on the unloading location corresponding to the stacking identifier, and determine the target unloading location in the unloading area. The unloading environment information used for the unloading location determination strategy corresponding to different stacking identifiers is different.

[0072] Step S103: Control the ground operation equipment to unload material according to the target unloading position.

[0073] When this embodiment receives the unloading execution command, it can automatically determine the target unloading position in the unloading area based on the unloading environment information of the unloading area, and control the ground operation equipment to unload according to the target unloading position. There is no need to pre-set the unloading point, which has a stronger ability to adapt to the scene. It can adapt to the dynamic changes of the working site environment of the ground operation equipment in real time, with a higher degree of intelligence. Furthermore, the target unloading point is more matched with the working site environment of the ground operation equipment, and the efficiency of the ground operation equipment unloading based on the target unloading point is higher.

[0074] In some embodiments, prior to step S101, the method further includes receiving a user-inputted unloading execution command. The user may input the unloading execution command to the ground operation equipment via a control device communicatively connected to the ground operation equipment, or via controls on the ground operation equipment. The control device may be a server or a terminal device, which may include a remote control, smartphone, tablet computer, or laptop computer, etc.

[0075] In some embodiments, prior to step S101, the method further includes: generating a unloading execution command in response to the weight or volume of the surface cover in the collection device of the ground operation equipment meeting preset unloading conditions. For example, a unloading execution command is generated in response to the weight of the surface cover in the collection device of the ground operation equipment being greater than or equal to a preset weight. Another example is the generation of a unloading execution command in response to the volume of the surface cover in the collection device of the ground operation equipment being greater than or equal to a preset volume. The preset weight and preset volume can be set based on actual conditions, and this embodiment does not specifically limit their settings.

[0076] In some embodiments, prior to step S101, the method further includes: generating unloading execution instructions periodically during the process of the ground operation equipment collecting surface cover within the work area. For example, during the process of the ground operation equipment collecting surface cover within the work area, an unloading execution instruction is generated every 15 minutes. The surface cover may include snow, fallen leaves, grass clippings, fallen flowers, branches, rice, wheat, etc.

[0077] For example, a ground-based work device is a lawnmower. The lawnmower can travel along a preset mowing path and perform mowing tasks. While mowing, the lawnmower can collect the cut grass into a collection bin or similar device. Alternatively, it can collect the grass into the collection bin after mowing is complete. During the collection process, the user can send an unloading command to the lawnmower via a remote control connected to it. The lawnmower can also generate an unloading command at preset time intervals, or when the remaining capacity of the collection bin is less than a preset remaining capacity.

[0078] In some embodiments, the unloading environment information includes unloading area information and stockpiling status information. The unloading area information includes at least one of the following: the geographical location of the unloading area, the boundary location of the unloading area, the shape of the unloading area, and the entrance location of the unloading area. The stockpiling status information includes a stockpiling identifier and stockpiling area information of the stockpiled area. The stockpiling identifier indicates whether a stockpiled area exists or does not exist within the unloading area. The stockpiling area information includes at least one of the following: the location information of the stockpiled area, the stockpiled mass, the stockpiled height, and a status identifier. The status identifier indicates whether the stockpiled area is in a stockpilable or unstockable state. The stockpiled mass of the stockpiled area can be estimated by scanning the volume of the stockpiled area, or it can be accumulated each time unloading occurs in the stockpiled area; this embodiment does not specifically limit this method.

[0079] In some embodiments, the stacking identifier includes a first stacking identifier or a second stacking identifier, wherein the first stacking identifier indicates that there is a stacked area in the unloading area, and the second stacking identifier indicates that there is no stacked area in the unloading area. The status identifier includes a first status identifier or a second status identifier, wherein the first status identifier indicates that the stacked area is in a stackable state, and the second status identifier indicates that the stacked area is in a non-stackable state.

[0080] In some embodiments, the method for acquiring unloading environment information includes at least one of the following: data collection via sensors on the ground operating equipment; data collection via sensors in the operating area of ​​the ground operating equipment; generation via a preset map of the operating area; and generation via a preset map of the unloading area. The sensors include at least one of radar, infrared sensors, and vision sensors. For example, the sensors on the ground operating equipment may include a ranging sensor, a vision sensor (such as an RGB-D camera or a TOF camera), and / or radar (such as lidar or millimeter-wave radar), and the sensors in the target operating area may include a surveillance camera. Exemplarily, acquiring unloading environment information of the unloading area includes at least one of the following: controlling sensors on the ground operating equipment to collect unloading environment information; controlling sensors in the operating area of ​​the ground operating equipment to collect unloading environment information; generating unloading environment information based on a preset map of the operating area in response to a received unloading execution command; and generating unloading environment information based on a preset map of the unloading area.

