Unloading control method, self-moving device, and storage medium

Abstract

An unloading control method, a self-moving device, and a storage medium. The method comprises: in response to an unloading instruction, determining a target unloading position from among a plurality of unloading positions in a collection area; and controlling a self-moving device to move to the target unloading position and execute an unloading task. The method can ensure the unloading efficiency of a self-moving device.

Description

Discharging control method, self-moving device and storage medium

[0001] The present application claims priority to Chinese Patent Application No. 202411284188.7, filed on September 12, 2024, entitled "Discharging Control Method, Self-Moving Device and Storage Medium", Chinese Patent Application No. 202411284567.6, filed on September 12, 2024, entitled "Discharging Control Method, Self-Moving Device and Storage Medium", Chinese Patent Application No. 202411290298.4, filed on September 12, 2024, entitled "Discharging Control Method, Self-Moving Device and Storage Medium", Chinese Patent Application No. 202411280789.0, filed on September 12, 2024, entitled "Discharging Control Method, Self-Moving Device and Storage Medium", all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of self-moving devices, and in particular to a discharging control method, a self-moving device and a storage medium. BACKGROUND

[0003] With the continuous progress of technology and the rapid development of artificial intelligence, using self-moving devices (e.g., lawn mowers, cleaning machines, etc.) for work can greatly improve work efficiency.

[0004] In related technologies, unreasonable work planning often affects the work efficiency of self-moving devices. Taking a lawn mower as an example, after the grass box is full of grass clippings, the lawn mower often needs to go to a discharging location to discharge the grass. If the discharging location of the lawn mower cannot be reasonably selected, the discharging efficiency of the lawn mower will be affected. SUMMARY

[0005] In view of the above, it is necessary to provide a discharging control method, a self-moving device and a storage medium, which can solve the technical problem that the work efficiency of the self-moving device is affected due to unreasonable task scheduling planning.

[0006] In one aspect, the present application provides a discharging control method, which determines a target discharging location from a plurality of discharging locations of a material collecting area in response to a discharging instruction; and controls a self-moving device to move to the target discharging location to perform a discharging task.

[0007] Through the above embodiments, the target discharging location can be reasonably selected, and the work efficiency of the self-moving device is improved.

[0008] In some embodiments of the present application, the method comprises: in response to the unloading instruction, searching for a unloading position in the aggregate area according to a priority from high to low until a unloading position with a state of available is obtained, wherein the priority of a unloading position in an outer ring is higher than that of a unloading position inside the outer ring, and the priority of a unloading position farther from the entrance position of the aggregate area is higher than that of a unloading position closer to the entrance position, determining a target unloading position according to the unloading position with the state of available, and controlling the self-moving device to move to the target unloading position to perform the unloading task.

[0009] If the unloading position inside the outer ring is already stacked with materials, it is likely to cause the self-moving device to travel a long distance to avoid obstacles, resulting in an extended travel distance of the self-moving device. In some embodiments, since the priority of the unloading position in the outer ring is higher than that of the unloading position inside the outer ring, and the priority of the unloading position farther from the entrance position is higher than that of the unloading position closer to the entrance position, according to the priority from high to low, it can be determined whether the unloading position in the outer ring includes a unloading position with a state of available, and when the unloading position in the outer ring does not include a unloading position with a state of available, it can be determined whether the unloading position inside the outer ring includes a unloading position with a state of available according to the distance from far to near, so that the self-moving device can preferentially unload materials in the unloading position in the outer ring, and then unload materials in the unloading position inside the outer ring according to the distance from far to near, thereby avoiding the problem that the self-moving device needs to travel a long distance to avoid obstacles due to the obstruction of materials stacked in the unloading position inside the outer ring, and avoiding the problem that the travel of the self-moving device is obstructed by materials stacked in the unloading position closer to the entrance position, thereby shortening the travel distance of the self-moving device and ensuring the unloading efficiency of the self-moving device. In addition, since the aggregate area includes multiple unloading positions, the self-moving device can perform dispersed unloading in multiple unloading positions, thereby reducing the weight, height or volume of materials stacked in each unloading position, and avoiding the problem that the self-moving device stops working due to triggering the lifting detection.

[0010] In some embodiments of the present application, the method comprises: in response to the unloading instruction, determining a target unloading position from multiple unloading positions arranged in a ring in the aggregate area according to an order from the outer ring to the inner ring, controlling the self-moving device to move to the target unloading position to perform the unloading task.

[0011] In some embodiments of the present application, the method comprises: in response to the unloading instruction, determining a target unloading position from a plurality of unloading positions arranged in a target unloading position group and a non-target unloading position group according to the arrangement of the target unloading position group in priority to the non-target unloading position group and the order from the inner layer to the outer layer, wherein the target unloading position group is determined from a plurality of unloading position groups in the material collecting area according to the device position of the self-moving device, and the non-target unloading position group is other unloading position groups in the plurality of unloading position groups except the target unloading position group; each unloading position group is distributed in a sector form in the material collecting area; and controlling the self-moving device to move to the target unloading position to perform the unloading task.

[0012] In some embodiments of the present application, the method comprises: in response to the unloading instruction, determining a target unloading position from a plurality of unloading positions arranged in a target unloading position group and a non-target unloading position group according to the arrangement of the target unloading position group in priority to the non-target unloading position group and the order from the inner layer to the outer layer, wherein the target unloading position group is determined from a plurality of unloading position groups in the material collecting area according to the device position of the self-moving device, and the non-target unloading position group is other unloading position groups in the plurality of unloading position groups except the target unloading position group; each unloading position group is distributed in a sector form in the material collecting area; and controlling the self-moving device to move to the target unloading position to perform the unloading task.

