Control method based on grass collection function, and related apparatus

Abstract

Provided in the present application are a control method based on a grass collection function, and a related apparatus, which are applied to a terminal device. The method comprises: on the basis of image information of an operation area in which a mowing operation is to be executed and first position information corresponding to a mowing device, determining predicted operation information; on the basis of the predicted operation information, determining a target area; and on the basis of the first position information, controlling the mowing device to record and save a movement path between the target area and a grass unloading position. In this way, a terminal device determines a suitable grass unloading position on the basis of an operation area, and then performs a movement path recording operation in advance on the basis of actual operation conditions, thereby improving the grass collection efficiency and stability of a mowing device, and improving the operation efficiency of the mowing device and the continuity of areal operations.

Description

Control method based on grass collecting function and related device

[0001] The present application claims priority to the Chinese patent application No. 202410828913.6, filed on June 25, 2024, and entitled "Control method based on grass collecting function and related device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application belongs to the field of data processing based on the Internet industry, and specifically relates to a control method based on a grass collecting function and related device. BACKGROUND

[0003] At present, with the improvement of people's living standards, people usually use weeding equipment to trim lawns or design lawn patterns in various lawn beautification occasions.

[0004] However, when the weeding equipment performs the mowing operation, since the weeding equipment may need to process multiple lawn areas, unreasonable selection of grass stacking points and arrangement of operation sequences will cause the problems of low grass collecting efficiency of the weeding equipment and long operation time. SUMMARY

[0005] The present application provides a control method based on a grass collecting function and related device to improve the efficiency and stability of the weeding equipment in implementing the grass collecting function, and improve the operation efficiency of the weeding equipment and the continuity of regional operation.

[0006] In a first aspect, the embodiments of the present application provide a control method based on a grass collecting function, applied to a terminal device in a job control system, the job control system further comprising a weeding equipment, the weeding equipment being in communication connection with the terminal device; the method comprising: determining predicted job information according to image information of a job area to be executed for weeding operation and first position information corresponding to the weeding equipment, the job area comprising multiple lawn areas; determining a target area according to the predicted job information, the target area being a lawn area in which the weeding equipment needs to move to a grass unloading position, the grass unloading position being determined by the terminal device according to the image information, the grass unloading position being a region in a preset range located within the job area and outside the multiple lawn areas; and controlling the weeding equipment to record and save a moving path between the target area and the grass unloading position according to the first position information.

[0007] In a second aspect, the embodiments of the present application provide a control device based on a grass collecting function, applied to a terminal device in a work control system, the work control system further comprising a weeding device, the weeding device being in communication connection with the terminal device; the device comprising: a first determination unit configured to determine predicted work information according to image information of a work area to be executed with weeding work and first position information corresponding to the weeding device, the work area comprising a plurality of lawn areas; a second determination unit configured to determine a target area according to the predicted work information, the target area being a lawn area in which the weeding device is located when moving to a grass unloading position, the grass unloading position being determined by the terminal device according to the image information, the grass unloading position being a region in a preset range located within the work area and outside the plurality of lawn areas; and a control unit configured to control the weeding device to record and save a moving path between the target area and the grass unloading position according to the first position information.

[0008] In a third aspect, the embodiments of the present application provide a terminal device, comprising a processor, a memory, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, and the programs comprising instructions for performing the steps in the first aspect of the embodiments of the present application.

[0009] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, having stored thereon a computer program / instructions, the computer program / instructions being executed by a processor to implement the steps in the first aspect of the embodiments of the present application.

[0010] In a fifth aspect, the embodiments of the present application provide a computer program product, comprising a computer program / instructions, the computer program / instructions being executed by a processor to implement some or all of the steps described in the first aspect of the embodiments of the present application.

[0011] It can be seen that, in the embodiments of the present application, the terminal device determines an adaptive grass unloading position according to a work area, and then records a moving path in advance according to actual work conditions, thereby improving the grass collecting efficiency and stability of the weeding device, and improving the work efficiency of the weeding device and the continuity of regional work. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0013] Fig. 1 is a structural block diagram of a work control system according to an embodiment of the present application;

[0014] Fig. 2 is a flow diagram of a control method based on a grass collecting function according to an embodiment of the present application;

[0015] Fig. 3 is a scenario diagram of determining a work order according to an embodiment of the present application;

[0016] Fig. 4 is a scenario diagram of determining a grass unloading position according to an embodiment of the present application;

[0017] Fig. 5 is a scenario diagram of a grass unloading work performed by a grass removing device according to an embodiment of the present application;

[0018] Fig. 6 is a functional unit composition block diagram of a control device based on a grass collecting function according to an embodiment of the present application;

[0019] Fig. 7 is a functional unit composition block diagram of another control device based on a grass collecting function according to an embodiment of the present application;

[0020] Fig. 8 is a structural block diagram of a terminal device according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application are described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0022] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, but are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device including a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed or can optionally include other steps or units inherent to the process, method, product, or device.

[0023] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined with other embodiments.

[0024] Please refer to FIG. 1, which is a structural block diagram of a work control system provided by an embodiment of the present application. As shown in FIG. 1, the work control system 100 includes a terminal device 110 and a weeding device 120, which are in communication connection. The weeding device 120 can be any weeding tool on the market that can realize communication connection with the terminal device 110 and can execute the weeding work instructed by the user according to the instruction issued by the terminal device 110, such as a computer, a mobile phone, a tablet, etc. The weeding device 120 can be any weeding tool on the market that can realize communication interaction, and the weeding tool can not only execute the weeding work but also realize the grass collecting function to collect the grass generated during the weeding work. In some application scenarios, the user can use the weeding device 120 to establish communication connection with the terminal device 110 and place the weeding device 120 in the work area where the lawn is to be trimmed. The work area contains one or more lawn areas, and the present scheme is mainly applicable to the work area with multiple lawn areas. Then, the terminal device 110 determines the suitable grass unloading position based on the actual situation of the work area and predicts the work order and time of the weeding device 120 based on the actual need of the lawn area where the weeding work is to be executed, so as to record the moving path in advance, thereby guaranteeing the efficiency of the subsequent actual execution of the weeding work and the moving safety of the weeding device. One work control system 100 can include one terminal device 110 and one or more weeding devices 120, and one terminal device 110 controls all the weeding devices 120 through communication connection. Or one work control system 100 includes multiple terminal devices 110, and each terminal device 110 can control the weeding device 120 in the work control system 100.