[0081] In some embodiments, the target unloading location may also be determined solely based on unloading area information. For example, the target unloading location may be determined based on at least one of the following: the geographical location of the unloading area, the boundary location of the unloading area, the shape of the unloading area, and the entrance location of the unloading area. For instance, in response to the first unloading execution command received during the current operation, a target unloading path for the ground operating equipment within the unloading area is determined based on the unloading area information. The target unloading path includes multiple unloading points, with equal spacing between any two adjacent unloading points. The ground operating equipment is controlled to move towards the entrance of the unloading area. When the ground operating equipment reaches the entrance of the unloading area, it is controlled to move along the target unloading path. When the ground operating equipment reaches the first unloading point, it is controlled to perform the unloading operation. After the ground operating equipment completes unloading, the target unloading path is updated, and the remaining capacity space at the first unloading point in the updated target unloading path is greater than a set value.

[0082] In response to a non-first unloading command received during the current operation, the ground handling equipment is controlled to move towards the entrance of the unloading area. Upon reaching the entrance, the equipment moves along a predetermined target unloading path. At the first unloading point, the equipment executes the unloading operation. After unloading, the target unloading path is updated, ensuring the remaining capacity at the first unloading point is greater than a set value. The target unloading path can be either a loop or an arc shape. The interval between any two adjacent unloading points is equal to the sum of the ground handling equipment's fuselage length and a preset length.

[0083] In some embodiments, the stockpile identifier includes a first stockpile identifier or a second stockpile identifier. The first stockpile identifier indicates the existence of a stockpiled area in the unloading area, and the second stockpile identifier indicates the absence of a stockpiled area in the unloading area. The first stockpile identifier corresponds to a first unloading location determination strategy, and the second stockpile identifier corresponds to a second unloading location determination strategy. The first and second unloading location determination strategies are different; that is, when a stockpiled area exists in the unloading area, the first unloading location determination strategy is used to determine the target unloading location in the unloading area, and when a stockpiled area exists in the unloading area, the second unloading location determination strategy is used to determine the target unloading location in the unloading area. For example, the unloading environment information used by the first unloading location determination strategy includes unloading area information and stockpiled area information of the stockpiled area, while the unloading environment information used by the second unloading location determination strategy includes unloading area information and preset rules.

[0084] In some embodiments, the unloading environment information includes unloading area information and stockpile status information, such as... Figure 3 As shown, step S101 includes sub-steps S1011 to S1012.

[0085] Sub-step S1011: In response to the indication from the stacking identifier that there is no stacked area in the unloading area, determine the target unloading location in the unloading area based on the second unloading location determination strategy and the unloading area information. The unloading environment information used by the second unloading location determination strategy includes unloading area information and preset rules.

[0086] In this embodiment, when the material stacking indicator indicates that there is no stacked area in the unloading area, the first target unloading position is determined in the unloading area based on the second unloading position determination strategy. For example, the first target unloading position is determined in the unloading area based on unloading area information and preset rules, which can flexibly determine the first target unloading position in more scenarios and is more flexible. In other embodiments, the first target unloading position can also be manually set by the user, and this application embodiment does not specifically limit this.

[0087] It should be noted that the preset rules can be set based on actual conditions, and this application embodiment does not impose specific limitations on them. For example, the preset rules may include any of the following: randomly determining the target unloading position in the unloading area; determining the position closest to the boundary of the unloading area as the target unloading position; determining the center position of the unloading area as the target unloading position; determining any position in the unloading area whose distance from the current position of the ground operation equipment is less than a preset distance as the target unloading position; determining the position in the unloading area with the longest straight-line distance from the entrance position of the unloading area as the target unloading position; determining the position in the unloading area with the shortest straight-line distance from the entrance position of the unloading area as the target unloading position; determining the position closest to the boundary of the unloading area as the target unloading position; determining one or more positions on the boundary of the unloading area as the target unloading position.

[0088] In some embodiments, the target unloading scenario where the ground operation equipment is located is determined based on the unloading area information; and the target unloading position is determined within the unloading area according to the preset rules corresponding to the target unloading scenario, wherein the preset rules corresponding to different target unloading scenarios are different. This embodiment determines the target unloading scenario where the ground operation equipment is located based on the unloading area information, and determines the target unloading position within the unloading area based on the preset rules corresponding to the target unloading scenario, thereby flexibly determining the first target unloading position. This makes the determined target unloading position more consistent with the current unloading scenario, ensuring the efficiency of the ground operation equipment in unloading.