[0013] According to the device position of the self-moving device, the unloading position group closest to the self-moving device can be determined as the target unloading position group from the plurality of unloading position groups. According to the arrangement of the target unloading position group in priority to the non-target unloading position group, the target unloading position can be determined from the target unloading position group first, and then from the non-target unloading position group, so that the self-moving device can unload in the target unloading position group first, and then in the non-target unloading position group. Since the target unloading position group is closer to the self-moving device, unloading in the target unloading position group first can improve the unloading efficiency. According to the order from the inner layer to the outer layer, the self-moving device can unload in the inner layer unloading position first, and then in the outer layer unloading position, so that the self-moving device can avoid the problem of being blocked by the materials stacked in the outer layer unloading position and being unable to enter the inner layer unloading position to unload. In addition, since the material collecting area includes a plurality of unloading positions, the self-moving device can perform dispersed unloading in the plurality of unloading positions, so that the weight, height or volume of the materials stacked in each unloading position can be reduced, and the problem of the self-moving device stopping working due to triggering the lifting detection can be avoided.

[0014] In some embodiments of the present application, the method comprises: in response to the unloading instruction, determining a target unloading position group from the plurality of unloading position groups according to the arrangement order between the priorities of the plurality of unloading position groups, wherein the target unloading position group comprises unloading positions in the available state, and the plurality of unloading position groups are obtained by grouping the plurality of unloading positions in the aggregate area; if the target unloading position group comprises a plurality of unloading positions in the available state, determining a target unloading position from the unloading positions in the available state according to the distance between each unloading position in the available state and the device position of the self-moving device, controlling the self-moving device to move to the target unloading position, and performing the unloading task.

[0015] In some embodiments, by setting each unloading position group to have a corresponding priority, and determining a target unloading position group according to the arrangement order between the priorities of the plurality of unloading position groups, the possibility of the unloading positions in the periphery and the unloading positions inside the periphery being selected first can be ensured, so that when the target unloading position group comprises a plurality of unloading positions in the available state, the unloading position in the available state that is closest to the self-moving device can be selected as the target unloading position according to the distance between each unloading position and the device position, so that the unloading positions in the periphery and the unloading positions inside the periphery can be dispersed for unloading, the unloading pressure that may have been concentrated on the unloading positions in the periphery can be dispersed, and the problem that the self-moving device cannot enter the unloading positions inside the periphery for unloading after the unloading positions in the periphery are used excessively can be avoided. By selecting the unloading position in the available state that is closest to the self-moving device as the target unloading position, the travel distance can be shortened, and the unloading efficiency can be improved. In addition, since the aggregate area comprises a plurality of unloading positions, the self-moving device can disperse the unloading positions for unloading, so that the weight, height or volume of the material stacked on each unloading position can be reduced, and the problem that the self-moving device stops working due to triggering the lifting detection can be avoided.

[0016] In another aspect, the present application provides a self-moving device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to enable the self-moving device to implement the unloading control method.

[0017] In another aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program, when executed on a processor in a self-moving device, implements the unloading control method. BRIEF DESCRIPTION OF DRAWINGS

[0018] FIG. 1 is a schematic diagram of a self-moving device according to an embodiment of the present application.

[0019] FIG. 2 is a flowchart of an unloading control method according to an embodiment of the present application.

[0020] FIG. 3 is a flowchart of an unloading control method according to another embodiment of the present application.

[0021] FIG. 4 is a schematic diagram of a material collecting area according to an embodiment of the present application.

[0022] FIG. 5 is a schematic diagram of a material collecting area according to another embodiment of the present application.

[0023] FIG. 6 is a schematic diagram of a distribution of multiple unloading positions in a material collecting area according to an embodiment of the present application.

[0024] FIG. 7 is a schematic diagram of a distribution of multiple unloading positions in a material collecting area according to another embodiment of the present application.

[0025] FIG. 8 is a schematic diagram of a communication path according to an embodiment of the present application.

[0026] FIG. 9 is a flowchart of an unloading control method according to another embodiment of the present application.

[0027] FIG. 10 is a schematic diagram of an outer circle and an inner circle in a material collecting area according to an embodiment of the present application.

[0028] FIG. 11 is a schematic diagram of an outer circle and an inner circle in a material collecting area according to another embodiment of the present application.

[0029] FIG. 12 is a schematic diagram of a distribution of multiple unloading positions in a material collecting area according to another embodiment of the present application.

[0030] FIG. 13 is a schematic diagram of a distribution of multiple unloading positions in a material collecting area according to another embodiment of the present application.

[0031] FIG. 14 is a schematic diagram of a communication path according to another embodiment of the present application.

[0032] Figure 15 is a flowchart of an embodiment of the unloading control method provided in this application.

[0033] Figure 16 is a schematic diagram of multiple sectors within the aggregate area provided in an embodiment of this application.

[0034] Figure 17 is a schematic diagram of the distribution of multiple unloading positions in the material collection area provided in an embodiment of this application.

[0035] Figure 18 is a schematic diagram of a connection path provided in one embodiment of this application.

[0036] Figure 19 is a flowchart of an embodiment of the unloading control method provided in this application.

[0037] Figure 20 is a schematic diagram of the aggregate region provided in one embodiment of this application.

[0038] Figure 21 is a schematic diagram of the distribution of multiple unloading positions in the material collection area provided in an embodiment of this application.

[0039] Figure 22 is a schematic diagram showing the distribution of multiple unloading locations within the material collection area according to an embodiment of this application.

[0040] Figure 23 is a schematic diagram of a connection path provided in one embodiment of this application.

[0041] Figure 24 is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0044] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0045] In the field of self-moving devices, unreasonable work planning often affects the work efficiency of self-moving devices. Such unreasonable planning may be reflected in unreasonable task scheduling planning. For example, after the grass box is full of grass clippings, the mower often needs to go to the unloading location to unload the grass. If the unloading location of the mower cannot be reasonably planned, the smooth execution of the unloading task will be affected, thereby affecting the mowing efficiency of the mower. To solve the above problem, the present application provides an unloading control method which can ensure the unloading efficiency of the self-moving device.