[0025] Based on this, the present embodiment provides a control method based on the grass collecting function, which will be described in detail below with reference to the accompanying drawings.

[0026] Please refer to FIG. 2, which is a flowchart of a control method based on the grass collecting function provided by an embodiment of the present application, applied to the terminal device (such as the terminal device 110 in FIG. 1) in the work control system 100, which also includes a weeding device in communication connection with the terminal device; the method includes:

[0027] Step S201: determining the predicted work information according to the image information of the work area where the weeding work is to be executed and the first position information corresponding to the weeding device.

[0028] The work area includes multiple lawn areas. The weeding device is used to execute the weeding work on the lawn area and to enable the grass collecting function to collect the grass generated during the weeding work at the subsequently determined grass unloading position.

[0029] In a possible embodiment, the predicted operation information is determined according to image information of a work area where the weeding operation is to be performed and first position information corresponding to the weeding device, including: determining areas and second position information of a plurality of lawn areas in the work area according to the image information; determining whether the weeding device is in any of the lawn areas according to the first position information and the second position information; if the weeding device is in any of the lawn areas, determining a work sequence number of a reference lawn area where the weeding device is located as a starting sequence number; and according to the starting sequence number and the first position distance, sequentially sorting work sequence numbers of the remaining lawn areas other than the reference lawn area to determine a work order for the plurality of lawn areas; determining a work time corresponding to each lawn area according to the plurality of areas and an average weeding rate of the weeding device; and determining the predicted operation information according to the work order and the work time of each lawn area.

[0030] In a possible embodiment, the weeding device is located in the work area, and thus the position indicated by the first position information is a position in the work area where the weeding operation is to be performed. The image information can be an image of the entire work area captured by a drone device or a camera at a high position in advance, and the image has sufficient clarity to support subsequent data processing and completely covers the entire area. Then, the image segmentation technology is used to distinguish the lawn areas in the image from other areas (such as land, buildings, etc.). Common image segmentation methods include threshold-based segmentation, edge detection, region growing, etc. In the segmented image, a feature extraction method is used to detect the lawn areas, wherein the lawn usually has unique color, texture and shape features, which can be used for detection. Finally, the detected lawn areas are labeled and their areas are measured, for example, the area of each lawn area can be determined by using pixel counting or area measurement algorithm, and then the position information of the captured work area is used to determine the second position information of each lawn area.

[0031] wherein the first position distance is a distance between the second position information of the remaining lawn areas and the first position information, and the average weeding rate is a ratio of a historical lawn area corresponding to the weeding operation performed by the weeding device in a preset time to a historical work time.

[0032] The display form of the job number in the present example can be various, which can be a text form displayed for the user to view, or a number form for the sequence of the lawn area in the data processing process. The display form of the job number can be as follows: 1. Number form: the simplest method is to use numbers to represent the starting number, such as "1" or "0". This method is suitable for a digital sequence system. 2. Letter form: in some cases, the starting number can be represented by letters, such as "A" or "AA". This method is usually used in a sequence system with mixed letters and numbers. 3. Text description: in some cases, the starting number can be represented by a text description, such as "First" or "Initial". This method is suitable for scenarios where the meaning of the sequence number needs to be clearly explained.

[0033] If the weeding device is already in a certain lawn area, the lawn area can be used as the starting sequence number. Then, the remaining lawn areas are sorted according to their distance from the weeding device from near to far, so as to improve the continuity of the weeding device in performing weeding work in multiple lawn areas in the work area. In addition, since the terminal device has previously determined the area of each lawn area according to the image information corresponding to the work area, as long as the average weeding rate determined by the weeding device in the historical execution of weeding work is obtained, the weeding time (i.e. work time) required for each lawn area can be predicted. The preset time for determining the average weeding rate should not be set too long, and can be determined according to the frequency of use of the weeding device by the user. For example, if the user uses the weeding device once a month, the preset time can be set to half a year. Or, if the user uses the weeding device once a week, the preset time can be set to one month. As long as a certain amount of data is used to calculate the average weeding rate, and the time span of the data is not too long to ensure the accuracy of the determined average weeding rate, the accuracy of the subsequent data processing is improved.

[0034] It can be seen that in the present example, different job number sorting operations are performed based on the positional relationship between the current position of the weeding device and the corresponding position of the lawn area, which can improve the flexibility of the terminal device in determining the work order, the accuracy of the predicted work information, and the efficiency of the weeding device in performing weeding work.

[0035] In a possible embodiment, before determining the corresponding operation time of each lawn area according to the plurality of areas and the average weeding rate of the weeding device, after determining whether the weeding device is in any one of the lawn areas according to the first position information and the second position information, the method further includes: if the weeding device is not in the lawn area, determining third position information of a central area of the operation area according to the image information; if there are any two lawn areas corresponding to the same second position distance and an area difference greater than a preset difference, determining that the areas of the any two lawn areas are reference areas; determining a first priority; or, if there are any two lawn areas corresponding to the same second position distance and an area difference less than or equal to the preset difference, obtaining the area boundary length of the any two lawn areas; determining a second priority according to the area boundary length; and according to the second position distance, the first priority or the second priority, sequentially sorting the operation sequence numbers of the plurality of lawn areas from small to large to determine the operation sequence.