[0089] In some embodiments, the target unloading scenario includes a first unloading scenario or a second unloading scenario. In the first unloading scenario, the unloading area is located within the operating area, while in the second unloading scenario, the unloading area is located outside the operating area. For example, when the target unloading scenario is the first unloading scenario, the target unloading position is determined within the unloading area according to a first preset rule corresponding to the first unloading scenario. When the target unloading scenario is the second unloading scenario, the target unloading position is determined within the unloading area according to a second preset rule corresponding to the second unloading scenario. The target unloading position determined based on the first preset rule differs from the target unloading position determined based on the second preset rule. The first and second preset rules can be set based on actual conditions, and this embodiment of the invention does not impose specific limitations on them.

[0090] For example, the first preset rule includes any one of the following: randomly determining the target unloading location within the unloading area; determining the location closest to the boundary of the unloading area as the target unloading location; determining the center location of the unloading area as the target unloading location; determining any location within the unloading area whose distance from the current location of the ground operating equipment is less than a preset distance as the target unloading location. The second preset rule includes any one of the following: randomly determining the target unloading location within the unloading area; determining the geometric center location of the unloading area as the target unloading location; determining the location within the unloading area with the longest straight-line distance from the entrance location of the unloading area as the target unloading location; determining the location within the unloading area with the shortest straight-line distance from the entrance location of the unloading area as the target unloading location; determining the location closest to the boundary of the unloading area as the target unloading location; determining one or more locations on the boundary of the unloading area as the target unloading location.

[0091] In some embodiments, the target unloading scenario can also be determined based on the looseness score of the surface cover in the collection device of the ground operation equipment. The looseness score of the surface cover in the collection device is determined according to the type of surface cover. For example, the target unloading scenario includes a third unloading scenario or a fourth unloading scenario. In the third unloading scenario, the looseness score of the surface cover in the collection device of the ground operation equipment is greater than or equal to a preset score threshold. In the fourth unloading scenario, the looseness score of the surface cover in the collection device of the ground operation equipment is less than the preset score threshold. The preset score threshold can be set based on actual conditions, and this application embodiment does not specifically limit it.

[0092] In some embodiments, when the target unloading scenario is a third unloading scenario, the target unloading location is determined in the unloading area according to a third preset rule corresponding to the third unloading scenario. The third preset rule includes determining the location closest to the boundary of the unloading area as the target unloading location, or determining one or more locations on the boundary of the unloading area as the target unloading location. This allows the ground operation equipment to unload easily loose surface coverings from the collection device at the boundary of the unloading area without affecting subsequent passage.

[0093] In some embodiments, when the target unloading scenario is the fourth unloading scenario, the target unloading location is determined in the unloading area according to the fourth preset rule corresponding to the fourth unloading scenario. The fourth preset rule includes determining the center of the unloading area as the target unloading location or determining the location within the unloading area with the shortest straight-line distance to the entrance of the unloading area as the target unloading location. This allows the ground operation equipment to unload non-loose surface cover from the collection device at the entrance or middle of the unloading area, reducing the unloading path length and improving unloading efficiency.

[0094] In some embodiments, the target unloading scenario can also be determined based on the current volume of surface cover in the collection device of the ground operation equipment. For example, the target unloading scenario includes a fifth unloading scenario or a sixth unloading scenario. In the fifth unloading scenario, the current volume of surface cover in the collection device of the ground operation equipment is greater than or equal to a preset volume threshold. In the sixth unloading scenario, the current volume of surface cover in the collection device of the ground operation equipment is less than the preset volume threshold. The preset volume threshold can be set based on actual conditions, and this application embodiment does not specifically limit it. For example, the preset volume threshold is 85% or 90% of the maximum volume of the collection device of the ground operation equipment, etc.

[0095] In some embodiments, when the target unloading scenario is the fifth unloading scenario, the target unloading location is determined in the unloading area according to the fifth preset rule corresponding to the fifth unloading scenario. The fifth preset rule includes determining the location within the unloading area that is closest in a straight line to the entrance of the unloading area as the target unloading location. This allows the ground operation equipment to unload the nearly full surface cover from the collection device as quickly as possible, reducing the energy consumption of the ground operation equipment and improving unloading efficiency.

