An automated pouring method, computer program product and plant cutting apparatus

Abstract

The application provides an automatic dumping method, a computer program product and a plant cutting device, and relates to the technical field of the plant cutting device. The automatic dumping method provided by the application comprises the following steps: establishing a work map, determining one or more dumping areas, and determining one or more dumping points; determining the initial state of the one or more dumping points as a valid dumping point or an invalid dumping point based on the overlapping proportion of the dumping points and the dumping areas; when the plant cutting device needs to perform a dumping work, marking the current position as an interruption point, navigating the plant cutting device to a dumping area, navigating to a candidate dumping point whose initial state or current state is a valid dumping point, updating the current state of the candidate dumping point as a valid dumping point or an invalid dumping point, and performing the dumping work based on the current state of the candidate dumping point.

Description

Technical Field

[0001] This specification relates to the field of plant cutting equipment, and in particular to an automatic tilting method for plant cutting equipment, a computer program product, and plant cutting equipment. Background Technology

[0002] Plant cutting equipment can be used to cut vegetation and simultaneously collect the generated plant debris into a built-in collection container, effectively maintaining the cleanliness of the work area. It is widely applicable to lawn mowing, garden maintenance, and other scenarios. When the area to be cut is large, the capacity of a single operation is limited. The plant cutting equipment needs to interrupt the task after completing part of the cutting work, autonomously navigate to the preset dumping area to perform the debris dumping operation, and then return to the original cutting path to continue cutting. Summary of the Invention

[0003] This specification provides one or more embodiments of an automatic dumping method for a plant cutting device, comprising: establishing a work map, determining one or more dumping areas, and determining one or more dumping points; determining the initial state of one or more dumping points as valid dumping points or invalid dumping points based on the overlap ratio between the dumping points and the dumping areas; when the plant cutting device needs to perform a dumping operation, marking the current position as an interruption point, and navigating the plant cutting device to one of the dumping areas, and navigating to a candidate dumping point whose initial state or current state is a valid dumping point; updating the current state of the candidate dumping point as a valid dumping point or invalid dumping point; and performing the dumping operation based on the current state of the candidate dumping point.

[0004] In some embodiments, determining one or more dumping areas includes: determining the dumping area in a graphical user interface, or controlling a plant cutting device to move in a real scene and determining the dumping area based on the trajectory of the plant cutting device.

[0005] In some embodiments, determining one or more dumping points includes: generating a first-direction grid line based on the dumping area along a first direction, generating a second-direction grid line based on the dumping area along a second direction, generating the vertex coordinates of the four corners of each grid, and each grid forming one dumping point.

[0006] In some embodiments, determining the initial state of one or more dumping points as valid dumping points or invalid dumping points based on the overlap ratio between the dumping point and the dumping area includes: if the overlap area between the dumping point and the dumping area is equal to the grid area of ​​the dumping point, marking the initial state of the dumping point as a valid dumping point.

[0007] In some embodiments, determining the initial state of one or more of the pouring points as valid or invalid pouring points based on the overlap ratio between the pouring point and the pouring area includes: if the overlap area between the pouring point and the pouring area is greater than a threshold, marking the initial state of the pouring point as a valid pouring point; if the overlap area between the pouring point and the pouring area is less than the threshold, marking the initial state of the pouring point as an invalid pouring point.

[0008] In some embodiments, the operation map includes prohibited areas and dumping areas; determining the initial state of one or more dumping points as valid dumping points or invalid dumping points based on the overlap ratio between the dumping points and the dumping areas further includes: if the dumping area coincides with the prohibited area, determining the portion of the dumping area that coincides with the prohibited area as an invalid dumping point.

[0009] In some embodiments, updating the current state of the candidate dumping point to a valid dumping point or an invalid dumping point includes: if there is an obstacle inside or around the candidate dumping point, marking the current state of the candidate dumping point as an invalid dumping point.

[0010] In some embodiments, updating the current state of the candidate pouring point to a valid pouring point or an invalid pouring point includes: if the interior of the candidate pouring point is empty, marking the current state of the candidate pouring point as an idle valid pouring point.

[0011] In some embodiments, updating the current state of the candidate dumping point as a valid dumping point or an invalid dumping point includes: if there is dumping material inside the candidate dumping point and there are no obstacles, marking the current state of the candidate dumping point as an occupied valid dumping point.

[0012] In some embodiments, performing the dumping operation based on the current state of the candidate dumping point includes: if the current state of the candidate dumping point is an idle and valid dumping point, performing the dumping operation; if the current state of the valid dumping point is an occupied valid dumping point or an invalid dumping point, navigating to another candidate dumping point whose initial state is a valid dumping point.

[0013] In some embodiments, the work map includes a cutting work area and a dumping area; the dumping area is located inside the cutting work area, or the dumping area is located outside the cutting work area, or a portion of the dumping area is located inside the cutting work area while another portion of the dumping area is located outside the cutting work area.

[0014] In some embodiments, the work map further includes: a channel area; the dumping area is located outside the cutting work area, the dumping area and the cutting work area are connected by a channel area, the dumping area has a channel entrance, and the channel entrance is connected to the channel area; navigating to a dumping area includes: navigating to the channel entrance of the dumping area.

[0015] In some embodiments, the operation map further includes: a channel area; the dumping area is located outside the cutting operation area, and the dumping area is connected to each of the two cutting operation areas through a channel area. The dumping area has two channel entrances, and each channel entrance is connected to a channel area. Navigating to a dumping area includes: establishing an avoidance path connecting the two channel entrances of the dumping area, marking the initial state of the dumping point located on the avoidance path as an invalid dumping point, and navigating to one of the two channel entrances of the dumping area.

[0016] In some embodiments, the operation map further includes: a channel area; the dumping area is located outside the cutting operation area, and the dumping area is connected to the same cutting operation area through two channel areas, the dumping area having two channel entrances, each channel entrance being connected to one of the channel areas; navigating to a dumping area includes: establishing an avoidance path connecting the two channel entrances of the dumping area, marking the initial state of the dumping point located on the avoidance path as an invalid dumping point, navigating to one of the two channel entrances of the dumping area, or, navigating based on one of the two channel entrances.

[0017] In some embodiments, the operation map further includes: a channel area; the dumping area is located outside the cutting operation area, the dumping area and the cutting operation area are connected by three or more channel areas, the dumping area has three or more channel entrances, and each channel entrance is connected to one of the channel areas; navigating to a dumping area includes: establishing an avoidance path connecting all the channel entrances along the boundary of the dumping area, marking the initial state of the dumping point located on the avoidance path as an invalid dumping point, and navigating to one of the three channel entrances of the dumping area.

[0018] In some embodiments, navigating to a candidate dumping point that is a valid dumping point in its initial or current state includes: selecting a candidate dumping point that is a valid dumping point in its initial or current state based on the weights of the candidate dumping points; verifying the candidate dumping points; and navigating to a candidate dumping point that has passed the verification. The weights of the candidate dumping points include one or more of channel entrance weights, orientation weights, and proximity weights. The verification includes one or more of channel verification, compactness verification, expansion direction verification, and plant cutting equipment docking position verification.

[0019] In some embodiments, when at least a portion of the dumping area is located inside the cutting operation area, the channel inlet weight is set to zero.

[0020] In some embodiments, the channel verification includes: starting from the channel inlet, traversing all candidate dumping points whose initial state or current state is a valid dumping point using a breadth-first search algorithm, retaining the idle valid dumping points that can be reached through the idle valid dumping point path, and obtaining a set of first dumping points.

[0021] In some embodiments, the tightness check includes: selecting from the set of first dumping points the first dumping points are adjacent to the occupied valid dumping points to obtain a set of second dumping points.

[0022] In some embodiments, the expansion direction verification includes: selecting second pouring points that expand toward the channel entrance from the set of second pouring points to obtain a set of third pouring points.

[0023] In some embodiments, the plant cutting equipment docking position verification includes: selecting one or more fourth dumping points from the set of third dumping points, wherein the fourth dumping point is configured such that at least one of the fifth dumping points adjacent to the fourth dumping point is an available valid dumping point and is configured to allow the rear of the plant cutting equipment to face the fourth dumping point; the fourth dumping point is the candidate dumping point that has passed the verification.

[0024] In some embodiments, the work map includes a cutting work area, a channel area, and the dumping area; the dumping area is located outside the cutting work area, the dumping area is connected to the cutting work area through one or more of the channel areas, and the dumping area has a channel entrance connected to the channel area; the navigation to a candidate dumping point that is a valid dumping point in an initial state or current state includes: if the dumping area has one or more channel entrances, then navigation is preferentially directed to a candidate dumping point that is far away from the channel entrance, and the expansion direction when selecting the candidate dumping point is towards one of the channel entrances.

[0025] In some embodiments, the work map includes a cutting work area, a passage area, and the dumping area; at least a portion of the dumping area is located inside the cutting work area, and the dumping area does not have a passage entrance; navigating to a candidate dumping point that is a valid dumping point in an initial state or current state includes: if the dumping area does not have a passage entrance, then navigating to a candidate dumping point that is far from the center of the cutting work area is preferred, and the expansion direction when selecting the candidate dumping point is towards the center of the cutting work area.

[0026] In some embodiments, performing the dumping operation includes: if the plant cutting equipment is in a normal state, aligning the direction of the plant cutting equipment's front end with the direction of expansion when selecting the candidate dumping point; if the plant cutting equipment is in a special state, allowing the direction of the plant cutting equipment's front end to be inconsistent with the direction of expansion when selecting the candidate dumping point; the special state includes: the plant cutting equipment being on a steep slope.

[0027] In some embodiments, performing the dumping operation further includes: if the direction of the plant cutting device's front end is inconsistent with the expansion direction when selecting the candidate dumping point, establishing a reserved path within the dumping area so that the plant cutting device can leave the candidate dumping point through the reserved path.