[0046] The unloading control method provided by the embodiments of the present application can be applied to one or more self-moving devices. The self-moving device can be a mower, a cleaning machine, a harvester, a loading and unloading forklift, an automated guided vehicle (AGV), etc. The present application does not limit the specific type of self-moving device.

[0047] For example, as shown in FIG. 1, it is a schematic diagram of a self-moving device provided by an embodiment of the present application.

[0048] The self-moving device in FIG. 1 is a mower. The mower can travel in the lawn according to a preset mowing path and perform a mowing task. The mower can collect the cut grass and the like into a grass collecting device such as a grass box during the mowing task, or the mower can collect the grass in the lawn into the grass collecting device after the mowing task is completed. During the grass collecting process, the mower can trigger an unloading instruction once according to a preset time interval. In response to the unloading instruction, the mower can go to the grass collecting area to unload the grass.

[0049] The mower in FIG. 1 is only an example of a self-moving device. In actual applications, the self-moving device can also be a cleaning machine and the like.

[0050] As shown in FIG. 2, it is a flowchart one of an unloading control method provided by an embodiment of the present application. According to different requirements, the order of each step in the flowchart can be adjusted according to actual requirements. Some steps can be omitted. The unloading control method is applied to a self-moving device.

[0051] S01, in response to an unloading instruction, determining a target unloading position from a plurality of unloading positions in a material collecting area.

[0052] S02, controlling the self-moving device to move to the target unloading position and perform an unloading task.

[0053] In some embodiments of the present application, the specific description of steps S01-S02 can refer to the embodiments shown in FIGS. 3-23.

[0054] Fig. 2 is a flowchart of a method for controlling unloading according to an embodiment of the present application. The order of the steps in the flowchart can be adjusted according to actual requirements, and some steps can be omitted. The method for controlling unloading is applied to a self-moving device.

[0055] S11, in response to the unloading instruction, searching for an unloading position in the material collecting area according to the order from high to low priority until an unloading position with a state of available is obtained, and stopping the searching.

[0056] In some embodiments of the present application, the unloading instruction can be a command or a signal indicating the self-moving device to unload the material in the material collecting device. The material can be forage, garbage, goods, dust, etc., and the material collecting device can be a material collecting box, a material collecting bag, etc., and the present application does not limit the type of material and the material collecting device.

[0057] The present application does not limit the material collecting occasion of the self-moving device. For example, if the self-moving device is a mower, the mower can collect the cut grass into a grass collecting device such as a grass collecting box during the process of performing the mowing task along the mowing path in the working area. Alternatively, the mower can collect the cut grass in the working area into the grass collecting device after the mowing is completed.

[0058] In some embodiments of the present application, the self-moving device can automatically trigger the unloading instruction during the material collecting process, or the self-moving device can receive and trigger the unloading instruction from an external device in communication with the self-moving device. The automatic triggering of the unloading instruction can be in various ways. For example, during the material collecting process, the self-moving device can trigger the unloading instruction according to a preset time interval, wherein the preset time interval can be customized. Alternatively, during the material collecting process, if the detector of the self-moving device detects that the material parameter corresponding to the material collecting device of the self-moving device reaches a preset threshold, the self-moving device can generate and trigger the unloading instruction. The detector includes but is not limited to a visual detector, a pressure detector, a gravity sensor, etc. The material parameter includes but is not limited to at least one of the material volume, the material weight, the material height, etc. The preset threshold can be customized, and the present application does not limit this.

[0059] In other embodiments, the unloading instruction can also be triggered by the user. For example, the self-moving device can generate and trigger the unloading instruction in response to the user opening or pressing the unloading switch, etc. The above examples of the triggering method or the generating method of the unloading instruction are only examples, and the actual application is not limited thereto.

[0060] The material collecting area is an area for storing or storing the material, and the material collecting area has a corresponding entrance position. The entrance position can be the coordinates of the entrance of the material collecting area, and the entrance position can be obtained by the map information of the material collecting area or input by the user.

[0061] The aggregate area is located outside the working area of the self-moving device, and the aggregate area and the working area can be connected through a communication path. The self-moving device can reach an entrance position of the aggregate area along the communication path and enter the aggregate area from the entrance position of the aggregate area. If there are multiple candidate aggregate areas, the self-moving device can determine the aggregate area from the multiple candidate aggregate areas according to distances between the self-moving device and each candidate aggregate area, wherein the distance between the self-moving device and each candidate aggregate area can be a distance between a device position of the self-moving device and a center position of the candidate aggregate area. The device position can be a coordinate or a coordinate range of the self-moving device when the unloading instruction is triggered or generated or received, and the center position of the candidate aggregate area can be a coordinate of a center point of the candidate aggregate area. For example, the self-moving device can determine a candidate aggregate area closest to the self-moving device from the multiple candidate aggregate areas as the aggregate area.

[0062] The aggregate area can have a region corresponding to a shape, and the application does not limit the shape of the aggregate area. For example, the aggregate area can be a region in a shape of a circle, a rectangle, a triangle, etc.

[0063] In order to avoid the problem that the material blocks the entrance of the aggregate area, causing the self-moving device to be unable to enter the aggregate area to unload, a forbidden working area can be provided at the entrance position of the aggregate area, the forbidden working area does not include the unloading position, and in the forbidden working area, the self-moving device is prohibited to perform the unloading task. For example, the forbidden working area can be a circular area with the entrance position as the center and a first preset value as the radius. The first preset value can be customized, and the application does not limit this.

[0064] For example, as shown in FIG. 4, it is a schematic diagram I of the aggregate area provided by an embodiment of the application. In FIG. 4, the aggregate area is a circular area with a radius R1, a circular area with the entrance position as the center and R2 as the radius is the forbidden working area, the forbidden working area does not include the unloading position, and in the forbidden working area, the self-moving device is prohibited to perform the unloading task.