[0096] In some embodiments, when the target unloading scenario is the sixth unloading scenario, the target unloading location is determined in the unloading area according to the sixth preset rule corresponding to the sixth unloading scenario. The sixth preset rule includes determining the target unloading location as the position with the longest straight-line distance from the entrance of the unloading area, or determining the center of the unloading area as the target unloading location. This ensures that after the ground-based equipment unloads the surface covering from the collection device at the target unloading location, it will not affect subsequent passage, facilitating subsequent unloading by the ground-based equipment and improving the overall unloading efficiency of the ground-based equipment.

[0097] Sub-step S1012: In response to the indication from the stacking identifier that there is a stacked area in the unloading area, determine the target unloading location in the unloading area based on the first unloading location determination strategy and unloading environment information. The unloading environment information used by the first unloading location determination strategy includes the unloading area information and the stacking area information of the stacked area in the stacking status information.

[0098] In this embodiment, when a stockpiled area exists within the unloading area, a target unloading location is determined based on a first unloading location determination strategy. For example, using both unloading area information and stockpiled area information allows for more accurate and flexible determination of the target unloading location, resulting in a higher level of intelligence and further improving the intelligence and unloading efficiency of the ground operation equipment. Furthermore, different methods are used to determine the target unloading location in the unloading area depending on whether the stockpiled area status information indicates its presence or absence. This further enhances intelligence and flexibility, improving the overall unloading efficiency of the ground operation equipment.

[0099] In some embodiments, the target unloading location is a position within a target range that borders the stockpiled area in the unloading area. This target range can be set by default based on empirical values ​​or manually set by the user; this embodiment does not specifically limit this. In this embodiment, the target unloading location is a position within a target range that borders the stockpiled area in the unloading area. This allows the ground handling equipment to unload the ground cover at the position bordering the stockpiled area when unloading according to the target unloading location, resulting in a concentrated and compact unloading of the ground cover.

[0100] In some embodiments, the target range is determined based on the area of ​​the ground area occupied by the current unloading volume of the ground operation equipment and the boundary of the stockpiled area. For example, the target range is the range extending outward from the boundary of the stockpiled area by a target width, and the target width is determined based on the area of ​​the ground area occupied by the current unloading volume of the ground operation equipment. In this embodiment, the target range is determined based on the area of ​​the ground area occupied by the current unloading volume of the ground operation equipment and the boundary of the stockpiled area, making the target range more suitable for the current unloading situation. This allows the ground operation equipment to unload ground coverings around the stockpiled area according to the target unloading position determined within the target range, making the unloaded ground coverings more concentrated and compact, and improving the utilization rate of the unloading area.

[0101] In some embodiments, the target unloading position is the location within a target range that minimizes the distance between the center of the ground area occupied by the current unloading volume of the ground operation equipment and the center of the already stockpiled area. In this embodiment, the target unloading position is the location within a target range that minimizes the distance between the center of the ground area occupied by the current unloading volume of the ground operation equipment and the center of the already stockpiled area. This allows the ground operation equipment to unload ground cover more closely around the already stockpiled area according to the target unloading position, resulting in a more concentrated and compact unloading of ground cover.

[0102] In some embodiments, the target unloading location is the location within the target area that is closest to the boundary of the unloading area. In this embodiment, the target unloading location is the location within the target area that is closest to the boundary of the unloading area. This allows the ground operation equipment to unload the ground cover more closely to the boundary of the unloading area according to the target unloading location, resulting in a concentrated and compact unloaded ground cover.

[0103] In some embodiments, the target unloading location at least partially overlaps with the stockpiled area. In this embodiment, the target unloading location at least partially overlaps with the stockpiled area, so that after the ground operation equipment unloads the ground cover at the target unloading location, the ground area occupied by the unloaded ground cover at least partially overlaps with the stockpiled area, making the unloaded ground cover more compact.

[0104] In some embodiments, the target unloading location is a position outside the stockpiled area within the unloading area. In this embodiment, the target unloading location is a position outside the stockpiled area within the unloading area, so that the ground operation equipment can unload the ground cover at the position outside the stockpiled area according to the target unloading location, avoiding the stockpiled area from being too large or too high, and reducing the impact of the stockpiled area on subsequent unloading.

[0105] In some embodiments, the target unloading position is a location that allows ground-based equipment to enter the unloading area for unloading and to leave the unloading area after unloading. In this embodiment, the target unloading position is a location that allows ground-based equipment to enter the unloading area for unloading and to leave the unloading area after unloading. This ensures that the ground-based equipment can enter the unloading area based on the target unloading position and can leave the unloading area after unloading, avoiding the ground-based equipment from being blocked in the unloading area.