[0036] wherein the second position distance is an interval distance between the central area and each lawn area determined according to the second position information and the third position information, the first priority is used to indicate that the operation sequence number of the lawn area corresponding to a smaller reference area is prior to the operation sequence number of the lawn area corresponding to a larger reference area, and the second priority is used to indicate that the operation sequence number of the lawn area corresponding to a longer area boundary length is prior to the operation sequence number of the lawn area corresponding to a shorter area boundary length.

[0037] wherein the example is another operation sequence determination strategy corresponding to the position relationship between the weeding device and the lawn area. Since the weeding device is not in any one of the lawn areas, the third position information corresponding to the central area of the operation area to be executed is determined again according to the image information, and the central area should be set to a smaller range, only used to represent the center point of the operation area. Since the operation sequence number is sorted according to the second position distance of each lawn area from the central area, the second position distance may be the same, and the sequence number sorting priority is determined according to the area corresponding to the lawn area with the same second position distance.

[0038] In a possible embodiment, in the process of sorting the job sequence numbers according to the areas of the lawn regions at the same second position distance, different determination steps are further performed according to the difference between the areas. If the area difference is greater than a preset difference, it is determined that the difference between the areas of the two lawn regions is large, and then the lawn region with the smaller area is directly processed preferentially. The purpose of determining the job sequence in this way is to enable the weeding device to weed each lawn region in the job area from inside to outside and in the order of the areas from small to large during the weeding operation of the weeding device, which not only facilitates the subsequent weeding device to leave the job area, but also enables the user to feel that the weeding device processes faster (because the weeding device can complete the weeding operation of the lawn region with the smaller area first) when observing the weeding operation of the weeding device, thereby improving the user experience. If the area difference is less than the preset difference, it is determined that the difference between the areas of the two lawn regions is small, and the user cannot easily observe it. At this time, the terminal device further acquires the region boundary length, and the job sequence number priority of the lawn region with the longer region boundary length is higher than that of the lawn region with the shorter region boundary length. The purpose of determining the job sequence in this way is that the longer the region boundary length corresponding to the lawn region with the same area is, the more irregular the boundary of the lawn region is, and the weeding operation of the lawn region is preferentially performed, which can improve the beautification degree of the job area and improve the user experience.

[0039] Exemplarily, refer to FIG. 3, which is a scene schematic diagram for determining a job sequence provided by an embodiment of the present application. As shown in FIG. 3, the terminal device determines the third position information of the center region 304 of the job area 301 when the current position of the weeding device 305 in the job area 301 is not in any lawn region. In FIG. 3, D1 is the second position distance between the lawn region A 302 and the center region 304, and D2 is the second position distance between the lawn region B 303 and the center region 304. If D1 and D2 are the same, the area S1 of the lawn region A 302 and the area S2 of the lawn region B 303 are determined. Assuming that S1 is greater than S2, and the difference between S1 and S2 is greater than a preset difference, it is determined that the job sequence number corresponding to the lawn region B 303 with the smaller area is preferential to the job sequence number corresponding to the lawn region A 302 with the larger area, that is, the lawn region B is weeded by the weeding device before the lawn region A. If D1 and D2 are the same, and the difference between S1 and S2 is less than or equal to the preset difference, the second priority is determined by comparing the region boundary lengths of the lawn region A 302 and the lawn region B 303.

[0040] It can be seen that, in the present example, different operation sequence sorting operations are performed based on the positional relationship between the current position of the weeding device and the corresponding position of the lawn area, which can improve the flexibility of the terminal device in determining the operation sequence and improve the efficiency of the weeding device in performing the weeding operation. In addition, different operation sequence determinations can improve the user experience.

[0041] In step S202, the target area is determined according to the predicted operation information.

[0042] The target area is the lawn area in which the weeding device is located when it needs to move to the grass unloading position. The weeding device will respond to the grass collecting function to perform the grass unloading operation after moving to the target area. The grass unloading position is determined by the terminal device according to the image information, and is a preset range of area within the operation area and outside the plurality of lawn areas. The target area is the lawn area in which the weeding device is located when it needs to move to the grass unloading position to perform the grass unloading operation during the weeding operation, which is determined by the terminal device according to the predicted operation information. The weeding device needs to move to the grass unloading position for the following two reasons: 1. The weeding device has completed all the weeding operations of the lawn areas; 2. The weeding device cannot perform the grass collecting function due to the capacity problem of the corresponding grass collecting container, i.e., the weeding device cannot load more grass. At this time, if the grass is not unloaded, the grass generated by the weeding operation will be left on the lawn, which will increase the difficulty of subsequent grass collecting, or the grass collecting can only be performed manually, wasting manpower and resources, and affecting the appearance of the lawn.

[0043] In one possible embodiment, the target area is determined according to the predicted operation information, including: determining the number of areas corresponding to the lawn areas within the operation area; if the number of areas is less than a preset number, determining the lawn area that meets the preset condition as the target area according to the operation sequence and the operation time; if the number of areas is greater than or equal to the preset number, sequentially accumulating the operation time corresponding to each lawn area according to the operation sequence; and when the accumulated time is an integer multiple of a preset time, determining the lawn area corresponding to the currently accumulated operation time as the target area; or determining the lawn area corresponding to the last operation sequence number as the target area.

[0044] The preset condition is that the single operation time corresponding to the lawn area exceeds the preset time, or the operation sequence number corresponding to the lawn area is the last operation sequence number. The preset number is associated with the total area of the operation area, and the preset time is associated with the container loading efficiency of the weeding device. The container loading efficiency is the weight of the grass loaded by the weeding device in a unit of time after the weeding device enables the grass collecting function.