[0065] As shown in FIG. 5, it is a schematic diagram II of the aggregate area provided by another embodiment of the application. In FIG. 5, the aggregate area is a rectangular area with a length L and a width W, a circular area with the entrance position as the center and R3 as the radius is the forbidden working area, the forbidden working area does not include the unloading position, and in the forbidden working area, the self-moving device is prohibited to perform the unloading task.

[0066] The unloading position can be a coordinate or a coordinate range of an area or device for storing materials in the aggregate area, and each unloading position can be obtained by map information of the aggregate area or input by a user. Among the plurality of unloading positions in the aggregate area, at least two unloading positions have different distances from the center position of the aggregate area. For example, according to the direction from outside to inside, the plurality of unloading positions in the aggregate area can be divided into outer circle unloading positions and inner circle unloading positions. The outer circle unloading position can be a unloading position or a set of unloading positions with a distance from the boundary of the aggregate area less than or equal to a second preset value, and the second preset value can be customized, which is not limited in the present application. The outer circle unloading position can be located on the boundary of the aggregate area or inside the boundary of the aggregate area, which is not limited in the present application.

[0067] For example, taking the aggregate area shown in FIG. 4 as an example, FIG. 6 is a distribution diagram of a plurality of unloading positions in the aggregate area according to an embodiment of the present application. In FIG. 6, the unloading position 1, the unloading position 2, …, the unloading position 8 located on the boundary of the aggregate area are outer circle unloading positions, and the unloading position 9, the unloading position 10, the unloading position 11, the unloading position 12, the unloading position 13, and the unloading position 14 are inner circle unloading positions.

[0068] For example, taking the aggregate area shown in FIG. 5 as an example, FIG. 7 is a distribution diagram of a plurality of unloading positions in the aggregate area according to another embodiment of the present application. In FIG. 7, the unloading position 1, the unloading position 2, …, the unloading position 8 are outer circle unloading positions, and the unloading position 9, the unloading position 10, the unloading position 11, the unloading position 12, the unloading position 13, the unloading position 14, and the unloading position 15 are inner circle unloading positions.

[0069] In some embodiments of the present application, the priority of the outer circle unloading position is higher than the priority of the inner circle unloading position, and the priority of the unloading position farther from the entrance position of the aggregate area is higher among the inner circle unloading positions. The distance between the entrance position and each unloading position is a straight line distance or a distance along a preset direction. The preset direction can be customized, which is not limited in the present application. For example, the preset direction can be a direction of a straight line passing through the entrance position and the center position of the aggregate area, or the preset direction can be a horizontal direction of the aggregate area, or the preset direction can be a vertical direction of the aggregate area, wherein the horizontal direction can be an x-axis direction of a coordinate system constructed with the surface of the aggregate area as a reference plane, and the vertical direction can be a y-axis direction of the coordinate system. The above examples of the preset direction are only examples, and the actual application is not limited thereto.

[0070] For example, if the preset direction is a direction of a straight line passing through the entrance position and the center position of the aggregate area, the distance between the entrance position and each discharge position in the preset direction can be a distance between the each discharge position and the straight line passing through the entrance position and the center position of the aggregate area. Alternatively, if the preset direction is a horizontal direction of the aggregate area, the distance between the entrance position and each discharge position in the preset direction can be a distance between the each discharge position and a straight line extending in the horizontal direction. Alternatively, if the preset direction is a vertical direction of the aggregate area, the distance between the entrance position and each discharge position in the preset direction can be a distance between the each discharge position and a straight line extending in the vertical direction.

[0071] Each discharge position has a corresponding preset discharge frequency, and the corresponding preset discharge frequency of each discharge position can be a frequency of allowing the self-moving device to discharge at the discharge position. The preset discharge frequency can be determined according to the aggregate parameters of the aggregate device of the self-moving device, which include but are not limited to the volume, the volume, and the height of the aggregate device. For example, for each discharge position, the corresponding preset discharge frequency of the self-moving device with larger aggregate parameters at the discharge position can be greater than the corresponding preset discharge frequency of the self-moving device with smaller aggregate parameters at the discharge position. In other embodiments, the preset discharge frequency can also be customized, which is not limited in the present application.

[0072] In some embodiments of the present application, the self-moving device can first search for the discharge positions in the outer circle to determine whether the discharge positions in the outer circle include a discharge position with a state of being available. When a discharge position with a state of being available is found, the search is stopped. If the discharge positions in the outer circle do not include a discharge position with a state of being available, the self-moving device can search for a discharge position with a state of being available in the discharge positions inside the outer circle according to a rule that the priority of a discharge position farther from the entrance position is higher.

[0073] The distance can be Manhattan distance, Euclidean distance, etc., and the type of the distance is not limited in the present application. For discharge positions with the same priority, batch searching or individual searching can be used for searching. For example, the discharge positions in the outer circle have the same priority, and batch searching or individual searching can be used for searching the discharge positions in the outer circle. The number of discharge positions searched by batch searching can be customized. For example, all discharge positions in the outer circle can be searched at the same time, or two discharge positions can be searched at a time.

[0074] When the status of the unloading position is available, the self-moving device can unload at the unloading position, or when the status of the unloading position is unavailable, the self-moving device cannot unload at the unloading position. The actual unloading times of the unloading position is the number of times the unloading position is unloaded. For example, when the actual unloading times of an unloading position is less than the preset unloading times, the status of the unloading position is available, or when the actual unloading times of the unloading position reaches the preset unloading times, the status of the unloading position is unavailable.

[0075] In some embodiments of the present application, the actual unloading times of the unloading position can be counted by a counter. For example, each unloading position can correspond to a counter, and the counter is used to count the actual unloading times of the corresponding unloading position. By comparing the actual unloading times of the multiple unloading positions, the unloading position with the status of available can be quickly determined.