[0028] In some embodiments, determining one or more dumping points includes: determining the extension direction of grid lines and generating grid lines; generating a circumscribed rectangle based on the dumping area, wherein the extension direction of the sides of the circumscribed rectangle is parallel or perpendicular to the extension direction of the grid lines; determining a primary extension direction, wherein the primary extension direction is parallel or perpendicular to the extension direction of the grid lines; determining a secondary extension direction, wherein the secondary extension direction is perpendicular to the primary extension direction; and generating a grid based on the grid lines and the circumscribed rectangle, wherein each grid forms one dumping point.

[0029] In some embodiments, navigating to a candidate dumping point where the initial state or current state is a valid dumping point includes: determining a dumping order based on the primary expansion direction and the secondary expansion direction, and navigating to a candidate dumping point where the initial state or current state is a valid dumping point based on the dumping order.

[0030] In some embodiments, determining one or more dumping points includes: determining the extension direction of grid lines and generating grid lines; generating a circumscribed rectangle based on the dumping area, wherein the extension direction of the sides of the circumscribed rectangle is parallel or perpendicular to the extension direction of the grid lines; generating a grid based on the grid lines and the circumscribed rectangle, wherein each grid forms one dumping point; navigating to a candidate dumping point in an initial state or current state that is a valid dumping point includes: determining a primary extension direction, wherein the primary extension direction is parallel or perpendicular to the extension direction of the grid lines; determining a secondary extension direction, wherein the secondary extension direction is perpendicular to the primary extension direction; determining a dumping order based on the primary and secondary extension directions; and navigating to a candidate dumping point in an initial state or current state that is a valid dumping point based on the dumping order.

[0031] In some embodiments, determining the primary expansion direction includes: if the dumping area is located inside the cutting work area, the primary expansion direction is the direction from the boundary of the cutting work area toward the open area inside the cutting work area; if a portion of the dumping area is located inside the cutting work area, and another portion of the dumping area is located outside the cutting work area, the primary expansion direction is the direction from the outside of the cutting area toward the inside of the cutting area; if the dumping area is located outside the cutting work area, and the dumping area and the cutting work area are connected by a channel area, the dumping area having a channel entrance, and the channel entrance being connected to the channel area, the primary expansion direction is the direction toward the channel entrance.

[0032] In some embodiments, determining the secondary expansion direction includes: if the dumping area is located inside the cutting work area, the secondary expansion direction is the direction from the boundary of the cutting work area toward the open area inside the cutting work area; if a part of the dumping area is located inside the cutting work area and another part of the dumping area is located outside the cutting work area, the secondary expansion direction is the direction from the outside of the cutting area toward the inside of the cutting area; if the dumping area is located outside the cutting work area, and the dumping area and the cutting work area are connected by a channel area, the dumping area has a channel entrance, and the channel entrance is connected to the channel area, the secondary expansion direction is the direction toward the channel entrance.

[0033] This specification provides one or more embodiments of a computer program product, including computer code, which, when at least a portion of the computer code is executed by a processor, enables the automatic tilting method of the plant cutting device described in any of the preceding claims.

[0034] This specification provides one or more embodiments of a plant cutting device, comprising: a map module for establishing a work map, determining one or more dumping areas, and determining one or more dumping points within the dumping areas; a dumping point initialization module for determining the initial state of one or more dumping points as valid dumping points or invalid dumping points based on the overlap ratio between the dumping points and the dumping areas; a navigation module for marking the current position as an interruption point and navigating to one of the dumping areas, and navigating to a candidate dumping point whose initial state or current state is a valid dumping point, when a dumping operation needs to be performed; an update module for updating the current state of the candidate dumping point as a valid dumping point or invalid dumping point; and a work module for performing the dumping operation based on the current state of the candidate dumping point. Attached Figure Description

[0035] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. The same numbers in the drawings denote the same structures or steps.

[0036] Figure 1 This is a flowchart illustrating an automatic tilting method for a plant cutting device according to some embodiments of this specification.

[0037] Figure 2 This is a flowchart illustrating the process of determining the tipping point for an automatic tipping method of a plant cutting device according to some embodiments of this specification.

[0038] Figure 3 This is a flowchart illustrating the initial state of the automatic tilting method for a plant cutting device according to some embodiments of this specification, showing how the tilting point is determined.

[0039] Figure 4 This is a schematic diagram showing the connection between the cutting area and the tilting area of ​​the automatic tilting method of the plant cutting equipment according to some embodiments of this specification, where the cutting area and the tilting area are connected by a channel area.

[0040] Figure 5 This is a schematic diagram showing the connection between the cutting area and the tilting area of ​​the automatic tilting method of the plant cutting equipment according to some embodiments of this specification, where the cutting area and the tilting area are connected by two channel areas.

[0041] Figure 6a This is a schematic diagram of an automatic tilting method for a plant cutting device according to some embodiments of this specification, where one tilting area corresponds to two cutting work areas.

[0042] Figure 6b This is a schematic diagram of an automatic tilting method for a plant cutting device according to other embodiments of this specification, where one tilting area corresponds to two cutting work areas.

[0043] Figure 7 This is a schematic diagram of an automatic tilting method for a plant cutting device according to some embodiments of this specification, where one tilting area corresponds to three cutting work areas.

[0044] Figure 8 This is a schematic diagram illustrating the combined situation of the tilting area, the cutting operation area, and the channel area of ​​the automatic tilting method of the plant cutting equipment shown in some embodiments of this specification.

[0045] Figure 9a This is a schematic diagram showing an overlap between the tilting area and the cutting operation area of ​​an automatic tilting method for a plant cutting device according to some embodiments of this specification.

[0046] Figure 9b This is a schematic diagram showing an overlapping area between the tilting area and the cutting operation area of ​​an automatic tilting method for a plant cutting device according to other embodiments of this specification.

[0047] Figure 10 This is a schematic flowchart illustrating the navigation to a candidate dumping point for an automatic dumping method of a plant cutting device according to some embodiments of this specification.

[0048] Figure 11 This is a flowchart illustrating the determination of the tipping point for an automatic tipping method of a plant cutting device according to other embodiments of this specification.

[0049] Figures 12 to 15 These are schematic diagrams of the main extension direction, secondary extension direction, and avoidance path of the automatic tilting method of the plant cutting equipment according to other embodiments of this specification.

[0050] Figure 16 This is a schematic diagram of the main expansion direction, secondary expansion direction, and avoidance path of the irregular tilting area of ​​the automatic tilting method of the plant cutting equipment according to other embodiments of this specification.

[0051] Figure 17 This is an exemplary block diagram of a plant cutting device according to some embodiments of this specification. Detailed Implementation

[0052] To more clearly illustrate the technical solutions of the embodiments in this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the content described below are some examples or embodiments of this specification. For those skilled in the art, without creative effort, the technical solutions or means disclosed in this specification can be applied to other scenarios based on this technical content.

[0053] It should be understood that the terms "system," "device," "equipment," "part" and / or "component," "unit" and / or "module" used in this specification are a method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other words can achieve the same purpose, they may be replaced by other expressions.

[0054] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0055] In the description of this specification, it should be understood that the directional descriptions, such as up, down, front, back, left, and right, indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. These descriptions are for the convenience of describing this application and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In the description of this specification, unless otherwise expressly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of the above terms in this specification in conjunction with the specific content of the technical solution.

[0056] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0057] This specification uses flowcharts to illustrate the operational steps performed by the apparatus or system of related embodiments. However, unless otherwise specified, the order in which these steps are described should not be construed as a limitation on the order of execution. Those skilled in the art can adjust the order of these steps based on the knowledge and information conveyed by the embodiments in this specification. Such adjustments include, but are not limited to, reversing the order of steps, merging multiple steps, and splitting a step.

[0058] Plant cutting equipment can be used to cut vegetation and simultaneously collect the generated plant debris into a built-in collection container, effectively maintaining the cleanliness of the work area. It is widely applicable to lawn mowing, garden maintenance and other scenarios.

[0059] When the area to be cut is large, the capacity of a single operation is limited. The plant cutting equipment needs to interrupt its task after completing part of the cutting work, autonomously navigate to a pre-set dumping area to dump the debris, and then return to the original cutting path to continue cutting. In some usage scenarios, the relationship between the dumping area and the cutting area is complex, and performing dumping operations in the dumping area also requires consideration of environmental interference. Users also expect the plant cutting equipment to have better automatic operation capabilities, reducing the frequency of manual intervention and achieving a closed-loop autonomous operation for both cutting and dumping.

[0060] Based on this, one or more embodiments of this specification provide an automatic tilting method for a plant cutting device, which can realize an autonomous closed-loop operation of cutting and tilting operations.

[0061] Figure 1 This is a schematic flowchart illustrating an automatic tilting method for a plant cutting device according to some embodiments of this specification. In some embodiments, the automatic tilting method for the plant cutting device can be... Figure 1 The illustrated process 100 is implemented. In some embodiments, process 100 may be implemented by a plant cutting device. In some embodiments, the plant cutting device may include a lawnmower. See also Figure 1 As shown, the automatic tilting method of the plant cutting device provided in one or more embodiments of this specification may include the following steps.

[0062] Step 110: Create a work map, identify one or more dumping areas, and identify one or more dumping points.

[0063] In some embodiments, the work map may include one or more of the following: cutting work area, prohibited area, passageway area, dumping area, and recharge station area. The number of cutting work areas may be one or more. The number of dumping areas may be one or more. The number of passageway areas may be one or more.

[0064] For example, a work map may include a cutting work area and a dumping area. For example, a work map may include a cutting work area, a dumping area, and one or more channel areas connecting the cutting work area and the dumping area. For example, a work map may include two or more cutting work areas, several prohibited areas, and one or more dumping areas. For example, a work map may include a cutting work area, one or more dumping areas at least partially located inside the cutting work area, one or more dumping areas located outside the cutting work area, and one or more channel areas connecting the cutting work area and the dumping areas located outside the cutting work area. For example, a work map may include a cutting work area, a dumping area, and a recharge station area.