[0045] It should be noted that the number of target regions can be multiple, for example, determined according to the working time of the actual weeding device and the number of regions corresponding to the lawn area. Regardless of whether the number of regions is greater than, less than, or equal to the preset number, the basis for determining the target region in this example is as follows: one is that the cumulative time of the weeding device performing weeding work has exceeded the preset time or is a multiple of the preset time; two is that the corresponding lawn area is the last lawn area that the weeding device needs to perform weeding work. The preset time is determined according to the actual container loading efficiency of the weeding device, that is, how long the weeding device needs to perform weeding work to fill the grass collecting container for the collection function. That is, the weeding device needs to perform the grass unloading operation when it is working and the grass collecting container is full, and it needs to move from the corresponding lawn area to the grass unloading position.

[0046] For example, the working area includes three lawn areas, i.e., lawn area A, lawn area B, and lawn area C. The working order is lawn area C-lawn area A-lawn area B, and the working time is (lawn area A, 30 minutes), (lawn area B, 20 minutes), and (lawn area C, 40 minutes). The container loading efficiency is that the weeding device can collect 10 kg of grass in 10 minutes of weeding work, and the maximum loading weight of the container of the weeding device is 45 kg. It can be calculated that the time required for the container to be fully loaded is 45 minutes. According to the working order and the working time, it can be determined that when the weeding device performs weeding work for 45 minutes or 90 minutes, the lawn area where the weeding device is located is lawn area A and lawn area C, and therefore lawn area A and lawn area C are target regions. In addition, since the weeding device can perform weeding work for 90 minutes, lawn area C is the last working lawn area, and should also be determined as a target region. The terminal device can then record the moving path between the grass unloading position and lawn area A and lawn area C in advance to ensure the safety and stability of the movement of the weeding device.

[0047] It can be seen that in this example, the terminal device predicts the target region according to the actual working efficiency of the weeding device and the grass collecting container loading efficiency, the working time and order of each lawn area, so as to record the moving path in advance in the subsequent process, avoid the risk of moving the weeding device to the grass unloading position in the subsequent actual weeding process, and improve the stability and efficiency of the weeding device.

[0048] In a possible implementation, after determining the target area according to the predicted work information, before controlling the weeding device to record and save the connection path between the target area and the unloading position according to the first position information, the method further includes: obtaining historical video data of the work area; determining a pedestrian activity area and an obstacle position according to the historical video data; determining an obstacle area according to the obstacle position and a preset interval distance; determining a grass collection placement area according to the pedestrian activity area, the obstacle area, and the work area; and determining, according to the second position information, a position in the grass collection placement area that has a minimum total distance to each lawn area as the unloading position.

[0049] The historical video data is video data of a corresponding time period that is the same as the current time period within a preset number of days. The preset number of days is neither too small nor too large, which guarantees the accuracy of subsequent determination of the obstacle area and the pedestrian activity area, and also guarantees the efficiency of data processing performed by the terminal device. In addition, because the activity of pedestrians in the work area is easily affected by the time period, for example, the activity of pedestrians in the work area during the work period is less than the activity of pedestrians in the work area during the off-work period. Therefore, to reduce the impact of the difference between the time periods, the terminal device should lock the shooting time period corresponding to the historical video data to be the same as the current time period. In addition, the current time period can be the time period in which the terminal device determines the unloading position, or can be a time period in which the user presets, through the terminal device, the weeding device to start performing the weeding work, which is not limited here.

[0050] The terminal device obtains historical video data, and pre-processes the video to improve the accuracy of subsequent analysis. Then, the computer vision technology is used to detect the objects in the video. Small objects can be ignored, and large objects can be retained to reduce the amount of data to be processed and exclude objects that do not affect the movement of the weeding device. Large objects that do not move are determined as obstacles, and large objects that move are determined as pedestrians. In one possible embodiment, the detected pedestrians are tracked to determine the motion path and activity area of the pedestrians in the video. According to the tracking result, the activity area of the pedestrians is analyzed. For example, the area where the pedestrians often appear can be determined by statistical analysis, density estimation, etc. The obstacles in the video can be identified by a target detection algorithm. Since the obstacles do not move by themselves, the weeding device needs to maintain a certain distance when passing through the obstacles to avoid collision with the obstacles, which may cause damage to the weeding device. Therefore, according to the position of the obstacle and a preset interval distance, the obstacle area is determined. After determining the obstacle area and the activity area of the pedestrians, the area in the work area except these areas and the lawn area is the grass collecting area where the unloading position can be set. Finally, according to the positional relationship with the lawn area, the position with the minimum total distance in the area is selected as the unloading position to improve the efficiency of the weeding device in unloading operation.

[0051] For example, refer to FIG. 4, which is a schematic diagram of a scene for determining an unloading position according to an embodiment of the present application. As shown in FIG. 4, the area shown in FIG. 4 is a work area, wherein 401 in FIG. 4 indicates a lawn area, and other areas are non-lawn areas in the work area. The terminal device needs to determine an unloading position in the non-lawn area. The terminal device obtains historical video data, and analyzes the historical video data to determine a pedestrian activity area 405 and an obstacle position 404. According to the determined obstacle position 404 and the pedestrian activity area 405, the remaining non-lawn area is determined as a grass collecting area, and then the unloading position 403 is determined. The weeding device 402 can move to the unloading position 403 to perform unloading operation when the grass is full or after completing the weeding operation.

[0052] As can be seen, in this example, the terminal device obtains historical video data, and analyzes and processes the historical video data to determine an area suitable for placing a grass pile, and then selects a suitable unloading position, thereby improving the unloading efficiency of the weeding device and ensuring the safety of the movement of the weeding device.

[0053] In step S203, the weeding device is controlled according to the first position information to record and save a movement path between the target area and the unloading position.