[0076] For example, in the multiple unloading positions shown in FIG. 6, the self-moving device can first batch or one by one determine whether the unloading position 1, the unloading position 2, …, the unloading position 8 of the outer circle includes an unloading position with the status of available, and stop searching when an unloading position with the status of available is found. If the unloading position 1, the unloading position 2, …, the unloading position 8 does not include an unloading position with the status of available, since the distance between the unloading position 9, the unloading position 10, the unloading position 13, the unloading position 12, the unloading position 14, the unloading position 11 and the entrance position 10 decreases in turn, the status of the unloading position 9, the unloading position 10, the unloading position 13, the unloading position 12, the unloading position 14 and the unloading position 11 can be determined in turn, and stop searching when an unloading position with the status of available is found.

[0077] In some embodiments of the present application, the distance between the adjacent unloading positions in the multiple unloading positions in the material collecting area can be greater than or equal to the length of the self-moving device, so as to reduce the influence of the materials stacked on the adjacent unloading positions on the unloading and / or self-rotation of the self-moving device. For example, if the self-moving device is a mower, the unloading instruction can be a grass unloading instruction, the material collecting area can be a grass collecting area, and the unloading position can be a grass unloading position. If the mower needs to self-rotate before unloading grass, when the distance between the adjacent unloading positions is greater than or equal to the length of the mower, the mower can avoid colliding with the grass stacked on the adjacent grass unloading position when the mower self-rotates at a grass unloading position. For example, in the unloading positions shown in FIG. 6, the distance between the unloading position 5 and the unloading position 6 can be greater than the length of at least one self-moving device, and the distance between the unloading position 5 and the unloading position 6 is the distance between the double-headed arrows in FIG. 6. The distance shown in FIG. 6 is only an example.

[0078] In the case that the unloading position inside the outer ring has already been stacked with materials, it is possible to cause the self-moving device to travel a long distance to avoid obstacles, resulting in an increase in the travel distance of the self-moving device. For example, if the target unloading position is the unloading position 1 in FIG. 6, in the case that the unloading position 9, the unloading position 10, the unloading position 11 and the unloading position 12 have already been stacked with materials, the self-moving device can not travel along the shortest path (e.g., a straight path) between the entrance position and the unloading position 1 to the unloading position 1, but needs to travel along a loop path to the unloading position 1 to unload, which can be referred to the direction of the loop arrow in FIG. 6. Compared with the shortest path between the entrance position and the unloading position 1, the travel along the loop path can cause the travel distance of the self-moving device to be increased.

[0079] In the embodiment, since the priority of the unloading position of the outer ring is higher than the priority of the unloading position inside the outer ring, and the priority of the unloading position farther from the entrance position is higher among the unloading positions inside the outer ring, according to the order from high to low in priority, it can be determined in priority whether the unloading position of the outer ring includes the unloading position in the state of being available, and when the unloading position of the outer ring does not include the unloading position in the state of being available, it is determined in priority whether the unloading position inside the outer ring includes the unloading position in the state of being available according to the order from far to near. In addition, since the material collecting area includes multiple unloading positions, the self-moving device can perform dispersed unloading at the multiple unloading positions, so as to reduce the weight, height or volume of the materials stacked at each unloading position, and avoid the problem that the self-moving device stops working due to triggering of the lifting detection. For example, if the self-moving device is a mower, the material collecting area can be a grass collecting area. When stepping on a high grass pile, the mower can trigger the lifting detection mechanism, and when detecting that there is abnormal contact between the mower and the ground or the height between the mower and the ground is greater than or equal to a preset height threshold, the mower will automatically stop working for safety. When the grass collecting area includes multiple unloading positions, the mower can perform dispersed unloading at the multiple unloading positions, so as to reduce the overall height of the grass pile, thereby avoiding the problem that the mower stops working due to triggering of the lifting detection mechanism.

[0080] S12, determining a target unloading position according to the unloading position in the state of being available, and controlling the self-moving device to move to the target unloading position to perform an unloading task.

[0081] In some embodiments of the present application, the self-moving device determines a target unloading position according to the unloading position in the state of being available, including: if the unloading position in the state of being available is single, determining the unloading position in the state of being available as the target unloading position, and if the unloading position in the state of being available is multiple, selecting one unloading position from the multiple unloading positions in the state of being available as the target unloading position.

[0082] In some embodiments of the present application, the self-moving device can randomly select one of the available unloading locations as the target unloading location, or the self-moving device can select the unloading location farthest from the entrance location as the target unloading location. The above examples of selecting the target unloading location from the available unloading locations are merely examples, and the actual application is not limited thereto.

[0083] In some embodiments of the present application, the self-moving device controls the self-moving device to move to the target unloading location in the following manner: controlling the self-moving device to move from the device location of the self-moving device to the entrance location along the communication path between the material collecting area and the work area, and controlling the self-moving device to move from the entrance location to the target unloading location.

[0084] For example, as shown in FIG. 8, it is a schematic diagram of a communication path according to an embodiment of the present application. In FIG. 8, the communication path connects the work area and the material collecting area. The self-moving device can reach the position where the work area and the communication path intersect from the device location, and along the communication path, the self-moving device can reach the entrance location of the material collecting area from the position where the work area and the communication path intersect.

[0085] In some embodiments of the present application, the self-moving device can move along the shortest path between the device location and the target unloading location. For example, if the target unloading location is unloading location 1 in FIG. 6, the self-moving device can move from the device location to the position where the work area and the communication path intersect along the straight line path between the device location and the position where the work area and the communication path intersect, move from the position where the work area and the communication path intersect to the entrance location of the material collecting area along the communication path, and move from the entrance location to unloading location 1 along the straight line path between the entrance location and unloading location 1.

[0086] In other embodiments of the present application, the self-moving device can move from the device location to the target unloading location along other paths. For example, if the target unloading location is unloading location 2 in FIG. 7, in order to avoid obstacles and reduce damage to the aesthetics of the lawn in the work area, the self-moving device can first move from the device location to the boundary of the work area, move from the boundary of the work area to the position where the work area and the communication path intersect, move from the position where the work area and the communication path intersect to the entrance location of the material collecting area along the communication path, and move from the entrance location to unloading location 2 along the straight line path between the entrance location and unloading location 2. The above examples of the moving path of the self-moving device are merely examples, and the actual application is not limited thereto.