[0106] In some embodiments, the target unloading location is a location that allows ground-based equipment to enter the unloading area via a first path for unloading and to leave the unloading area via the same first path after unloading. The first path is determined based on unloading area information and stockpile area information. In this embodiment, the ground-based equipment can not only enter the unloading area via the first path to reach the target unloading location for unloading, but also leave the unloading area via the reverse path after unloading, without needing to redetermine the path out of the unloading area, thus reducing computational load.

[0107] In some embodiments, the target unloading location is a location that allows the ground-based equipment to enter the unloading area via a first path for unloading and to leave the unloading area via a second path after unloading. The first path and the second path are at least partially different, and the second path is determined based on the unloading area information and the stockpiling area information after the ground-based equipment has completed unloading. In this embodiment, after the ground-based equipment enters the unloading area via the first path and reaches the target unloading location for unloading, it can leave the unloading area via the second path determined based on the unloading area information and the stockpiling area information after the ground-based equipment has completed unloading, resulting in greater flexibility and higher efficiency.

[0108] In some embodiments, in response to the existence of remaining capacity in the stockpiled area of ​​the unloading area, the target unloading location is determined in the stockpiled area. In this embodiment, when there is remaining capacity in the stockpiled area of ​​the unloading area, the target unloading location can be determined in the stockpiled area. This allows ground-based equipment to unload ground cover into the stockpiled area based on the target unloading location, thereby improving the utilization rate of the unloading area.

[0109] In some embodiments, the control method provided in this application further includes: during the process of controlling the ground operation equipment to unload material in the stockpiled area, in response to the absence of remaining storage space in the stockpiled area and the ground operation equipment not having completed unloading, re-determining the target unloading position; and controlling the ground operation equipment to continue unloading according to the re-determined target unloading position. The method of re-determining the target unloading position is the same as the method of determining the target unloading position described above, and will not be repeated here. This embodiment can avoid the situation where the ground operation equipment cannot complete unloading due to the inability to stockpile material in the stockpiled area, thus improving the reliability of the ground operation equipment's unloading.

[0110] In some embodiments, the control method provided in this application further includes: when it is detected that surface cover begins to slip in the stockpiled area, determining that there is no remaining storage space in the stockpiled area. This can be detected by sensors on the ground operating equipment or by sensors within the unloading area. Alternatively, if the stockpiled height in the stockpiled area is detected to be greater than or equal to the maximum lifting height of the collection device on the ground operating equipment, it is determined that there is no remaining storage space in the stockpiled area. Or, if the stockpiled height corresponding to the target unloading position in the stockpiled area is detected to be greater than a preset height threshold, it is determined that there is no remaining storage space in the stockpiled area.

[0111] In some embodiments, such as Figure 4 As shown, step S103 includes sub-steps S1031 to S1032.

[0112] Sub-step S1031: Control the ground operation equipment to move towards the target unloading position.

[0113] Sub-step S1032: In response to the ground operation equipment arriving at the target unloading position, control the ground operation equipment to unload.

[0114] In this embodiment, the target unloading position is a definite and specific location. When the ground operation equipment arrives at the target unloading position, it can start unloading the ground cover in the collection device at the target unloading position, which is highly efficient in unloading the ground cover.

[0115] In some embodiments, controlling the ground operation equipment to move towards the target unloading location includes: determining the shortest movement path of the ground operation equipment from its current position to the target unloading location, controlling the ground operation equipment to move along the movement path, and thus controlling the ground operation equipment to move towards the target unloading location. In this embodiment, the ground operation equipment moves along the shortest movement path from its current position to the target unloading location, which can reach the target unloading location more quickly and improve the unloading efficiency of the ground operation equipment.

[0116] In some embodiments, such as Figure 5 As shown, after sub-step S1031, the following steps are also included:

[0117] Sub-step S1033: During the process of controlling the ground operation equipment to move towards the target unloading position, perform at least one unloading position update operation until the distance between the ground operation equipment and the stockpiled area is less than or equal to the target threshold, obtain the updated target unloading position, control the ground operation equipment to move towards the updated target unloading position, and control the ground operation equipment to unload in response to the ground operation equipment arriving at the updated target unloading position.

[0118] In this embodiment, the target unloading position is an initially determined approximate unloading position. As the ground operation equipment moves towards the target unloading position, it updates the target unloading position until the distance between the ground operation equipment and the stockpiled area is less than or equal to the target threshold, thereby obtaining an optimal and clear target unloading position. In this way, when the ground operation equipment reaches the updated target unloading position, it can start unloading the ground cover in the collection device, which is more flexible, can adapt to the dynamic changes in the working environment, and improve the reliability of unloading by the ground operation equipment.