[0065] In some embodiments, the dumping area may be located outside the cutting work area and connected to the cutting work area via one or more channel areas.

[0066] For example, a dumping area is connected to a cutting work area via one, two, or more channel areas. For example, a dumping area is connected to two cutting work areas via two channel areas respectively. For example, a dumping area is connected to a cutting work area via two channel areas, and is also connected to another cutting work area via another channel area.

[0067] For example, a dumping area is connected to a cutting operation area via one or more channel areas. For example, a dumping area is connected to a cutting operation area via one or more channel areas, while the cutting operation area is also connected to another dumping area via another one or more additional channel areas.

[0068] In some embodiments, a portion of the dumping area may be located inside the cutting operation area, while another portion of the dumping area may be located outside the cutting operation area.

[0069] In some embodiments, the entire dumping area may be located within the cutting operation area.

[0070] In some embodiments, the prohibited area may be located inside the cutting area, inside the dumping area, or inside the overlapping portion of the cutting area and the dumping area. In some embodiments, the prohibited area may also be located in the passage area.

[0071] In some embodiments, the recharge station area may be located inside the cutting operation area or outside the cutting operation area, channel area, dumping area, etc.

[0072] In one or more of the above embodiments, the cutting operation area can be the area where the cutting operation task is to be performed. The cutting operation area can be a vegetated area, such as a lawn area. The dumping area can be an area for dumping plant debris. The dumping area can be automatically determined based on the cutting operation area or can be specified by the user. The prohibited area can be an area that the plant cutting equipment needs to avoid, for example, it can be an area that needs to be avoided due to the terrain, or it can be an area that needs to be avoided due to permanent or temporary obstacles, or it can be an area that needs to be avoided specified by the user. The recharge station area can be an area for charging the plant cutting equipment.

[0073] In some embodiments, determining one or more dumping areas may include: determining the dumping area in a graphical user interface. In some embodiments, a user may determine the dumping area through touch operations in the graphical user interface of interactive software. For example, a user may select a dumping area by dragging a dumping area box in the graphical user interface to a map portion of the graphical user interface. For example, a user may select a dumping area by drawing a closed trajectory in a map portion of the graphical user interface through touch operations.

[0074] In some embodiments, determining one or more dumping areas may include: controlling the movement of a plant cutting device in a real-world scenario, and determining the dumping area based on the trajectory of the plant cutting device. In some embodiments, determining the dumping area based on the trajectory of the plant cutting device may include: using the trajectory of the plant cutting device as the boundary of the dumping area.

[0075] In some embodiments, determining one or more dumping points may include: generating a first-direction grid line based on the dumping area along a first direction, generating a second-direction grid line based on the dumping area along a second direction, the first-direction grid line and the second-direction grid line intersecting to form a grid, generating the vertex coordinates of the four corners of each grid, and each grid forming a dumping point.

[0076] In some embodiments, the first direction grid lines extend along the first direction and are arranged sequentially in the second direction. In some embodiments, the second direction grid lines extend along the second direction and are arranged sequentially in the first direction.

[0077] Figure 2 This is a schematic flowchart illustrating the determination of a tilting point in an automatic tilting method for a plant cutting device according to some embodiments of this specification. In some embodiments, determining one or more tilting points may be accomplished by process 200. In some embodiments, process 200 may include the following steps.

[0078] Step 210: Provide the boundary of the dumping area, provide the main direction of the dumping area, and provide the size of a grid area.

[0079] Step 220: Obtain the minimum bounding shape of the dumping area, and establish a world coordinate system with a point on the minimum bounding shape as the origin.

[0080] Step 230: Generate main direction grid lines along the main direction and generate vertical direction grid lines along the direction perpendicular to the main direction. The main direction grid lines and the vertical direction grid lines intersect to form a grid.

[0081] Step 240: Traverse the intersections of the main direction grid lines and the vertical direction grid lines to obtain the coordinates of the four corner vertices of each grid.

[0082] In some embodiments, in step 210, the boundary of the dumping area can be of any shape, such as a circle, ellipse, rectangle, triangle, polygon, or irregular shape. In some embodiments, the size of the grid area can be larger than the size of the boundary of the dumping area. In some embodiments, the grid area can cover the boundary of the dumping area.

[0083] In some embodiments, in step 210, the main direction of the dumping area can be selected as the direction toward the center of the cutting operation area. In other embodiments, in step 210, the main direction of the dumping area can be selected as the direction toward the channel area to facilitate the later planning of the movement path of the plant cutting equipment. In some use cases, when the main direction of the dumping area is toward the channel area, the boundary of the dumping point established therein is always perpendicular or parallel to the extension direction of the channel area. When the plant cutting equipment enters the dumping area along the channel area and moves to a certain dumping point, it can move along a roughly straight path, and can reduce or avoid adjusting the direction of its front or rear when performing the dumping operation.

[0084] In some embodiments, in step 210, the size of the grid region may include: the overall size of the grid region and the grid size of a single grid cell within the grid region. In some embodiments, the overall size of the grid region may include the length and width of the grid region. In some embodiments, the grid size of a single grid cell may include the length and width of the single grid cell.

[0085] In some embodiments, in step 220, the minimum bounding shape can be the minimum bounding rectangle. Correspondingly, in step 210, the grid region can cover the minimum bounding rectangle.

[0086] In some embodiments, step 220 may further include: calculating the parameters of the minimum bounding rectangle. In some embodiments, the parameters of the minimum bounding rectangle may include: the length and width of the minimum bounding rectangle.

[0087] In some embodiments, step 220 may further include: initializing the set of valid dumping points and initializing the set of invalid dumping points. In some embodiments, initializing the set of valid dumping points includes creating an empty list of the set of valid dumping points, or making the list of the set of valid dumping points empty. In some embodiments, initializing the set of invalid dumping points includes creating an empty list of the set of invalid dumping points, or making the list of the set of invalid dumping points empty.

[0088] In some embodiments, in step 230, the main direction can be the first direction described above, and the grid lines of the main direction can be the grid lines of the first direction described above; the direction perpendicular to the main direction can be the second direction described above, and the grid lines of the perpendicular direction can be the grid lines of the second direction described above.

[0089] In some embodiments, in step 230, the spacing of the main direction grid lines can be determined based on the size of the grid region provided in step 210, and the spacing of the vertical direction grid lines can also be determined based on the size of the grid region provided in step 210. For example, the spacing of the main direction grid lines can be the length of a single grid, and the spacing of the vertical direction grid lines can be the width of a single grid.

[0090] In some embodiments, in step 230, the number of grid lines in the main direction can be determined based on the size of the grid region provided in step 210, and the number of grid lines in the vertical direction can be determined based on the size of the grid region provided in step 210. For example, the number of grid lines in the main direction can be the length of the grid region divided by the length of a single grid and rounded up or down, and the number of grid lines in the vertical direction can be the width of the grid region divided by the width of a single grid and rounded up or down.

[0091] In some embodiments, step 240 may further include: sorting the coordinates of the four corner vertices of each grid in a clockwise or counterclockwise direction.

[0092] In some embodiments, step 210 can be used to input parameters, step 220 can be used to establish a coordinate system and further perform initialization, step 230 can be used to generate grid lines and form a grid, and step 240 can be used to obtain grid information. In some embodiments, each grid can form a dumping point. The position and information (e.g., size information) of each dumping point can be determined based on the coordinates of the four corner vertices of the grid.

[0093] The automatic tilting method for plant cutting equipment provided in one or more embodiments of this specification may further include the following steps.

[0094] Step 120: Based on the overlap ratio between the dumping point and the dumping area, determine the initial state of one or more dumping points as valid dumping points or invalid dumping points.

[0095] In some embodiments, the dumping point can be a grid with a certain area. In some embodiments, the overlap ratio between the dumping point and the dumping area can refer to the ratio of the area of ​​the overlapping portion of the dumping point (i.e., the single grid) to the area of ​​the dumping area. Correspondingly, determining the initial state of one or more dumping points as valid or invalid dumping points based on the overlap ratio of the dumping point and the dumping area can include comparing the ratio of the area of ​​the overlapping portion of the dumping point and the dumping area to the area of ​​the dumping point with a preset ratio threshold, thereby determining the initial state of one or more dumping points as valid or invalid dumping points.

[0096] For example, if the area of ​​the portion of a pouring point overlapping with the pouring area is 1 / 3 of the total area of ​​the pouring point, and the ratio threshold is 3 / 4, then the pouring point is determined to be invalid. For example, if the area of ​​another pouring point overlapping with the pouring area is 9 / 10 of the total area of ​​the pouring point, and the ratio threshold is 3 / 4, then the pouring point is determined to be valid. For example, if yet another pouring point overlaps with the pouring area with the total area of ​​the pouring point, and the ratio threshold is 3 / 4, then the pouring point is determined to be valid. In summary, when the ratio of the area of ​​the portion of a pouring point overlapping with the pouring area is greater than or equal to the ratio threshold, the pouring point is determined to be valid; otherwise, the pouring point is determined to be invalid.

[0097] In other embodiments, determining the initial state of one or more dumping points as valid or invalid dumping points based on the overlap ratio between the dumping point and the dumping area may further include: comparing the area of ​​the portion of the dumping point (i.e., the single grid) that overlaps with the dumping area with the area of ​​the dumping point or an area threshold, thereby determining the initial state of one or more dumping points as valid or invalid dumping points.

[0098] For example, the area of ​​the part of a dumping point that overlaps with the dumping area is S1, and the area threshold is S2. If S1 is greater than or equal to S2, the dumping point is determined to be a valid dumping point; otherwise, the dumping point is determined to be an invalid dumping point.