[0087] In the embodiment, since it is determined whether the unloading position of the outer ring includes the unloading position in the available state in priority, when the unloading position of the outer ring does not include the unloading position in the available state, it is determined whether the unloading position inside the outer ring includes the unloading position in the available state according to the order from far to near, the mobile device can unload at the unloading position of the outer ring in priority, and then unload at the unloading position inside the outer ring according to the order from far to near, so that the mobile device can avoid the problem that the mobile device needs to travel a long distance to avoid obstacles due to the obstruction of the materials stacked at the unloading position inside the outer ring, and the problem that the travel of the mobile device is obstructed by the materials stacked at the unloading position close to the entrance position, so as to shorten the travel distance of the mobile device and ensure the unloading efficiency of the mobile device.

[0088] In some embodiments of the present application, the mobile device can perform a self-rotation operation, so that the discharge port of the aggregate device of the mobile device is rotated to a preset direction, and the aggregate device is controlled to unload at the target unloading position. The preset direction can be customized, and the present application does not limit this. For example, the preset direction can be the direction of the line between the target unloading position and the center position of the aggregate area.

[0089] In the embodiment, by controlling the discharge port of the aggregate device of the mobile device to rotate to the preset direction, the direction of unloading can be controlled, so as to ensure the aesthetics and neatness of the stacked materials.

[0090] In other embodiments of the present application, the mobile device can unload at a position adjacent to the target unloading position, where the adjacent position can be a position with a distance from the target unloading position less than or equal to a third preset value, and the third preset value can be customized.

[0091] In the unloading control method of the embodiment, since the priority of the unloading positions of the outer ring is higher than the priority of the unloading positions inside the outer ring, and the priority of the unloading positions inside the outer ring that are farther from the entrance position is higher, according to the order from high to low in priority, it can be determined in priority whether the unloading position of the outer ring includes an unloading position in a state of being available, and when the unloading position of the outer ring does not include an unloading position in a state of being available, it is determined in priority whether the unloading position inside the outer ring includes an unloading position in a state of being available according to the order from far to near in distance, so that the mobile device can unload at the unloading position of the outer ring in priority, and unload at the unloading position inside the outer ring according to the order from far to near in distance, thus avoiding the problem that the mobile device needs to travel a long distance to avoid obstacles due to the obstruction of the material stacked at the unloading position inside the outer ring, and avoiding the problem that the travel of the mobile device is obstructed by the material stacked at the unloading position close to the entrance position, so as to shorten the travel distance of the mobile device and ensure the unloading efficiency of the mobile device. In addition, since the material collecting area includes multiple unloading positions, the mobile device can perform dispersed unloading at multiple unloading positions, so as to reduce the weight, height or volume of the material stacked at each unloading position, and avoid the problem that the mobile device stops working due to triggering of the lifting detection.

[0092] In some embodiments of the present application, it is considered that if the unloading position of the inner ring has stacked material, it is possible to cause the mobile device to travel a long distance to avoid obstacles, resulting in an increase in the travel distance of the mobile device. Therefore, the target unloading position can be determined from the multiple unloading positions arranged in the material collecting area in the order from the outer ring to the inner ring, so that the mobile device can unload at the unloading position of the outer ring first, and then unload at the unloading position of the inner ring, thereby avoiding the problem that the mobile device needs to travel a long distance to avoid obstacles due to the obstruction of the material stacked at the unloading position of the inner ring, so as to shorten the travel distance of the mobile device and ensure the unloading efficiency of the mobile device. This will be described below in combination with FIG. 9. As shown in FIG. 9, it is a flowchart III of the unloading control method provided by an embodiment of the present application. The order of the steps in the flowchart can be adjusted according to actual requirements, and some steps can be omitted. The unloading control method is applied to the mobile device.

[0093] S91, in response to the unloading instruction, determining a target unloading position from the multiple unloading positions arranged in the material collecting area in the order from the outer ring to the inner ring.

[0094] In some embodiments of the present application, the unloading instruction can be a command or signal instructing the self-moving device to unload the material in the material collecting device. The material can be forage, garbage, goods, dust, etc., and the material collecting device can be a material collecting box, a material collecting bag, etc. The present application does not limit the type of material and the type of material collecting device.

[0095] The present application does not limit the timing of the self-moving device collecting the material. For example, if the self-moving device is a mower, the mower can collect the cut grass into a grass collecting device such as a grass collecting box during the process of performing the mowing task along the mowing path in the working area. Alternatively, the mower can collect the cut grass in the working area into the grass collecting device after the mowing is completed.

[0096] In some embodiments of the present application, the self-moving device can automatically trigger the unloading instruction during the material collecting process, or the self-moving device can receive and trigger the unloading instruction from an external device in communication with the self-moving device. The automatic triggering of the unloading instruction can be in various ways. For example, during the material collecting process, the self-moving device can trigger the unloading instruction according to a preset time interval, wherein the preset time interval can be customized. Alternatively, during the material collecting process, if the detector of the self-moving device detects that the material parameter corresponding to the material collecting device of the self-moving device reaches a preset threshold, the self-moving device can generate and trigger the unloading instruction. The detector includes but is not limited to a visual detector, a pressure detector, a gravity sensor, etc. The material parameter includes but is not limited to at least one of the material volume, the material weight, the material height, etc. The preset threshold can be customized, and the present application does not limit this.

[0097] In other embodiments, the unloading instruction can also be triggered by the user. For example, the self-moving device can generate and trigger the unloading instruction in response to the user opening or pressing the unloading switch, etc. The above examples of the triggering method or the generating method of the unloading instruction are only examples, and the actual application is not limited thereto.