[0054] In a possible embodiment, according to the first position information, the control of the weeding device to record and save the moving path between the target area and the unloading position includes: if any one of the second position information contains the first position information, and the lawn area where the first position information is located is not the target area, or there is no second position information containing the first position information, the first moving instruction is sent to the weeding device; after detecting that the weeding device is located at the unloading position, the second moving instruction is sent to the weeding device; after receiving the first response message returned by the weeding device in response to the second moving instruction, the moving path carried by the first response message is saved.

[0055] The first moving instruction is used to instruct the weeding device to move to the unloading position, the second moving instruction is determined by the terminal device according to the target position information corresponding to the target area, and the second moving instruction is used to instruct the weeding device to move to the target area and record the moving path when the weeding device moves to the boundary of the target area.

[0056] In the case that the weeding device is located in the lawn area which does not belong to the target area, or the weeding device is located in other areas except the lawn area, the terminal device is controlled to record the moving path between the target area and the unloading position in advance to ensure the safety and stability of the subsequent unloading operation.

[0057] In the case that the weeding device is located in the lawn area which does not belong to the target area, or the weeding device is located in other areas except the lawn area, the terminal device is controlled to record the moving path between the target area and the unloading position in advance to ensure the safety and stability of the subsequent unloading operation.

[0058] Exemplarily, refer to FIG. 5, which is a schematic diagram of a scenario in which the mowing device performs the unloading operation. As shown in FIG. 5, the area shown in FIG. 5 is the working area, and the lawn areas 501 are the shadow-covered areas. It can be seen that the first position information corresponding to the mowing device 502 is not in any second position information corresponding to the lawn areas 501. At this time, the terminal device will send a first moving instruction to the mowing device 502, so as to move the mowing device 502 to the unloading position 503 determined in advance. Assuming that the two lawn areas 501 in FIG. 5 are target areas, then the terminal device will further send a second moving instruction to the mowing device 502, so as to move the mowing device 502 from the unloading position 503 to each lawn area 501, and record the moving path (i.e., 504 and 505 in FIG. 5) of the mowing device 502 when the mowing device 502 moves to the boundary of the lawn area 501. Finally, the mowing device 502 will return a response message carrying the moving path (i.e., 504 and 505 in FIG. 5), and the terminal device saves the relevant data corresponding to the moving path (i.e., 504 and 505 in FIG. 5).

[0059] It can be seen that, in the present example, the different moving path recording operations performed based on the relationship between the different current positions of the mowing device and the target areas improve the efficiency and flexibility of the terminal device in controlling the mowing device to record the moving path.

[0060] In one possible embodiment, the method for controlling the mowing device to record and save the moving path between the target area and the unloading position according to the first position information comprises the following steps: if there is any second position information containing the first position information, and the lawn area where the first position information is located is the target area, obtaining the boundary information of the target area; determining the target boundary position of the target area which is closest to the unloading position according to the boundary information; sending a third moving instruction to the mowing device; after the mowing device is located at the target boundary position, sending a fourth moving instruction to the mowing device; and after receiving the second response message returned by the mowing device in response to the fourth moving instruction, saving the moving path carried by the second response message.

[0061] In the above embodiment, the third moving instruction is used to instruct the mowing device to move to the target boundary position, the fourth moving instruction is used to instruct the mowing device to move to the unloading position, and the moving path of the mowing device when the mowing device moves to the unloading position is recorded.

[0062] In this example, the weed removal device is in a lawn area, and the lawn area is a target area. In this case, the weed removal device is controlled to first reach the target boundary position of the target area, and then move from the target boundary position to the unloading position to record the movement path. As in the previous example, the movement path should be recorded in advance to ensure the safety of the weed removal device. It should be noted that when the weed removal device moves from the boundary of the target area to the unloading position, there may be obstacles, roads, and other areas outside the lawn area that affect the movement of the weed removal device. Therefore, to ensure the safety of the weed removal device, the user can use the terminal device to remotely control the weed removal device to move and record the movement path, so that the weed removal device can subsequently perform unloading operations directly according to the movement path. Of course, the camera carried by the weed removal device can also be used for visual technology analysis to identify areas that need to be bypassed or obstacles to safely reach the destination. When there are multiple target areas, after recording the movement path in the previous target area, the terminal device controls the weed removal device to move to the boundary of the next target area, and then continues to move to the unloading position to record a new movement path corresponding to the new target area, until the movement path corresponding to each target area is recorded and saved.

[0063] As can be seen, in this example, different movement path recording operations are performed based on the relationship between the current position of the weed removal device and the target area, improving the efficiency and flexibility of the terminal device in controlling the weed removal device to record the movement path.

[0064] In one possible embodiment, the control method based on the grass collecting function further includes: if a request for unloading of the weed removal device is detected, sending an unloading instruction carrying the movement path to the weed removal device.

[0065] The unloading instruction is used to instruct the weed removal device to move along the movement path to the unloading position and perform the unloading operation.

[0066] After recording all the movement paths corresponding to the target areas, the terminal device saves each movement path. At the same time, the weed removal device returns to the starting point according to the initial first position information, and starts to perform the weed removal operation on the work area.

[0067] The unloading request for the weeding device can be sent by the weeding device through the weight detection module or the volume detection module carried by the weeding device when the weeding device cannot continue to collect grass during the execution of the weeding operation, can be sent by the weeding device when the weeding device detects that all the lawn areas have completed the weeding operation, or can be sent by the user through the terminal device to force the weeding device to execute the unloading operation, and the present application is not limited in this regard. When the user forces the weeding device to execute the unloading operation, the weeding device first moves to the nearest target area, and then moves to the unloading position based on the previously recorded moving path corresponding to the target area to execute the unloading operation, thereby improving the flexibility of the terminal device in executing data processing and the safety of the weeding operation of the weeding device.

[0068] It can be seen that FIG. 2 is a flow diagram of the control method based on the grass collecting function provided by the present application. In the present application, the terminal device determines the appropriate unloading position according to the working area, and then performs the recording operation of the moving path in advance according to the actual working condition, thereby improving the grass collecting efficiency and stability of the weeding device, and improving the working efficiency of the weeding device and the continuity of the regional operation.