[0099] In some embodiments, step 120 may include: if the overlapping area between the dumping point and the dumping area is equal to the grid area of ​​the dumping point, mark the initial state of the dumping point as a valid dumping point.

[0100] In some embodiments, step 120 may include: if the overlap area between the dumping point and the dumping area is greater than a threshold, marking the initial state of the dumping point as a valid dumping point; if the overlap area between the dumping point and the dumping area is less than a threshold, marking the initial state of the dumping point as an invalid dumping point.

[0101] In some embodiments, step 120 may further include: if the dumping area coincides with the prohibited area, the portion of the dumping area that coincides with the prohibited area is determined as an invalid dumping point.

[0102] Figure 3 This is a flowchart illustrating the determination of the initial state of the tilting point in an automatic tilting method for a plant cutting device according to some embodiments of this specification. In some embodiments, determining the initial state of one or more tilting points as valid or invalid tilting points can be achieved by process 300. In some embodiments, process 300 may include the following steps.

[0103] Step 310: Select a dumping point and calculate the overlapping area between the dumping point and the dumping area.

[0104] Step 320: Determine the overlapping area: if the overlapping area is equal to the area of ​​the dumping point, add the dumping point to the set of valid dumping points; if the overlapping area is greater than or equal to the area threshold, add the dumping point to the set of valid dumping points; if the overlapping area is less than the area threshold, add the dumping point to the set of invalid dumping points.

[0105] Step 330: Determine whether all pouring points have been traversed. If yes, output the result; otherwise, return to step 310 or step 240.

[0106] In some embodiments, in step 310, calculating the overlapping area between the dumping point and the dumping area may include: if the parameters of the dumping area are polygon coordinates, calling the polygon intersection area algorithm to calculate the overlapping area.

[0107] In some embodiments, in step 310, calculating the overlapping area between the dumping point and the dumping area may include: if the parameter of the dumping area is a mask matrix, then mapping the pixel range, counting the number of pixels within the boundary of the dumping area and converting it into the actual area.

[0108] The automatic tilting method for plant cutting equipment provided in one or more embodiments of this specification may further include the following steps.

[0109] Step 130: When the plant cutting equipment needs to perform a dumping operation, mark the current position as the interruption point, and navigate the plant cutting equipment to a dumping area, or to a candidate dumping point in an initial state or current state that is a valid dumping point.

[0110] In some embodiments, marking the current position as an interruption point when a dumping operation needs to be performed may include: marking the current position as an interruption point when the plant cutting device detects that the object in its collection container is larger than its preset collection threshold.

[0111] Figure 4 This is a schematic diagram showing the automatic tilting method of a plant cutting device according to some embodiments of this specification, in which the cutting area and the tilting area are connected by a channel area. See also Figure 4 As shown, Figure 4 The rounded rectangles in the diagram represent the cutting area, the elliptical shapes represent the tilting area, and the solid lines represent the passageway area. Figure 4 The graphics in this document are only used to illustrate the relative positional and connection relationships of the regions and do not restrict the specific shape of each region.

[0112] In some embodiments, the dumping area may be located outside the cutting operation area, and the dumping area and the cutting operation area are connected by a channel area. The dumping area has a channel entrance, and the dumping area is connected to the channel area through the channel entrance. In this embodiment, navigating to a dumping area in step 130 includes navigating to the channel entrance of the dumping area.

[0113] Since the dumping area corresponds to only one cutting operation area, and it is connected to the cutting operation area only through one channel area, the plant cutting equipment can only use this one channel area. Therefore, you can navigate to the channel entrance corresponding to this channel area.

[0114] Figure 5 This is a schematic diagram showing the connection between the cutting area and the tilting area of ​​an automatic tilting method for a plant cutting device according to some embodiments of this specification, where the cutting area and the tilting area are connected by two channel areas. See also Figure 5 As shown, Figure 5 The rounded rectangles in the diagram represent the cutting area, the elliptical shapes represent the tipping area, the solid lines represent the passageway area, and the dashed lines represent the avoidance path. Figure 5 The graphics in this document are only used to illustrate the relative positional and connection relationships of the regions and do not restrict the specific shape of each region.

[0115] In other embodiments, the dumping area may be located outside the cutting operation area, and the dumping area is connected to each of the two cutting operation areas via a channel area. The dumping area has two channel entrances, each of which is connected to a channel area. In this embodiment, in step 130, navigating to a dumping area includes: establishing an avoidance path connecting the two channel entrances of the dumping area, marking the initial state of the dumping point located on the avoidance path as an invalid dumping point, and navigating to one of the two channel entrances of the dumping area.

[0116] For example, the avoidance path in this embodiment can be a path located inside the dumping area and connecting the two passage entrances. For example, the avoidance path in this embodiment can be a straight path directly connecting the two passage entrances. For example, the avoidance path in this embodiment can be a path extending along (or surrounding) the boundary of the dumping area and connecting the two passage entrances.

[0117] Since the same dumping area corresponds to two cutting work areas, and it is connected to each cutting work area only through one passageway, the plant cutting equipment must avoid blocking the two passageway entrances when navigating and performing dumping operations. This is achieved by establishing an avoidance path between the two passageway entrances, initially marking dumping points on the avoidance path as invalid dumping points (e.g., adding all dumping points on the avoidance path to the invalid dumping point set), thus preventing dumping operations on that avoidance path and keeping it passable, thereby ensuring that both cutting work areas remain accessible.

[0118] Figure 6a This is a schematic diagram illustrating an automatic tilting method for a plant cutting device according to some embodiments of this specification, where one tilting area corresponds to two cutting operation areas. Figure 6b This is a schematic diagram of an automatic tilting method for a plant cutting device according to other embodiments of this specification, showing a tilting area corresponding to two cutting work areas. See also Figure 6a , Figure 6b As shown, Figure 6a and Figure 6b The rounded rectangles in the diagram represent the cutting area, the elliptical shapes represent the tipping area, the solid lines represent the passageway area, and the dashed lines represent the avoidance path. Figure 6a and Figure 6b The graphics in this document are only used to illustrate the relative positional and connection relationships of the regions and do not restrict the specific shape of each region.

[0119] In some embodiments, the dumping area may be located outside the cutting operation area, and the dumping area is connected to the same cutting operation area through two channel areas. The dumping area has two channel entrances, each of which is connected to a channel area. In this embodiment, in step 130, navigating to a dumping area includes: establishing an avoidance path connecting the two channel entrances of the dumping area; marking the initial state of a dumping point located on the avoidance path as an invalid dumping point; and navigating to one of the two channel entrances of the dumping area, or navigating based on one of the two channel entrances.

[0120] For example, the avoidance path in this embodiment can be a path located inside the dumping area and connecting the two passage entrances. For example, the avoidance path in this embodiment can be a straight path directly connecting the two passage entrances. For example, the avoidance path in this embodiment can be a path extending along (or surrounding) the boundary of the dumping area and connecting the two passage entrances.

[0121] Since a dumping area corresponds to a cutting operation area, and it is connected to each cutting operation area through multiple channel areas, the plant cutting equipment can choose to avoid blocking both channel entrances when navigating and performing dumping operations, or it can choose to allow one channel entrance to be blocked and only use the other channel entrance.

[0122] It should be noted that this embodiment can be further extended to have a dumping area corresponding to a cutting operation area, and the dumping area is connected to the cutting operation area through three, four, or more channel areas, rather than being construed as limiting the connection between the dumping area and the cutting operation area to only two channel areas.

[0123] Figure 7 This is a schematic diagram showing an automatic tilting method for a plant cutting device according to some embodiments of this specification, where one tilting area corresponds to three cutting work areas. See also... Figure 7 As shown, Figure 7 The rounded rectangles in the diagram represent the cutting area, the elliptical shapes represent the tipping area, the solid lines represent the passageway area, and the dashed lines represent the avoidance path. Figure 7 The graphics in this document are only used to illustrate the relative positional and connection relationships of the regions and do not restrict the specific shape of each region.

[0124] In other embodiments, the dumping area may be located outside the cutting operation area, and the dumping area and the cutting operation area are connected by three or more channel areas. The dumping area has three or more channel entrances, and each channel entrance is connected to a channel area.

[0125] For example, a dumping area may be connected to the same cutting work area via three or more channel areas. For example, a dumping area may be connected to three cutting work areas, each connected via three channel areas. For example, a dumping area may be connected to two cutting work areas, each connected via two channel areas, and also connected to another cutting work area via two or more channel areas. For example, a dumping area may also be connected to four, five, or more cutting work areas.

[0126] In this embodiment, in step 130, navigating to a dumping area includes: establishing an avoidance path connecting all the channel entrances along the boundary of the dumping area, marking the initial state of dumping points located on the avoidance path as invalid dumping points, and navigating to one of the three channel entrances of the dumping area.

[0127] Since the same dumping area may correspond to a larger number of cutting work areas, plant cutting equipment can choose to avoid blocking all access points when navigating and performing dumping operations. This is achieved by establishing avoidance paths between all access points (the number of avoidance paths can be one or more), initially marking dumping points on the avoidance paths as invalid dumping points (e.g., adding all dumping points on the avoidance paths to the invalid dumping point set), thus avoiding dumping operations on the avoidance paths and keeping them passable, thereby ensuring that all cutting work areas remain accessible.

[0128] In one or more of the above embodiments, the navigation to a dumping area and the establishment of an avoidance path can be used in combination as needed. See also Figure 8 As shown, for example, in a situation where two dumping areas correspond to three cutting operation areas and are connected by different numbers of channel areas, this situation may be decomposed based on one or more of the above embodiments into one dumping area corresponding to one cutting operation area (e.g. Figure 8 (e.g., the right side of the middle section), and situations where another dumping area corresponds to two cutting operation areas simultaneously (e.g., the right side of the middle section), etc. Figure 8 (The left part of the text).