[0119] In some embodiments, the unloading location update operation includes: updating the stockpiling area information in response to the distance between the ground operation equipment and the stockpiled area being within a corresponding preset range, to obtain updated stockpiling area information; and updating the target unloading location based on the updated stockpiling area information. The preset range can be set based on actual conditions, and this embodiment does not specifically limit it. In this embodiment, when the distance between the ground operation equipment and the stockpiled area is relatively short, the stockpiling area information of the stockpiled area can be obtained more accurately, thereby updating the previous stockpiling area information. This results in a more accurate target unloading location determined based on the updated stockpiling area information.

[0120] Please see Figure 6 , Figure 6 This is a schematic block diagram of the structure of a control device for ground operation equipment provided in an embodiment of this application.

[0121] like Figure 6 As shown, the control device 200 of the ground operation equipment includes a processor 210 and a memory 220, which are connected by a bus 230, such as an I2C (Inter-integrated Circuit) bus.

[0122] Specifically, the processor 210 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0123] Specifically, the memory 220 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0124] The processor 210 is used to run a computer program stored in the memory 220, and performs the following steps when executing the computer program:

[0125] In response to the received unloading execution command, the unloading environment information of the unloading area is obtained, wherein the unloading environment information includes at least one of the following: unloading area information and stockpile status information;

[0126] Based on the unloading location determination strategy corresponding to the stockpile identifier and the unloading environment information, the target unloading location is determined in the unloading area. The unloading environment information used is different for different unloading location determination strategies corresponding to different stockpile identifiers.

[0127] The ground operation equipment is controlled to unload material according to the target unloading position.

[0128] In some embodiments, the unloading environment information includes unloading area information and stockpile status information. When the processor 210 determines the target unloading location in the unloading area based on the unloading location determination strategy corresponding to the stockpile identifier and the unloading environment information, it is configured to:

[0129] In response to the stockpiling identifier indicating the existence of a stockpiled area in the unloading area, a target unloading location is determined in the unloading area based on a first unloading location determination strategy and the unloading environment information. The unloading environment information used in the first unloading location determination strategy includes the stockpiling area information of the stockpiled area in the unloading area information and the stockpiling status information.

[0130] In some embodiments, the target unloading location is a location within a target range that borders the stockpiled area in the unloading area.

[0131] In some embodiments, the target range is determined based on the area of ​​the ground region occupied by the current unloading volume of the ground operation equipment and the boundary of the stockpiled area.

[0132] In some embodiments, the target unloading location is the location within the target range that minimizes the distance between the center of the ground area occupied by the current unloading volume of the ground operation equipment and the center of the stockpiled area.

[0133] In some embodiments, the target unloading location is the location within the target range closest to the boundary of the unloading area.

[0134] In some embodiments, the target unloading location at least partially overlaps with the stockpiled area; or the target unloading location is a location outside the stockpiled area within the unloading area.

[0135] In some embodiments, the target unloading location is a location that allows the ground operation equipment to enter the unloading area for unloading and to leave the unloading area after unloading.

[0136] In some embodiments, the target unloading location is a location that enables the ground operation equipment to enter the unloading area via a first path for unloading, and to leave the unloading area via the first path after unloading, wherein the first path is determined based on the unloading area information and the stockpiling area information.

[0137] In some embodiments, the target unloading location is a location that allows the ground operation equipment to enter the unloading area via a first path for unloading and to leave the unloading area via a second path after unloading. The first path and the second path are at least partially different, and the second path is determined based on the unloading area information and the stockpiling area information after the ground operation equipment has completed unloading.

[0138] In some embodiments, the target unloading location is determined in the stockpiled area in response to the existence of remaining containment space in the stockpiled area of ​​the unloading area.

[0139] In some embodiments, the process 210 is further configured to perform the following steps:

[0140] During the process of controlling the ground operation equipment to unload material in the stockpiled area, in response to the absence of remaining storage space in the stockpiled area and the ground operation equipment not having completed unloading, the target unloading location is redefined; and

[0141] Based on the newly determined target unloading location, the ground operation equipment is controlled to continue unloading.

[0142] In some embodiments, when the processor 210 controls the ground operation equipment to unload according to the target unloading position, it is configured to:

[0143] Control the ground operation equipment to move towards the target unloading position;

[0144] In response to the ground operation equipment arriving at the target unloading position, control the ground operation equipment to unload; or

[0145] During the process of controlling the ground operation equipment to move towards the target unloading position, at least one unloading position update operation is performed until the distance between the ground operation equipment and the stockpiled area is less than or equal to a target threshold, and the updated target unloading position is obtained. The ground operation equipment is then controlled to move towards the updated target unloading position. In response to the ground operation equipment arriving at the updated target unloading position, the ground operation equipment is controlled to unload.