[0098] The material collecting area is an area for storing or storing the material, and the material collecting area has a corresponding entry position. The entry position can be the coordinates of the entry of the material collecting area, and the entry position can be obtained by the map information of the material collecting area or input by the user.

[0099] The aggregate area is located outside the working area of the self-moving device, and the aggregate area and the working area can be connected by a communication path. The self-moving device can reach an entrance position of the aggregate area along the communication path and enter the aggregate area from the entrance position of the aggregate area. If there are multiple candidate aggregate areas, the self-moving device can determine the aggregate area from the multiple candidate aggregate areas according to distances between the self-moving device and each candidate aggregate area, wherein the distance between the self-moving device and each candidate aggregate area can be a distance between a device position of the self-moving device and a center position of the candidate aggregate area. The device position can be a coordinate or a coordinate range of the self-moving device when a discharge instruction is triggered or generated or received. The center position of the candidate aggregate area can be a coordinate of a center point of the candidate aggregate area. For example, the self-moving device can determine a candidate aggregate area closest to the self-moving device from the multiple candidate aggregate areas as the aggregate area.

[0100] The aggregate area can have a corresponding shape, and the shape of the aggregate area is not limited in the present application. For example, the aggregate area can be a circular area, a rectangular area, a triangular area, etc.

[0101] In order to avoid the problem that the material blocks the entrance of the aggregate area and the self-moving device cannot enter the aggregate area to discharge, a forbidden area can be set at the entrance position of the aggregate area, and the discharge position is not included in the forbidden area. In the forbidden area, the self-moving device is prohibited to perform the discharge task. In order to make the self-moving device have enough turning space, the forbidden area can extend from the outer ring to the area where the inner ring is located.

[0102] For example, as shown in FIG. 10, it is a schematic diagram of the outer ring and the inner ring in the aggregate area provided by an embodiment of the present application. In FIG. 10, the aggregate area is a circular area with a radius of R1. As shown in FIG. 11, it is a schematic diagram of the outer ring and the inner ring in the aggregate area provided by another embodiment of the present application. In FIG. 11, the aggregate area is a rectangular area with a length of L and a width of W.

[0103] The unloading position can be a coordinate or a coordinate range of an area or device for storing materials in the material collecting area, and each unloading position can be obtained by map information of the material collecting area or input by a user. There are at least two unloading positions in the multiple unloading positions arranged in the multiple circles in the material collecting area, and the distances between the two unloading positions and the center position of the material collecting area are different. The number of circles in the material collecting area and the number of unloading positions in each circle are not limited in the present application. The multiple unloading positions can be divided into outer circle unloading positions and inner circle unloading positions from outside to inside, wherein each circle of unloading positions can be an unloading position or a set of unloading positions located on a preset boundary line, and each boundary line can have a corresponding shape, and the shape of the boundary line is not limited in the present application. The outer circle unloading position can be located on the boundary of the material collecting area or inside the boundary of the material collecting area, and the present application does not limit this. The inner circle unloading position can be one or more circles, and the number of circles of the inner circle unloading position and the number of unloading positions in each circle of unloading positions are not limited in the present application.

[0104] For example, taking the material collecting area shown in FIG. 10 as an example, FIG. 12 is a schematic diagram of the distribution of multiple unloading positions in the material collecting area according to an embodiment of the present application. In FIG. 12, the unloading position 1, the unloading position 2, …, and the unloading position 8 located on the boundary of the material collecting area with a radius of R1 are outer circle unloading positions, the unloading position 9, the unloading position 10, the unloading position 11, and the unloading position 12 located on the boundary of the circular area with a radius of R2 are the first circle of inner circle unloading positions from outside to inside, and the unloading position 13 and the unloading position 14 located on the boundary of the circular area with a radius of R3 are the second circle of inner circle unloading positions from outside to inside. Among them, R1 is greater than R2, and R2 is greater than R3. For example, R1 can be 1 m, R2 can be 0.6 m, and R3 can be 0.4 m. In FIG. 12, the entrance position is included, and the forbidden area is extended from the boundary of the material collecting area to the circular area with a radius of R2, and the forbidden area does not include unloading positions. In the forbidden area, the self-moving device is prohibited to perform the unloading task.

[0105] For example, taking the material collecting area shown in FIG. 11 as an example, FIG. 13 is a schematic diagram of the distribution of multiple unloading positions in the material collecting area according to another embodiment of the present application. In FIG. 13, the unloading position 1, the unloading position 2, …, and the unloading position 8 located on the boundary of the material collecting area with a length of L and a width of W are outer circle unloading positions, the unloading position 9, the unloading position 10, the unloading position 11, and the unloading position 12 located on the boundary of the circular area with a radius of R4 are the first circle of inner circle unloading positions from outside to inside, and the unloading position 13, the unloading position 14, and the unloading position 15 located on the boundary of the triangular area are the second circle of inner circle unloading positions from outside to inside. In FIG. 13, the entrance position is included, and the forbidden area is extended from the boundary of the material collecting area to the rectangular area with a radius of R4, and the forbidden area does not include unloading positions. In the forbidden area, the self-moving device is prohibited to perform the unloading task.

[0106] In some embodiments of the present application, each discharge location has a corresponding preset discharge frequency, and the corresponding preset discharge frequency of each discharge location can be the number of times that the self-moving device is allowed to discharge at the discharge location. The preset discharge frequency can be determined according to the aggregate parameters of the aggregate device of the self-moving device, including but not limited to the volume, volume, and height of the aggregate device. For example, for each discharge location, the corresponding preset discharge frequency of the self-moving device with larger aggregate parameters at the discharge location can be greater than the corresponding preset discharge frequency of the self-moving device with smaller aggregate parameters at the discharge location. In other embodiments, the preset discharge frequency can also be customized, which is not limited in the present application.