[0129] In one or more of the above embodiments, if multiple dumping areas are included and these dumping areas are connected by a passage area, the avoidance path can also extend to the passage area connecting the dumping areas. See also Figure 8 As shown, for example Figure 8 The avoidance path (dashed line section) extends not only to the passage area connecting the dumping area, but also to the passage area connecting another dumping area.

[0130] Figure 9a This is a schematic diagram showing the overlapping portion between the tilting area and the cutting operation area of ​​the automatic tilting method of the plant cutting equipment according to some embodiments of this specification. Figure 9b This is a schematic diagram showing an overlap between the tilting area and the cutting operation area of ​​an automatic tilting method for a plant cutting device according to some embodiments of this specification. See also... Figure 9a , Figure 9b As shown, Figure 9a and Figure 9b The rounded rectangular part is the cutting area, and the elliptical part is the tilting area. Figure 9a and Figure 9b The graphics in this document are only used to illustrate the relative positional and connection relationships of the regions and do not restrict the specific shape of each region.

[0131] In some embodiments, such as Figure 9aThe dumping area can be located inside the cutting operation area. In other embodiments, such as... Figure 9b A portion of the dumping area is located inside the cutting area, and another portion is located outside the cutting area. In this embodiment, navigating to a dumping area in step 130 includes navigating to the boundary of the dumping area. Since the dumping area and the cutting area overlap, there is no need to consider the issue of channel blockage.

[0132] In some embodiments, in step 130, navigating to a candidate dumping point that is an initial or current valid dumping point includes: if the dumping area has one or more channel entrances, then prioritizing navigation to a candidate dumping point far from the channel entrance, with the expansion direction when selecting a candidate dumping point pointing towards a channel entrance. Based on this, when performing dumping operations, the plant cutting equipment can generally approach the channel entrance gradually from a direction far from it, avoiding premature path blockage and / or increased detour distance.

[0133] In some embodiments, in step 130, navigating to a candidate dumping point that is an effective dumping point in its initial or current state includes: if the dumping area does not have a channel entrance, then preferentially navigating to a candidate dumping point far from the center of the cutting work area, with the expansion direction when selecting a candidate dumping point pointing towards the center of the cutting work area. Based on this, when performing a dumping operation, the plant cutting device can generally move closer to the center of the cutting work area from a direction far from the center, so that the plant cutting device has a shorter path to the cutting work area after each dumping operation.

[0134] In some embodiments, a candidate dumping point can be a dumping point prepared for a dumping operation. To ensure the smooth execution of the dumping operation, the candidate dumping point should be in the state of a valid dumping point. In some embodiments, the state of a candidate dumping point can include an initial state and a current state. In some use cases, the state of a dumping point can change, for example, from a valid dumping point to an invalid dumping point. In some use cases, the current state of a candidate dumping point can be the same as its initial state. In other use cases, the state of a candidate dumping point may have been updated, so the current state of a candidate dumping point may be different from its initial state.

[0135] In some embodiments, the direction of expansion when selecting a candidate pouring point can be the direction from the previously selected candidate pouring point to the currently selected candidate pouring point.

[0136] In some embodiments, a plurality of dumping points are arranged in a rectangular array along the aforementioned first direction (or the aforementioned main direction) and second direction (or the aforementioned direction perpendicular to the main direction). The expansion direction when selecting a candidate dumping point may include the direction from the previously selected candidate dumping point to the currently selected candidate dumping point in the first direction, and the direction from the previously selected candidate dumping point to the currently selected candidate dumping point in the second direction.

[0137] Figure 10 This is a schematic flowchart illustrating the navigation to a candidate dumping point in an automatic dumping method for a plant cutting device according to some embodiments of this specification. In some embodiments, navigation to a candidate dumping point that is an initial state or currently a valid dumping point can be achieved by process 400. In some embodiments, process 400 may include the following steps.

[0138] Step 410: Based on the weights of the candidate dumping points, select a candidate dumping point whose initial state or current state is a valid dumping point.

[0139] Step 420: Verify the candidate pouring points.

[0140] Step 430: Navigate to a verified candidate dumping point.

[0141] In some embodiments, in step 410, the weight of the candidate dumping point includes one or more of the following: channel inlet weight, orientation weight, and adjacent weight.

[0142] In some embodiments, when at least a portion of the dumping area is located inside the cutting operation area, the channel entrance weight is set to zero. Since the plant cutting device can always enter the cutting operation area through a portion of the boundary of the dumping area when at least a portion of the dumping area is located inside the cutting operation area, the influence of whether the dumping area has a channel entrance or whether the channel entrance is blocked can be disregarded in this case.

[0143] In some embodiments, in step 420, the verification includes one or more of the following: channel verification, tightness verification, expansion direction verification, and plant cutting equipment docking position verification.

[0144] In some embodiments, channel verification includes: starting from the channel inlet, traversing all candidate dumping points whose initial or current state is a valid dumping point using a breadth-first search algorithm, retaining the idle valid dumping points that can be reached through an idle valid dumping point path, and obtaining a set of first dumping points. Obtaining the set of first dumping points based on channel verification confirms that each first dumping point in the set can be reached from the channel inlet through a certain path.

[0145] In some embodiments, the state of a dumping point (initial state or current state) may include valid dumping points and invalid dumping points. Valid dumping points may include idle valid dumping points and occupied valid dumping points. In some use cases, idle valid dumping points can be used as paths traversable by the plant cutting equipment. In some use cases, idle valid dumping points can also be used to perform dumping operations, allowing plant debris from the collection container of the plant cutting equipment to be dumped into the idle valid dumping point.

[0146] In some use cases, the states of an idle and occupied effective dumping point can be interchanged. For example, an idle dumping point becomes an occupied dumping point (e.g., occupied by a pile of dumped grass) after the plant cutting equipment performs a dumping operation. For example, an idle dumping point becomes an occupied dumping point if it has obstacles on it (e.g., rocks fallen from a slope, items temporarily placed by pedestrians, etc.). For example, an occupied dumping point becomes an idle dumping point again after the items on it are cleared (e.g., the pile of grass dumped there is removed, temporary obstacles are removed, etc.).

[0147] In some embodiments, the specific state of the effective dumping point, i.e., whether the effective dumping point is an idle effective dumping point or an occupied effective dumping point, can be determined by the plant cutting device through a vision module.

[0148] In some embodiments, the compactness check includes selecting a first dumping point adjacent to an occupied valid dumping point from the set of first dumping points to obtain a set of second dumping points. In some use cases, if a first dumping point farther from an occupied valid dumping point is selected for dumping, the following situation may occur: a first dumping point closer to an occupied valid dumping point cannot be reached via an available valid dumping point path during the next dumping operation. In other words, dumping at a first dumping point farther from an occupied valid dumping point will block valid dumping points closer to the occupied valid dumping point. Based on the compactness check, the second dumping point selected by the plant cutting equipment is always closely adjacent to an occupied valid dumping point, which maximizes the utilization of valid dumping points and avoids blocking other valid dumping points as much as possible.

[0149] In some embodiments, the expansion direction verification includes selecting second dumping points extending towards the channel entrance from the set of second dumping points to obtain a set of third dumping points. In some embodiments, the second dumping points are adjacent to occupied valid dumping points. For example, the second dumping points can be four grids located in front of, behind, to the left of, and to the right of occupied valid dumping points. One or more of the second dumping points are close to the channel entrance, while the remaining one or more second dumping points are far from the channel entrance. Since the plant cutting device needs to occupy a certain position when performing the dumping operation, after the dumping operation is completed, the corresponding idle valid dumping points become occupied valid dumping points, which will affect the path of the plant cutting device back to the channel entrance. That is, if the plant cutting device performs the dumping operation at a second dumping point far from or even facing away from the channel entrance, the dumped plant debris (such as haystacks) may trap the plant cutting device in place. Based on the fact that the third dumping point selected by the expansion direction verification always faces the channel entrance, the plant cutting device can perform the dumping operation in a direction close to the channel entrance and exit towards the channel entrance after completing the dumping operation to avoid being trapped.

[0150] In some embodiments, the plant cutting equipment docking position verification includes: selecting one or more fourth dumping points from a set of third dumping points, wherein each fourth dumping point is configured such that at least one of the adjacent fifth dumping points is an available valid dumping point and is configured to allow the rear of the plant cutting equipment to face the fourth dumping point. In some embodiments, the fourth dumping point is a candidate dumping point that has passed the verification. Based on the plant cutting equipment docking position verification, the selected fourth dumping point always has one of the fifth dumping points currently in an available valid dumping point, thereby allowing the plant cutting equipment to dock at the fifth dumping point. It also allows the plant cutting equipment to face the fourth dumping point when docked at the fifth dumping point, facilitating dumping operations.

[0151] The automatic tilting method for plant cutting equipment provided in one or more embodiments of this specification may further include the following steps.

[0152] Step 140: Update the current status of the candidate dumping point to either a valid dumping point or an invalid dumping point.

[0153] In some embodiments, updating the current state of a candidate dumping point to a valid or invalid dumping point in step 140 includes: if there is an obstacle inside or around the candidate dumping point, marking the current state of the candidate dumping point as an invalid dumping point. In some embodiments, a candidate dumping point may refer to a range within a preset distance from the boundary of the candidate dumping point. In some embodiments, the preset distance may be set based on the size of the plant cutting equipment to exclude dumping points that the plant cutting equipment cannot enter or reach. For example, the preset distance may be the width or length of the plant cutting equipment. For example, the preset distance may be a multiple of the width or length of the plant cutting equipment. For example, the preset distance may be the diagonal length of the plant cutting equipment or a multiple of the diagonal length.

[0154] In some embodiments, in step 140, updating the current state of a candidate pouring point to a valid pouring point or an invalid pouring point includes: if the interior of a candidate pouring point is empty, marking the current state of the candidate pouring point as an idle valid pouring point.