[0146] The unloading position update operation includes:

[0147] In response to the distance between the ground operation equipment and the stockpiled area being within a corresponding preset range, the stockpiled area information is updated to obtain the updated stockpiled area information;

[0148] The target unloading location is updated based on the updated stockpiling area information.

[0149] In some embodiments, the unloading environment information includes unloading area information and stockpile status information. When the processor 210 determines the target unloading location in the unloading area based on the unloading location determination strategy corresponding to the stockpile identifier and the unloading environment information, it is configured to:

[0150] In response to the material stacking identifier indicating that there is no material stacking area in the unloading area, a target unloading location is determined in the unloading area based on the second unloading location determination strategy and the unloading area information, wherein the unloading environment information adopted by the second unloading location determination strategy includes the unloading area information and preset rules.

[0151] In some embodiments, determining the target unloading location in the unloading area based on the second unloading location determination strategy and the unloading area information includes:

[0152] Based on the unloading area information, the target unloading scenario where the ground operation equipment is located is determined;

[0153] According to the preset rules corresponding to the target unloading scenario, the target unloading location is determined in the unloading area, wherein the preset rules corresponding to different target unloading scenarios are different.

[0154] In some embodiments, the unloading environment information includes unloading area information and stockpile status information, wherein the unloading area information includes at least one of the following: the geographical location of the unloading area, the boundary location of the unloading area, the shape of the unloading area, and the entrance location of the unloading area;

[0155] The stacking status information includes a stacking identifier and stacking area information of the stacked area. The stacking identifier is used to indicate whether there is a stacked area or not in the unloading area. The stacking area information includes at least one of the following: the location information of the stacked area, the stacked mass, the stacked height, and the status identifier. The status identifier is used to indicate whether the stacked area is in a stackable or unstackable state.

[0156] In some embodiments, the method for acquiring unloading environment information includes at least one of the following: data collection via sensors on the ground operation equipment, data collection via sensors in the operation area of ​​the ground operation equipment, data generation via a preset map of the operation area, and data generation via a preset map of the unloading area. The sensors include at least one of radar, infrared sensors, and visual sensors.

[0157] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device of the ground operation equipment described above can be referred to the corresponding process in the aforementioned control method embodiment of the ground operation equipment, and will not be repeated here.

[0158] This application also provides a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps of the control method for ground operation equipment provided in the above embodiments.

[0159] The computer-readable storage medium can be volatile or non-volatile. It can be an internal storage unit of the ground operation equipment described in any of the foregoing embodiments, such as the hard drive or memory of the ground operation equipment. Alternatively, it can be an external storage device of the ground operation equipment, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the ground operation equipment.

[0160] Those skilled in the art will understand that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware embodiments, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0161] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0162] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for ground operation equipment, characterized in that, include: In response to the received unloading execution command, the unloading environment information of the unloading area is obtained. The unloading environment information includes: unloading area information and stockpile status information. The stockpile status information includes stockpile identifier. Based on the unloading location determination strategy corresponding to the stockpile identifier and the unloading environment information, the target unloading location is determined in the unloading area. The unloading environment information used is different for different unloading location determination strategies corresponding to different stockpile identifiers. Control the ground operation equipment to unload material according to the target unloading position; The step of determining the target unloading location in the unloading area based on the unloading location determination strategy corresponding to the stockpile identifier and the unloading environment information includes: In response to the stacking identifier indicating the existence of a stacked area in the unloading area, a target unloading location is determined in the unloading area based on a first unloading location determination strategy and the unloading environment information. The unloading environment information used in the first unloading location determination strategy includes the unloading area information and the stacking area information of the stacked area in the stacking status information. In response to the material stacking identifier indicating that there is no material stacking area in the unloading area, a target unloading location is determined in the unloading area based on the second unloading location determination strategy and the unloading environment information, wherein the unloading environment information adopted by the second unloading location determination strategy includes the unloading area information and preset rules.

2. The control method according to claim 1, characterized in that, When the stockpiling marker indicates that there is a stockpiled area in the unloading area, the target unloading location is a location within a target range that borders the stockpiled area in the unloading area.

3. The control method according to claim 2, characterized in that, The target range is determined based on the area of ​​the ground region occupied by the current unloading volume of the ground operation equipment and the boundary of the stockpiled area.