[0069] The following is a device embodiment of the present application. The device embodiment of the present application belongs to the same concept as the method embodiment of the present application, and is used to execute the method described in the present application. For the convenience of description, only the parts related to the device embodiment of the present application are shown, and the specific technical details not disclosed are described with reference to the description of the method embodiment of the present application, which will not be described one by one here.

[0070] The device embodiment of the present application provides a control device based on the grass collecting function, which is applied to the terminal device 110 in the working control system 100 shown in FIG. 1. The control device based on the grass collecting function is used to execute the steps executed by the terminal device 110 in the above control method based on the grass collecting function. The control device based on the grass collecting function provided by the present application can include the modules corresponding to the corresponding steps.

[0071] The embodiments of the present application can divide the function modules of the control device based on the grass collecting function according to the above method examples. For example, each function module can be divided according to each function, or two or more functions can be integrated in one processing module. The integrated module can be realized in the form of hardware or in the form of a software function module. The division of the module in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, another division mode can be used. In the case of dividing each function module according to each function, FIG. 6 is a function unit composition block diagram of a control device based on the grass collecting function provided by the embodiments of the present application. The terminal device is applied to a work control system, and the work control system further includes a weeding device. The weeding device is in communication connection with the terminal device. The control device based on the grass collecting function 60 includes a first determination unit 601, a second determination unit 602, and a control unit 603. The first determination unit 601 is configured to determine predicted work information according to image information of a work area to be executed with a weeding work and first position information corresponding to the weeding device. The work area includes a plurality of lawn areas. The second determination unit 602 is configured to determine a target area according to the predicted work information. The target area is a lawn area in which the weeding device needs to move to a grass unloading position. The grass unloading position is determined by the terminal device according to the image information. The grass unloading position is a preset range of area located within the work area and outside the plurality of lawn areas. The control unit 603 is configured to control the weeding device to record and save a moving path between the target area and the grass unloading position according to the first position information.

[0072] In one possible embodiment, in the aspect of determining predicted work information according to image information of a work area to be executed with a weeding work and first position information corresponding to the weeding device, the first determination unit 601 can be configured to: determine areas of the plurality of lawn areas within the work area and second position information according to the image information; determine whether the weeding device is located in any one of the lawn areas according to the first position information and the second position information; if the weeding device is located in any one of the lawn areas, determine a work serial number of a reference lawn area in which the weeding device is located as a starting serial number; and sort work serial numbers of the remaining lawn areas other than the reference lawn area in sequence according to the starting serial number and a first position distance to determine a work order for the plurality of lawn areas. The first position distance is a distance between the second position information corresponding to the remaining lawn areas and the first position information. Determine a work time corresponding to each lawn area according to the plurality of areas and an average weeding rate of the weeding device. The average weeding rate is a ratio of a historical lawn area corresponding to a weeding work performed by the weeding device within a preset time to a historical work time. Determine the predicted work information according to the work order and each work time.

[0073] In a possible embodiment, before determining the working time corresponding to each lawn area according to the plurality of areas and the average weeding rate of the weeding device, after determining whether the weeding device is in any one of the lawn areas according to the first position information and the second position information, the first determining unit 601 is further configured to: if the weeding device is not in the lawn area, determine third position information of a central area of the working area according to the image information; if there are any two lawn areas corresponding to the same second position distance and having an area difference greater than a preset difference, determine that the areas of the any two lawn areas are reference areas, the second position distance is a spacing distance between the central area and each lawn area determined according to the second position information and the third position information; determine a first priority, the first priority is used to indicate that the working sequence number of the lawn area corresponding to a smaller reference area is prior to the working sequence number of the lawn area corresponding to a larger reference area; or, if there are any two lawn areas corresponding to the same second position distance and having an area difference less than or equal to a preset difference, obtain the area boundary length of the any two lawn areas; determine a second priority according to the area boundary length, the second priority is used to indicate that the working sequence number of the lawn area corresponding to a longer area boundary length is prior to the working sequence number of the lawn area corresponding to a shorter area boundary length; and sort the working sequence numbers of the plurality of lawn areas in ascending order according to the second position distance, the first priority or the second priority, to determine the working order.

[0074] In a possible embodiment, in determining the target area according to the predicted working information, the second determining unit 602 is configured to: determine the number of areas corresponding to the lawn areas in the working area; if the number of areas is less than a preset number, determine, according to the working order and the working time, a lawn area satisfying a preset condition as the target area, the preset condition being that the single working time corresponding to the lawn area exceeds a preset time, or the working sequence number corresponding to the lawn area being a tail sequence number, the preset number being associated with the total area of the working area, and the preset time being associated with a container loading efficiency of the weeding device, the container loading efficiency being the weight of the grass loaded by the weeding device in a unit of time after the weeding device starts the grass collecting function; if the number of areas is greater than or equal to the preset number, sequentially accumulate the working time corresponding to each lawn area according to the working order; and when the accumulated time is an integer multiple of the preset time, determine the lawn area corresponding to the currently accumulated working time as the target area; or determine the lawn area corresponding to the working sequence number being the tail sequence number as the target area.

[0075] In a possible implementation, after determining the target region according to the predicted task information, before controlling the weeding device to record and save the connection path between the target region and the unloading position according to the first position information, the second determination unit 602 is further configured to: acquire historical video data of the task region, the historical video data being video data of a corresponding time period same as a current time period within a preset number of days; determine a pedestrian activity region and an obstacle position according to the historical video data; determine an obstacle region according to the obstacle position and a preset interval distance; determine a grass collection placement region according to the pedestrian activity region, the obstacle region, and the task region; and determine, according to the second position information, a position in the grass collection placement region that has a minimum total distance from each lawn region as the unloading position.