[0155] In some embodiments, in step 140, updating the current state of a candidate dumping point to a valid dumping point or an invalid dumping point includes: if there is dumped material inside the candidate dumping point and there are no obstacles, marking the current state of the candidate dumping point as an occupied valid dumping point.

[0156] The automatic tilting method for plant cutting equipment provided in one or more embodiments of this specification may further include the following steps.

[0157] Step 150: Based on the current state of the candidate dumping point, perform the dumping operation.

[0158] In some embodiments, in step 150, performing a dumping operation based on the current state of the candidate dumping point includes: if the current state of the candidate dumping point is an idle and valid dumping point, performing a dumping operation; if the current state of the candidate dumping point is an occupied valid dumping point or an invalid dumping point, navigating to another candidate dumping point whose initial state is a valid dumping point.

[0159] In some embodiments, in step 150, performing the tipping operation includes: if the plant cutting equipment is in a normal state, aligning the direction of the plant cutting equipment's front end with the expansion direction when selecting a candidate tipping point; if the plant cutting equipment is in a special state, allowing the direction of the plant cutting equipment's front end to be inconsistent with the expansion direction when selecting a candidate tipping point. In some embodiments, the normal state includes: the plant cutting equipment is in a horizontal state. In some embodiments, the normal state may include: the plant cutting equipment is in an inclined state and the inclination angle of the plant cutting equipment is within a preset angle range, for example, the plant cutting equipment is located on a steep slope and the inclination angle of the steep slope is within a preset angle range. In some embodiments, the special state includes: the plant cutting equipment is on a steep slope and the inclination angle of the steep slope exceeds the preset angle range.

[0160] In some applications, plant cutting equipment needs to tilt its collection container during dumping to allow plant clippings and other waste to fall and accumulate at the dumping point due to gravity. In other scenarios, the collection container of the plant cutting equipment may be positioned on a steep slope, causing the opening to face upwards, making dumping difficult. Therefore, when performing dumping on steep slopes, the direction of the cutting machine's cab should not be the same as the direction of expansion when selecting a candidate dumping point, ensuring the collection container opening faces downwards.

[0161] In some embodiments, step 150 further includes performing the dumping operation: if the direction of the plant cutting device is not consistent with the direction of expansion when selecting the candidate dumping point, a reserved path is established in the dumping area so that the plant cutting device can leave the candidate dumping point through the reserved path.

[0162] The automatic tilting method for plant cutting equipment provided in one or more embodiments of this specification may further include the following steps.

[0163] Step 160: Navigate to the break point and resume the cutting operation.

[0164] This specification also provides another embodiment, which is similar to the above-described process 100, the main difference being that the process of determining the dumping point in step 110 and the process of navigating the plant cutting device to a candidate dumping point in step 130 where the initial state or current state is a valid dumping point are different.

[0165] Figure 11 This is a flowchart illustrating the determination of a tilting point in an automatic tilting method for a plant cutting device according to other embodiments of this specification. In some embodiments, determining one or more tilting points may be accomplished by process 500. In some embodiments, process 500 may include the following steps.

[0166] Step 510: Determine the extension direction of the grid lines and generate the grid lines.

[0167] Step 520: Generate an outer rectangle based on the tilted area. The extension direction of the edges of the outer rectangle is parallel or perpendicular to the extension direction of the grid lines.

[0168] Step 530: Determine the main extension direction, which is parallel or perpendicular to the extension direction of the grid lines.

[0169] Step 540: Determine the secondary expansion direction, which is perpendicular to the primary expansion direction.

[0170] Step 550: Generate a grid based on grid lines and circumscribed rectangles, with each grid forming a pouring point.

[0171] In some embodiments, in step 510, the grid lines may include first-direction grid lines and second-direction grid lines. The directions of the grid lines may include the first direction and the second direction. The first-direction grid lines extend along the first direction and are arranged sequentially in the second direction. In some embodiments, the second-direction grid lines extend along the second direction and are arranged sequentially in the first direction.

[0172] In some embodiments, in step 510, the first direction grid line may be parallel to the main direction of the preset dumping trajectory. In some embodiments, the preset dumping trajectory may be a bow-shaped line. In other embodiments, the first direction grid line may be parallel to the long side direction of the dumping area. In still other embodiments, the first direction grid line and / or the second direction grid line may be specified by the user.

[0173] In some embodiments, in step 530, the extension direction of the grid lines can be the extension direction of the first direction grid lines (i.e., the first direction) or the extension direction of the second direction grid lines (i.e., the second direction).

[0174] In some embodiments, determining the primary expansion direction in step 530 may include: if the dumping area is located inside the cutting work area, then the primary expansion direction is the direction from the boundary of the cutting work area toward the open area inside the cutting work area.

[0175] In some embodiments, determining the primary expansion direction may include: if a portion of the dumping area is located inside the cutting work area while another portion of the dumping area is located outside the cutting work area, then the primary expansion direction is the direction from the outside of the cutting area toward the inside of the cutting area.

[0176] In some embodiments, determining the primary expansion direction may include: if the dumping area is located outside the cutting operation area, the dumping area and the cutting operation area are connected by a channel area, the dumping area has a channel entrance, and the channel entrance is connected to the channel area, then the primary expansion direction is the direction toward the channel entrance.

[0177] In some embodiments, in step 540, the secondary expansion direction is perpendicular to the primary expansion direction. The strategy for determining the secondary expansion direction is similar to the strategy for determining the primary expansion direction, so it will not be described again.

[0178] In another embodiment of this specification, navigating to a candidate dumping point where the initial state or current state is a valid dumping point includes: determining the dumping order based on the primary and secondary expansion directions, and navigating to a candidate dumping point where the initial state or current state is a valid dumping point based on the dumping order.

[0179] Figures 12 to 15 These are schematic diagrams of the main extension direction, secondary extension direction, and avoidance path of the automatic tilting method of the plant cutting equipment according to other embodiments of this specification. Figure 16 This is a schematic diagram of the main expansion direction, secondary expansion direction, and avoidance path of the irregular tilting area of ​​the automatic tilting method of the plant cutting equipment according to other embodiments of this specification. Figures 12 to 16 In the diagram, the rectangular solid frame represents the cutting operation area, the elliptical solid frame, the circular solid frame, or the irregular solid frame represents the dumping area, the solid line represents the passage area, the dashed line represents the grid line, the white grid represents the dumping point, the striped grid represents the invalid dumping point, and the gray grid represents the avoidance path (which serves as the dumping point of the avoidance path or the dumping point passed through by the avoidance path).

[0180] For example, see Figure 12 , Figure 13 As shown, for cases where the dumping area is located inside the cutting operation area, or where part of the dumping area is inside the cutting operation area while another part is outside the cutting operation area, several dumping points are divided into several rows, and dumping operations are performed row by row based on the primary expansion direction. Within each row, dumping operations are performed on each dumping point sequentially based on the secondary expansion direction. Invalid dumping points or valid dumping points that are occupied are skipped.

[0181] For example, see [link to previous article] Figure 12 , Figure 13As shown, for cases where the dumping area is located inside the cutting area, or where part of the dumping area is inside the cutting area while another part is outside, several dumping points are divided into several rows, and dumping operations are performed sequentially row by row based on the primary expansion direction. Within each row, dumping operations are performed on each dumping point alternately based on the secondary expansion direction and its opposite direction to form a pre-defined bow-shaped dumping trajectory. For example, in odd-numbered rows, dumping operations are performed on each dumping point sequentially based on the secondary expansion direction; in even-numbered rows, dumping operations are performed on each dumping point sequentially based on the opposite direction of the secondary expansion direction. Invalid dumping points or valid dumping points that are already occupied are skipped.

[0182] For example, see Figure 14 As shown, for cases where the dumping area is located outside the cutting operation area, the dumping point at the entrance of the dumping area's passage is used as the dividing point. Moving along the boundary of the dumping area from the dividing point towards the main expansion direction, until the main expansion direction stops advancing, a clearance path is formed (part of this clearance path may coincide with the main expansion direction). During the dumping operation, several dumping points are divided into several rows, and the dumping operation is performed row by row based on the main expansion direction. Within each row, dumping operations are performed on each dumping point based on the secondary expansion direction. Invalid dumping points, occupied valid dumping points, and clearance paths are skipped. Finally, the clearance path is filled in order from farthest to nearest.

[0183] For example, see Figure 15 As shown, when the dumping point occupied by the entrance to the dumping area is the farthest dumping point in the main expansion direction, only that dumping point is marked as an avoidance path. During dumping operations, the dumping points are divided into several rows, and dumping operations are performed row by row sequentially based on the main expansion direction. Within each row, dumping operations are performed on each dumping point sequentially based on the secondary expansion direction. Invalid dumping points, occupied valid dumping points, and dumping points marked as avoidance paths are skipped.

[0184] For example, see Figure 16As shown, in cases where the dumping area is located outside the cutting area and has a complex shape (e.g., recessed areas between the edges of the dumping area), or where the dumping area is located outside the cutting area and connected to the cutting area through multiple channel areas, the dumping points occupied by the boundaries of the dumping area are marked as avoidance paths (the avoidance paths can circle the dumping area), and the dumping operation is performed. During the dumping operation, several dumping points are divided into several rows, and the dumping operation is performed row by row based on the primary expansion direction. In each row, the dumping operation is performed on each dumping point sequentially based on the secondary expansion direction or the opposite direction of the secondary expansion direction. Invalid dumping points, occupied valid dumping points, and dumping points marked as avoidance paths are skipped.

[0185] It should be noted that one or more embodiments provided in this specification may be combined with each other or the order of steps may be adjusted according to actual circumstances without contradiction.