4. The control method according to claim 3, characterized in that, The target unloading position is the position within the target range where the center of the ground area occupied by the current unloading volume of the ground operation equipment is the shortest distance from the center of the already stockpiled area.

5. The control method according to claim 2, characterized in that, The target unloading location is the location within the target range that is closest to the boundary of the unloading area.

6. The control method according to claim 1, characterized in that, If the stockpiling marker indicates the existence of a stockpiled area in the unloading area, the target unloading location at least partially overlaps with the stockpiled area; Alternatively, the target unloading location is a location outside the stockpiled area within the unloading area.

7. The control method according to claim 1, characterized in that, When the material stacking marker indicates that there is a material stacking area in the unloading area, the target unloading location is a location that allows the ground operation equipment to enter the unloading area to unload and to leave the unloading area after unloading.

8. The control method according to claim 7, characterized in that, The target unloading position is a position that allows the ground operation equipment to enter the unloading area via a first path for unloading, and to leave the unloading area via the first path after unloading. The first path is determined based on the unloading area information and the stockpiling area information.

9. The control method according to claim 7, characterized in that, The target unloading position is a position that allows the ground operation equipment to enter the unloading area via a first path for unloading and to leave the unloading area via a second path after unloading. The first path and the second path are at least partially different. The second path is determined based on the unloading area information and the stockpiling area information after the ground operation equipment has completed unloading.

10. The control method according to claim 1, characterized in that, When the stacking indicator indicates the existence of a stacked area in the unloading area, the target unloading location is determined in the stacked area in response to the existence of remaining containment space in the stacked area in the unloading area.

11. The control method according to claim 10, characterized in that, The method further includes: During the process of controlling the ground operation equipment to unload material in the stockpiled area, in response to the absence of remaining storage space in the stockpiled area and the ground operation equipment not having completed unloading, the target unloading location is redefined; and Based on the newly determined target unloading location, the ground operation equipment is controlled to continue unloading.

12. The control method according to claim 1, characterized in that, When the stockpiling marker indicates the existence of a stockpiled area in the unloading zone, controlling the ground operation equipment to unload according to the target unloading location includes: Control the ground operation equipment to move towards the target unloading position; In response to the ground operation equipment arriving at the target unloading position, control the ground operation equipment to unload; or During the process of controlling the ground operation equipment to move towards the target unloading position, at least one unloading position update operation is performed until the distance between the ground operation equipment and the stockpiled area is less than or equal to a target threshold, and the updated target unloading position is obtained. The ground operation equipment is then controlled to move towards the updated target unloading position. In response to the ground operation equipment arriving at the updated target unloading position, the ground operation equipment is controlled to unload. The unloading position update operation includes: In response to the distance between the ground operation equipment and the stockpiled area being within a corresponding preset range, the stockpiled area information is updated to obtain the updated stockpiled area information; The target unloading location is updated based on the updated stockpiling area information.

13. The control method according to claim 1, characterized in that, The step of determining the target unloading location in the unloading area based on the strategy for determining the second unloading location and the unloading environment information includes: Based on the unloading area information, the target unloading scenario where the ground operation equipment is located is determined; According to the preset rules corresponding to the target unloading scenario, the target unloading location is determined in the unloading area, wherein the preset rules are different for different target unloading scenarios.

14. The control method according to any one of claims 1-13, characterized in that, The unloading environment information includes unloading area information and stockpile status information. The unloading area information includes at least one of the following: the geographical location of the unloading area, the boundary location of the unloading area, the shape of the unloading area, and the entrance location of the unloading area. The stacking status information includes a stacking identifier and stacking area information of the stacked area. The stacking identifier is used to indicate whether there is a stacked area or not in the unloading area. The stacking area information includes at least one of the following: the location information of the stacked area, the stacked mass, the stacked height, and the status identifier. The status identifier is used to indicate whether the stacked area is in a stackable or unstackable state.

15. The control method according to any one of claims 1-13, characterized in that, The method for acquiring unloading environment information includes at least one of the following: data collection by sensors on the ground operation equipment, data collection by sensors in the operation area of ​​the ground operation equipment, generation of a preset map of the operation area, and generation of a preset map of the unloading area. The sensors include at least one of radar, infrared sensors, and vision sensors.

16. A control device for ground operation equipment, characterized in that, The device includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, to implement the control method as described in any one of claims 1-15.

17. A ground operation equipment, characterized in that, The ground operation equipment operates on grass and includes: body; A motion mechanism, connected to the body, is used to drive the body to move; A control device, disposed in the fuselage, is used to implement the control method as described in any one of claims 1-15.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the control method as described in any one of claims 1-15.

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