[0076] In a possible implementation, in terms of controlling the weeding device to record and save the movement path between the target region and the unloading position according to the first position information, the control unit 603 can be configured to: if any one of the second position information contains the first position information, and the lawn region where the first position information is located is not the target region, or there is no second position information containing the first position information, send a first movement instruction to the weeding device, the first movement instruction being used to instruct the weeding device to move to the unloading position; after detecting that the weeding device is located at the unloading position, send a second movement instruction to the weeding device, the second movement instruction being determined by the terminal device according to the target position information corresponding to the target region, the second movement instruction being used to instruct the weeding device to move to the target region and record the movement path passed by the weeding device when moving to the boundary of the target region; and after receiving a first response message sent back by the weeding device in response to the second movement instruction, save the movement path carried in the first response message.

[0077] In a possible implementation, in terms of controlling the weeding device to record and save the movement path between the target region and the unloading position according to the first position information, the control unit 603 can be configured to: if any one of the second position information contains the first position information, and the lawn region where the first position information is located is the target region, acquire boundary information of the target region; determine a target boundary position of the target region that has a shortest distance to the unloading position according to the boundary information; send a third movement instruction to the weeding device, the third movement instruction being used to instruct the weeding device to move to the target boundary position; after the weeding device is located at the target boundary position, send a fourth movement instruction to the weeding device, the fourth movement instruction being used to instruct the weeding device to move to the unloading position and record the movement path passed by the weeding device when moving to the unloading position; and after receiving a second response message sent back by the weeding device in response to the fourth movement instruction, save the movement path carried in the second response message.

[0078] In the case of using the integrated unit, as shown in FIG. 7, FIG. 7 is a function unit composition block diagram of another control device based on the grass gathering function provided by the embodiment of the application. In FIG. 7, the control device based on the grass gathering function 60 includes a processing module 702 and a communication module 701. The processing module 702 is configured to control and manage the actions of the control device based on the grass gathering function, for example, the steps of the first determination unit 601, the second determination unit 602 and the control unit 603, and / or to perform other processes of the technology described herein. The communication module 701 is configured to support the interaction between the control device based on the grass gathering function and other devices. As shown in FIG. 7, the control device based on the grass gathering function can include a storage module 703, which is configured to store the program code and data of the control device based on the grass gathering function.

[0079] The processing module 702 can be a processor or a controller, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc. The communication module 701 can be a transceiver, RF circuit or communication interface, etc. The storage module 703 can be a memory.

[0080] All related contents of each scene involved in the above method embodiments can be cited to the function description of the corresponding function module, which will not be repeated here. The above control device based on the grass gathering function 60 can execute the control method based on the grass gathering function shown in FIG. 2.

[0081] The above-described embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, the above-described embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are wholly or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center through wired or wireless means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. containing a set of one or more available media. The available media can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0082] FIG. 8 is a structural block diagram of a terminal device according to an embodiment of the present application. As shown in FIG. 8, the terminal device 80 can include one or more of the following components: a processor 801, a memory 802 coupled to the processor 801, wherein the memory 802 can store one or more computer programs 803, and the one or more computer programs 803 can be configured to be executed by the one or more processors 801 to implement the methods described in the above embodiments. The terminal device 80 can be the terminal device 110 in the above embodiments.

[0083] The processor 801 can include one or more processing cores. The processor 801 connects various parts within the terminal device 80 by various interfaces and lines, executes various functions of the terminal device 80 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 802, and calling data stored in the memory 802. Optionally, the processor 801 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 801 can integrate a combination of one or more of a central processing unit (CPU), a graphics processor (GPU) and a modem. Among them, the CPU is mainly used to process operating systems, user interfaces and application programs; the GPU is used to render and draw display content; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 801, but be realized by a separate communication chip.

[0084] The memory 802 can include a random access memory (RAM) and can also include a read-only memory (ROM). The memory 802 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 802 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area can also store data created by the terminal device 80 in use, etc.

[0085] It can be understood that the terminal device 80 can include more or less structural elements than the above structural block diagram, which is not limited here.

[0086] The embodiments of the present application also provide a computer storage medium, wherein a computer program / instructions are stored on the computer storage medium, and the computer program / instructions are executed by a processor to implement part or all steps of any method described in the above method embodiments.

[0087] The embodiment of the present application further provides a computer program product, which comprises a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps of any method described in the above method embodiments.

[0088] It should be understood that the size of the sequence number of the above processes does not mean the order of execution in various embodiments of the present application. The execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0089] In several embodiments provided in the present application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the above-described device embodiments are only schematic; for example, the division of the units is only a logical function division, and actual implementation can have another division manner; for example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0090] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0091] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically included separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware, or in the form of hardware plus software functional unit.

[0092] The integrated unit implemented in the form of software functional units can be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) can be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM) and direct rambus RAM (DR RAM), etc. Various media that can store program codes are included.

[0093] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements without departing from the spirit and scope of the present application, and various modifications can be made, including combinations of different functions and implementation steps, including software and hardware implementations, which are all within the protection scope of the present application.

Claims

1. A control method based on a grass collecting function, characterized by, A terminal device applied to a job control system, the job control system further comprising a weeding device, the weeding device being in communication connection with the terminal device; the method comprising: determining predicted job information according to image information of a job area to be executed and first position information corresponding to the weeding device, the job area comprising a plurality of lawn areas; determining a target area according to the predicted job information, the target area being a lawn area in which the weeding device needs to move to a grass unloading position, the grass unloading position being determined by the terminal device according to the image information, the grass unloading position being a preset range of area located within the job area and outside the plurality of lawn areas; controlling the weeding device to record and save a moving path between the target area and the grass unloading position according to the first position information.