[0186] Figure 17 These are exemplary block diagrams of a plant cutting device according to some embodiments of this specification. Figure 17 As shown, the plant cutting device 1000 may include a map module 1100, a dumping point initialization module 1200, a navigation module 1300, an update module 1400, and an operation module 1500.

[0187] In some embodiments, the map module 1100 is used to create a work map, determine one or more dumping areas, and determine one or more dumping points within the dumping areas.

[0188] In some embodiments, the pouring point initialization module 1200 is used to determine the initial state of one or more pouring points as valid pouring points or invalid pouring points based on the overlap ratio between the pouring point and the pouring area.

[0189] In some embodiments, the navigation module 1300 is used to mark the current position as an interruption point, navigate to a dumping area, or navigate to a candidate dumping point whose initial state or current state is a valid dumping point when a dumping operation needs to be performed.

[0190] In some embodiments, the update module 1400 is used to update the current state of the candidate pouring point as a valid pouring point or an invalid pouring point.

[0191] In some embodiments, the navigation module 1300 is also used to navigate to the interruption point and resume the cutting operation.

[0192] In some embodiments, the operation module 1500 is used to perform a dumping operation based on the current state of the candidate dumping point.

[0193] For more information on each module, please refer to [link / reference]. Figure 1The relevant explanations will not be repeated here. It should be understood that... Figure 17 The systems and modules shown can be implemented in various ways. For example, in some embodiments, the systems and modules can be implemented by hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the methods and systems described above can be implemented using computer-executable instructions and / or included in the control code of a processor, such as on a media such as a disk, CD, or DVD-ROM, or in the memory of a programmable device. The systems and modules of this specification can be implemented not only by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips and transistors, or programmable hardware devices such as field-programmable gate arrays and programmable logic devices, but also by software, for example, executed by various types of processors, or by a combination of the aforementioned hardware circuits and software (e.g., firmware).

[0194] It should be noted that the above description of the system and its modules is for convenience only and should not be construed as limiting this specification to the embodiments described. It is understood that those skilled in the art, after understanding the principles of this system, may arbitrarily combine the various modules without departing from these principles to form subsystems connected to other modules. Alternatively, some modules may be split to obtain more modules or multiple units under a single module. Such modifications are all within the scope of this specification.

[0195] In one or more embodiments of this specification, a computer program product is also provided, including computer instructions or computer code, which, when at least a portion of the computer instructions or computer code is executed by a processor, enables the implementation of the above-described automatic tilting method for the plant cutting device. In some embodiments, the computer program product may involve only computer instructions or computer code, and may be carried on a storage medium or processing device. In other embodiments, the computer program product may also be a storage medium or processing device containing the aforementioned computer instructions or computer code. The processing device may include one or more processors, and a storage medium.

[0196] In some embodiments, the processor may be a combination of one or more of the following processors: central processing unit (CPU), application-specific integrated circuit (ASIC), application-specific instruction set processor (ASIP), graphics processing unit (GPU), physical processing unit (PPU), digital signal processor (DSP), field-programmable gate array (FPGA), programmable logic device (PLD), programmable logic controller (PLC), reduced instruction set computer (RISC), and microprocessor.

[0197] In some embodiments, the storage medium may include one or more combinations of the following: mass storage, removable storage, volatile read-write memory, and read-only memory (ROM). Exemplary mass storage may include disks, optical disks, solid-state drives, etc. Exemplary removable storage may include flash drives, floppy disks, optical disks, memory cards, compressed hard disks, magnetic tapes, etc. Exemplary volatile read-write memory may include random access memory (RAM). Exemplary RAM may include dynamic random access memory (DRAM), dual data rate synchronous dynamic random access memory (DDRSDRAM), static random access memory (SRAM), silicon controlled retrieval memory (T-RAM), and zero-capacitance memory (Z-RAM), etc. Exemplary read-only memory may include masked read-only memory (MROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), compressed hard disk read-only memory (CD-ROM), and digital multifunction hard disk read-only memory, etc.

[0198] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: (1) providing an automatic dumping method, which can automatically navigate and select a suitable dumping point to perform dumping operations when the plant cutting equipment needs to perform dumping operations; (2) generating a grid through grid lines, determining the position and area of ​​the grid through the vertex coordinates of the four corners of the grid, and judging and obtaining the grid located in the dumping area based on the area of ​​the grid and the overlap ratio of the dumping area, thereby establishing an effective dumping point; (3) marking dumping points with obstacles inside or around as invalid dumping points, so as to prevent obstacles from affecting the dumping operation or movement of the plant cutting equipment; (4) providing a variety of methods for navigating from the cutting operation area to the entrance of the dumping area based on the connection relationship and number of channels between the dumping area and the cutting operation area, avoiding the blockage of some channels after the dumping operation is performed, and improving the accessibility of the entire map; (5) selecting reachable and complete dumping points through channel verification and extension direction verification. (6) Improve the utilization rate of dumping points in the same dumping area by checking the tightness; (7) Ensure that the plant cutting equipment has space to perform dumping operations and has a short return path by checking the parking position of the plant cutting equipment; (8) When there is a passage, the expansion direction of the plant cutting equipment when selecting a candidate dumping point is generally from the direction away from the passage entrance to gradually approach the passage entrance, so as to avoid blocking the path in advance and reduce or avoid increasing the detour distance; (9) When there is no passage, the expansion direction of the plant cutting equipment when selecting a candidate dumping point is to perform dumping operations towards the candidate dumping point away from the center of the lawn, and gradually expand towards the interior of the cutting equipment to reduce the path of the plant cutting equipment to return to the cutting operation area each time; (10) When the plant cutting equipment performs dumping operations, if the direction of the vehicle head is inconsistent with the expansion direction when selecting a candidate dumping point, a reserved passage is reserved to avoid being unable to return to the cutting operation area. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced can be any one or a combination of the above, or any other possible beneficial effects.

[0199] The basic concepts have been described above. It is obvious that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are taught in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

Claims

1. An automatic tilting method for a plant cutting device, characterized in that, include: Create a work map, identify one or more dumping areas, and identify one or more dumping points; Based on the overlap ratio between the dumping point and the dumping area, the initial state of one or more dumping points is determined to be a valid dumping point or an invalid dumping point. When the plant cutting device needs to perform a dumping operation, the current position is marked as an interruption point, and the plant cutting device navigates to a dumping area, or to a candidate dumping point whose initial state or current state is a valid dumping point. Update the current state of the candidate pouring point to either a valid pouring point or an invalid pouring point; The dumping operation is performed based on the current state of the candidate dumping point.

2. The automatic tilting method for the plant cutting equipment according to claim 1, characterized in that, Determining one or more dumping areas includes: determining the dumping area in a graphical user interface, or controlling the plant cutting device to move in a real scene and determining the dumping area based on the trajectory of the plant cutting device.

3. The automatic tilting method for the plant cutting equipment according to claim 1, characterized in that, Determining one or more dumping points includes: generating a first-direction grid line based on the dumping area along a first direction, generating a second-direction grid line based on the dumping area along a second direction, generating the vertex coordinates of the four corners of each grid, and each grid forming one dumping point.

4. The automatic tilting method for the plant cutting equipment according to claim 3, characterized in that, The step of determining the initial state of one or more dumping points as valid dumping points or invalid dumping points based on the overlap ratio between the dumping point and the dumping area includes: if the overlap area between the dumping point and the dumping area is equal to the grid area of ​​the dumping point, the initial state of the dumping point is marked as a valid dumping point.

5. The automatic tilting method for the plant cutting equipment according to claim 3, characterized in that, The step of determining the initial state of one or more of the pouring points as valid or invalid pouring points based on the overlap ratio between the pouring point and the pouring area includes: if the overlap area between the pouring point and the pouring area is greater than a threshold, marking the initial state of the pouring point as a valid pouring point; if the overlap area between the pouring point and the pouring area is less than the threshold, marking the initial state of the pouring point as an invalid pouring point.

6. The automatic tilting method for the plant cutting equipment according to claim 5, characterized in that, The operation map includes prohibited areas and dumping areas; The step of determining the initial state of one or more dumping points as valid or invalid dumping points based on the overlap ratio between the dumping point and the dumping area further includes: If the dumping area coincides with the prohibited area, the overlapping portion of the dumping area and the prohibited area is determined as an invalid dumping point.

7. The automatic tilting method for the plant cutting equipment according to claim 5, characterized in that, Updating the current state of the candidate dumping point to a valid dumping point or an invalid dumping point includes: if there is an obstacle inside or around the candidate dumping point, marking the current state of the candidate dumping point as an invalid dumping point.

8. The automatic tilting method for the plant cutting equipment according to claim 5, characterized in that, Updating the current state of the candidate pouring point to a valid pouring point or an invalid pouring point includes: if the interior of the candidate pouring point is empty, marking the current state of the candidate pouring point as an empty valid pouring point.

9. The automatic tilting method for the plant cutting equipment according to claim 5, characterized in that, Updating the current state of the candidate dumping point to a valid dumping point or an invalid dumping point includes: if there is dumping material inside the candidate dumping point and there are no obstacles, marking the current state of the candidate dumping point as an occupied valid dumping point.

10. The automatic tilting method of the plant cutting equipment according to any one of claims 7 to 9, characterized in that, The process of performing the dumping operation based on the current state of the candidate dumping point includes: If the current state of the candidate dumping point is an idle and valid dumping point, execute the dumping operation; If the current state of the effective dumping point is either an occupied effective dumping point or an invalid dumping point, then navigate to another candidate dumping point whose initial state is an effective dumping point.

11. The automatic tilting method for the plant cutting equipment according to claim 1, characterized in that, The work map includes the cutting work area and the dumping area; The dumping area is located inside the cutting operation area, or the dumping area is located outside the cutting operation area, or a portion of the dumping area is located inside the cutting operation area while another portion of the dumping area is located outside the cutting operation area.