2. The method of claim 1, wherein, The method further comprises: determining areas and second position information of the plurality of lawn areas in the job area according to the image information; judging whether the weeding device is in any one of the lawn areas according to the first position information and the second position information; if the weeding device is in any one of the lawn areas, determining a job sequence number of a reference lawn area in which the weeding device is located as a starting sequence number; and sequentially sorting the job sequence numbers of the remaining lawn areas other than the reference lawn area according to the starting sequence number and a first position distance, to determine a job order for the plurality of lawn areas, the first position distance being an interval distance between the second position information corresponding to the remaining lawn areas and the first position information; determining a job time corresponding to each of the lawn areas according to the plurality of areas and an average weeding rate of the weeding device, the average weeding rate being a ratio of a historical lawn area corresponding to the weeding device performing the weeding job in a preset time to a historical job time; determining the predicted job information according to the job order and each of the job times.

3. The method of claim 2, wherein, Before the method further comprises: if the weeding device is not in the lawn area, determining third position information of a central area of the job area according to the image information; if there are any two lawn areas with the same second position distance and an area difference greater than a preset difference, determining the areas of the any two lawn areas as reference areas, the second position distance being an interval distance between the central area and each of the lawn areas determined according to the second position information and the third position information; determining a first priority, the first priority being used to indicate that a work sequence number of a lawn area corresponding to a smaller reference area is prior to a work sequence number of a lawn area corresponding to a larger reference area; or if there are any two lawn areas corresponding to the same second position distance and having an area difference less than or equal to a preset difference, obtaining a region boundary length of the any two lawn areas; determining a second priority according to the region boundary length, the second priority being used to indicate that a work sequence number of a lawn area corresponding to a longer region boundary length is prior to a work sequence number of a lawn area corresponding to a shorter region boundary length; sequentially sorting the work sequence numbers of the plurality of lawn areas from small to large according to the second position distance, the first priority, or the second priority, to determine the work order.

4. The method according to any of claims 1 to 3, characterized in that, The determining a target area according to the predicted work information comprises: determining a region quantity corresponding to the lawn area in the work area; if the region quantity is less than a preset quantity, determining a lawn area satisfying a preset condition as the target area according to the work order and the work time, the preset condition being that a single work time corresponding to the lawn area exceeds a preset time, or the work sequence number corresponding to the lawn area being a tail sequence number, the preset quantity being associated with a total area of the work area, and the preset time being associated with a container loading efficiency corresponding to the weeding device, the container loading efficiency being a weight of grass loaded by the weeding device in a unit time after the weeding device starts the grass collecting function; if the region quantity is greater than or equal to the preset quantity, sequentially accumulating a work time corresponding to each lawn area according to the work order; and when the accumulated time is an integer multiple of the preset time, determining a lawn area corresponding to the currently accumulated work time as the target area; or determining a lawn area corresponding to the tail sequence number as the target area.

5. The method according to any one of claims 1 to 3, characterized in that, After the determining a target area according to the predicted work information, before the controlling the weeding device to record and save a moving path between the target area and a grass unloading position according to the first position information, the method further comprises: obtaining historical video data for the work area, the historical video data being video data of a corresponding time period same as a current time period within a preset number of days; determining a pedestrian activity area and an obstacle position according to the historical video data; determining an obstacle area according to the obstacle position and a preset interval distance; determining a grass collecting placement area according to the pedestrian activity area, the obstacle area, and the work area; determining, according to the second position information, a position in the grass collecting placement area having a minimum total distance from each lawn area as the grass unloading position.

6. The method of claim 5, wherein, The controlling the weeding device to record and save a moving path between the target area and the grass unloading position according to the first position information comprises: If any one of the second position information contains the first position information, and the lawn area where the first position information is located is not the target area, or there is no any one of the second position information containing the first position information, a first moving instruction is sent to the weeding device, the first moving instruction is used to instruct the weeding device to move to the unloading position; After detecting that the weeding device is located at the unloading position, a second moving instruction is sent to the weeding device, the second moving instruction is determined by the terminal device according to the target position information corresponding to the target area, the second moving instruction is used to instruct the weeding device to move to the target area, and the moving path of the weeding device when moving to the boundary of the target area is recorded; After receiving the first response message sent back by the weeding device in response to the second moving instruction, the moving path carried by the first response message is saved.

7. The method of claim 5, wherein, The control unit is configured to control the weeding device to record and save the moving path between the target area and the unloading position according to the first position information, including: If any one of the second position information contains the first position information, and the lawn area where the first position information is located is the target area, the boundary information of the target area is obtained; According to the boundary information, the target boundary position of the target area with the shortest distance from the unloading position is determined; A third moving instruction is sent to the weeding device, the third moving instruction is used to instruct the weeding device to move to the target boundary position; After the weeding device is located at the target boundary position, a fourth moving instruction is sent to the weeding device, the fourth moving instruction is used to instruct the weeding device to move to the unloading position, and the moving path of the weeding device when moving to the unloading position is recorded; After receiving the second response message sent back by the weeding device in response to the fourth moving instruction, the moving path carried by the second response message is saved.

8. A control device based on a grass collecting function, characterized by The terminal device applied to a work control system, the work control system further includes a weeding device, the weeding device is in communication connection with the terminal device; the device includes: A first determination unit is configured to determine predicted work information according to image information of a work area to be executed weed control work and first position information corresponding to the weeding device, the work area includes a plurality of lawn areas; A second determination unit is configured to determine a target area according to the predicted work information, the target area is a lawn area where the weeding device needs to move to the unloading position, the unloading position is determined by the terminal device according to the image information, and the unloading position is a preset range of area located in the work area and outside the plurality of lawn areas; A control unit is configured to control the weeding device to record and save the moving path between the target area and the unloading position according to the first position information.

9. A terminal device, comprising: comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured for execution by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer program for electronic data interchange, wherein the computer program causes a computer to perform the method of any of claims 1-7.

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