12. The automatic tilting method for the plant cutting equipment according to claim 11, characterized in that, The operation map also includes: a passageway area; The dumping area is located outside the cutting operation area, and the dumping area and the cutting operation area are connected by a channel area. The dumping area has a channel entrance, and the channel entrance is connected to the channel area. Navigating to one of the dumping areas includes: navigating to the channel entrance of the dumping area.

13. The automatic tilting method for the plant cutting equipment according to claim 11, characterized in that, The operation map also includes: a passageway area; The dumping area is located outside the cutting operation area. The dumping area is connected to each of the two cutting operation areas through a channel area. The dumping area has two channel entrances, and each channel entrance is connected to a channel area. Navigating to one of the dumping areas includes: An avoidance path is established between the two channel entrances of the dumping area, the initial state of the dumping point located on the avoidance path is marked as an invalid dumping point, and navigation is performed to one of the two channel entrances of the dumping area.

14. The automatic tilting method for the plant cutting equipment according to claim 11, characterized in that, The operation map also includes: a passageway area; The dumping area is located outside the cutting operation area. The dumping area is connected to the same cutting operation area through two channel areas. The dumping area has two channel entrances, and each channel entrance is connected to one of the channel areas. Navigating to one of the dumping areas includes: An avoidance path is established between the two channel entrances of the dumping area, the initial state of the dumping point located on the avoidance path is marked as an invalid dumping point, and navigation is performed to one of the two channel entrances of the dumping area, or navigation is performed based on one of the two channel entrances.

15. The automatic tilting method for the plant cutting equipment according to claim 11, characterized in that, The operation map also includes: a passageway area; The dumping area is located outside the cutting operation area. The dumping area and the cutting operation area are connected by three or more channel areas. The dumping area has three or more channel entrances, and each channel entrance is connected to one of the channel areas. Navigating to one of the dumping areas includes: Establish an avoidance path connecting all the channel entrances along the boundary of the dumping area, mark the initial state of the dumping point located on the avoidance path as an invalid dumping point, and navigate to one of the three channel entrances of the dumping area.

16. The automatic tilting method for the plant cutting equipment according to any one of claims 12 to 15, characterized in that, The candidate dumping points that are navigated to an initial state or a current state that is a valid dumping point include: Based on the weights of the candidate dumping points, select a candidate dumping point that is a valid dumping point in either its initial or current state. The candidate pouring points are verified; Navigate to a verified candidate dumping point; The weights of the candidate dumping points include one or more of the following: channel entrance weight, orientation weight, and proximity weight; the verification includes one or more of the following: channel verification, compactness verification, expansion direction verification, and plant cutting equipment docking position verification.

17. The automatic tilting method for the plant cutting equipment according to claim 16, characterized in that, When at least a portion of the dumping area is located inside the cutting operation area, the channel entrance weight is set to zero.

18. The automatic tilting method for the plant cutting equipment according to claim 16, characterized in that, The channel verification includes: starting from the channel entrance, traversing all candidate dumping points whose initial state or current state is a valid dumping point using a breadth-first search algorithm, retaining the idle valid dumping points that can be reached through the idle valid dumping point path, and obtaining the first set of dumping points.

19. The automatic tilting method for the plant cutting equipment according to claim 18, characterized in that, The tightness check includes: selecting the first dumping point adjacent to the occupied valid dumping point from the set of the first dumping points to obtain the set of the second dumping points.

20. The automatic tilting method for the plant cutting equipment according to claim 19, characterized in that, The expansion direction verification includes: selecting second pouring points that expand toward the channel entrance from the set of second pouring points to obtain a set of third pouring points.

21. The automatic tilting method for the plant cutting equipment according to claim 20, characterized in that, The plant cutting equipment parking position verification includes: selecting one or more fourth dumping points from the set of third dumping points, wherein the fourth dumping point is configured such that at least one of the fifth dumping points adjacent to the fourth dumping point is an idle and valid dumping point and is configured to allow the rear of the plant cutting equipment to face the fourth dumping point; The fourth pouring point is the candidate pouring point that has passed the verification.

22. The automatic tilting method for the plant cutting equipment according to claim 1, characterized in that, The work map includes the cutting work area, the passage area, and the dumping area; The dumping area is located outside the cutting operation area, and the dumping area is connected to the cutting operation area through one or more of the channel areas, and the dumping area has a channel entrance connected to the channel area; The candidate dumping points that are navigated to an initial state or a current state that is a valid dumping point include: If the dumping area has one or more channel entrances, then navigation is prioritized to a candidate dumping point that is far from the channel entrance, and the expansion direction when selecting the candidate dumping point is toward one of the channel entrances.

23. The automatic tilting method for the plant cutting equipment according to claim 1, characterized in that, The work map includes the cutting work area, the passage area, and the dumping area; At least a portion of the dumping area is located inside the cutting operation area, and the dumping area does not have a passageway entrance; The candidate dumping points that are navigated to an initial state or a current state that is a valid dumping point include: If the dumping area does not have a passage entrance, then the navigation is prioritized to a candidate dumping point that is far from the center of the cutting operation area, and the expansion direction when selecting the candidate dumping point is towards the center of the cutting operation area.

24. The automatic tilting method for the plant cutting equipment according to claim 22 or 23, characterized in that, The dumping operation includes: If the plant cutting equipment is in normal mode, the direction of the cutting equipment's front end should be consistent with the expansion direction when the candidate tipping point is selected; if the plant cutting equipment is in special mode, the direction of the cutting equipment's front end is allowed to be inconsistent with the expansion direction when the candidate tipping point is selected. The special condition includes: the plant cutting equipment being on a steep slope.

25. The automatic tilting method for the plant cutting equipment according to claim 24, characterized in that, The process of performing the dumping operation also includes: If the direction of the plant cutting device is not consistent with the expansion direction when selecting the candidate dumping point, a reserved path is established in the dumping area so that the plant cutting device can leave the candidate dumping point through the reserved path.

26. The automatic tilting method for the plant cutting equipment according to claim 1, characterized in that, Determining one or more pouring points includes: Determine the direction of grid line extension and generate grid lines; An outer rectangle is generated based on the tilting area, and the extension direction of the sides of the outer rectangle is parallel or perpendicular to the extension direction of the grid lines. Determine the main extension direction, which is parallel or perpendicular to the extension direction of the grid lines; A secondary expansion direction is determined, wherein the secondary expansion direction is perpendicular to the primary expansion direction; A grid is generated based on the grid lines and the circumscribed rectangle, and each grid forms a pouring point.

27. The automatic tilting method for the plant cutting equipment according to claim 26, characterized in that, The candidate dumping points that are navigated to an initial state or a current state that is a valid dumping point include: The dumping order is determined based on the primary and secondary expansion directions, and the system navigates to a candidate dumping point in an initial or current state that is a valid dumping point.

28. The automatic tilting method for the plant cutting equipment according to claim 1, characterized in that, Determining one or more pouring points includes: Determine the direction of grid line extension and generate grid lines; An outer rectangle is generated based on the tilting area, and the extension direction of the sides of the outer rectangle is parallel or perpendicular to the extension direction of the grid lines. A grid is generated based on the grid lines and the circumscribed rectangle, and each grid forms a pouring point. The candidate dumping points that are navigated to an initial state or a current state that is a valid dumping point include: Determine the main extension direction, which is parallel or perpendicular to the extension direction of the grid lines; A secondary expansion direction is determined, wherein the secondary expansion direction is perpendicular to the primary expansion direction; The dumping order is determined based on the primary and secondary expansion directions, and the system navigates to a candidate dumping point in an initial or current state that is a valid dumping point.

29. The automatic tilting method for the plant cutting equipment according to any one of claims 26 to 28, characterized in that, The determination of the main expansion direction includes: If the dumping area is located inside the cutting operation area, then the main expansion direction is the direction from the boundary of the cutting operation area toward the open area inside the cutting operation area; If a portion of the dumping area is located inside the cutting operation area while another portion of the dumping area is located outside the cutting operation area, then the main expansion direction is the direction from the outside of the cutting area toward the inside of the cutting area. If the dumping area is located outside the cutting operation area, and the dumping area and the cutting operation area are connected by a channel area, and the dumping area has a channel entrance, and the channel entrance is connected to the channel area, then the main expansion direction is towards the channel entrance.

30. The automatic tilting method for the plant cutting equipment according to any one of claims 26 to 28, characterized in that, The determination of the secondary expansion direction includes: If the dumping area is located inside the cutting operation area, then the secondary expansion direction is the direction from the boundary of the cutting operation area toward the open area inside the cutting operation area; If a portion of the dumping area is located inside the cutting operation area while another portion of the dumping area is located outside the cutting operation area, then the secondary expansion direction is the direction from the outside of the cutting area toward the inside of the cutting area. If the dumping area is located outside the cutting operation area, and the dumping area and the cutting operation area are connected by a channel area, and the dumping area has a channel entrance, and the channel entrance is connected to the channel area, then the secondary expansion direction is the direction towards the channel entrance.

31. A computer program product comprising computer code, which, when at least a portion of the computer code is executed by a processor, enables an automatic tilting method for a plant cutting device as described in any one of claims 1 to 30.

32. A plant cutting device, characterized in that, include: The map module is used to create an operation map, identify one or more dumping areas, and identify one or more dumping points within the dumping areas; The dumping point initialization module is used to determine the initial state of one or more dumping points as valid dumping points or invalid dumping points based on the overlap ratio between the dumping point and the dumping area. The navigation module is used to mark the current position as an interruption point and navigate to a dumping area when a dumping operation needs to be performed, or to a candidate dumping point in an initial state or current state that is a valid dumping point. The update module is used to update the current state of the candidate dumping point as a valid dumping point or an invalid dumping point; The operation module is used to execute the dumping operation based on the current state of the candidate dumping point.

Images