[0107] In some embodiments of the present application, the self-moving device determines the target discharge location from the multiple discharge locations arranged in the aggregate area according to the order from the outer ring to the inner ring, including: searching in the multiple discharge locations according to the order from the outer ring to the inner ring until a discharge location with a state of available is obtained, stopping the search, wherein the actual discharge frequency of the discharge location with the state of available is less than the corresponding preset discharge frequency, and the target discharge location is determined according to the discharge location with the state of available.

[0108] For each ring of discharge locations, batch search or individual search can be used for searching, and the number of batch search can be customized. For example, all discharge locations in each ring of discharge locations can be searched at the same time, or two discharge locations can be searched at a time.

[0109] When the state of the discharge location is available, the self-moving device can discharge at the discharge location, or when the state of the discharge location is unavailable, the self-moving device cannot discharge at the discharge location. The actual discharge frequency of the discharge location is the number of times that the discharge location is discharged. For example, if the actual discharge frequency of a discharge location is less than the corresponding preset discharge frequency, the state of the discharge location is available, or if the actual discharge frequency of the discharge location reaches the corresponding preset discharge frequency, the state of the discharge location is unavailable.

[0110] In some embodiments of the present application, the actual discharge frequency of the discharge location can be counted by a counter, for example, each discharge location can correspond to a counter, and the counter is used to count the actual discharge frequency of the corresponding discharge location. By comparing the actual discharge frequencies of multiple discharge locations, the discharge location with the state of available can be quickly determined.

[0111] For example, taking the multiple unloading positions in the aggregate area shown in FIG. 12, the self-moving device can first batch or one by one determine whether the unloading position 1, the unloading position 2, …, the unloading position 8 in the outer circle unloading position include a state available unloading position, and stop searching when a state available unloading position is found. If the unloading position 1, the unloading position 2, …, the unloading position 8 do not include a state available unloading position, the self-moving device can batch or one by one determine whether the unloading position 9, the unloading position 10, the unloading position 11 and the unloading position 12 in the first circle inner circle unloading position include a state available unloading position, and stop searching when a state available unloading position is found. If the unloading position 9, the unloading position 10, the unloading position 11 and the unloading position 12 do not include a state available unloading position, the self-moving device can determine a state available unloading position from the unloading position 13 and the unloading position 14 in the second circle inner circle unloading position.

[0112] For example, taking the multiple unloading positions in the aggregate area shown in FIG. 13, the self-moving device can first batch or one by one determine whether the unloading position 1, the unloading position 2, …, the unloading position 8 in the outer circle unloading position include a state available unloading position, and stop searching when a state available unloading position is found. If the unloading position 1, the unloading position 2, …, the unloading position 8 do not include a state available unloading position, the self-moving device can batch or one by one determine whether the unloading position 9, the unloading position 10, the unloading position 11 and the unloading position 12 in the first circle inner circle unloading position include a state available unloading position, and stop searching when a state available unloading position is found. If the unloading position 9, the unloading position 10, the unloading position 11 and the unloading position 12 do not include a state available unloading position, the self-moving device can determine a state available unloading position from the unloading position 13, the unloading position 14 and the unloading position 15 in the second circle inner circle unloading position.

[0113] In some embodiments of the present application, the self-moving device determines a target unloading position according to the state available unloading position includes: if the state available unloading position is single, determining the state available unloading position as the target unloading position, and if the state available unloading position is multiple, selecting one unloading position from the state available multiple unloading positions as the target unloading position.

[0114] The self-moving device can randomly select one of the multiple unloading locations in the available state as the target unloading location, or the self-moving device can select the unloading location farthest from the entrance location as the target unloading location from the multiple unloading locations in the available state, or the self-moving device can select the unloading location closest to the entrance location as the target unloading location from the multiple unloading locations in the available state. The above-mentioned examples of selecting the target unloading location from the multiple unloading locations in the available state are only examples, and the actual application is not limited thereto.

[0115] If the inner circle unloading locations have already stacked materials, it will be possible to cause the self-moving device to travel a long distance to avoid obstacles, resulting in an extended travel distance of the self-moving device. For example, if the target unloading location is unloading location 1 in FIG. 12, in the case that unloading location 9, unloading location 10, unloading location 11, and unloading location 12 have already stacked materials, the self-moving device can not be able to reach unloading location 1 along the shortest path (e.g., a straight path) between the entrance location and unloading location 1, but needs to travel along a ring path between the outer circle and the first inner circle to unloading location 1 for unloading. The ring path can refer to the direction of the ring arrow in FIG. 12. Compared to traveling along the shortest path between the entrance location and unloading location 1, traveling along the ring path will cause the travel distance of the self-moving device to be extended.

[0116] In the embodiment, according to the order from the outer circle to the inner circle, searching in the multiple unloading locations until an unloading location in the available state is obtained, and determining the target unloading location according to the available unloading location, the target unloading location can be determined according to the order from the outer circle to the inner circle.

[0117] In some embodiments of the present application, if the number of unloading locations on a circle is multiple, the distance between two adjacent unloading locations in the circle can be greater than or equal to the length of the self-moving device, so as to reduce the influence of the materials stacked on the adjacent unloading locations on the unloading and / or self-rotation of the self-moving device. For example, if the self-moving device is a mower, the unloading instruction can be a grass unloading instruction, the material collecting area can be a grass collecting area, and the unloading location can be a grass unloading location. If the mower needs to self-rotate before unloading grass, when the distance between adjacent unloading locations is greater than or equal to the length of the mower, the mower can avoid colliding with the grass stacked on the adjacent unloading location when self-rotating at one grass unloading location. For example, in the unloading locations shown in FIG. 12, the distance between unloading location 5 and unloading location 6 can be greater than the length of at least one self-moving device, and the distance between unloading location 5 and unloading location 6 can refer to the distance between the double arrows in FIG. 12. The distance shown in FIG. 12 is only an example.

[0118] In the embodiment, since the aggregate area includes multiple unloading positions, the self-moving device can unload at multiple unloading positions, thereby reducing the weight, height or volume of the material stacked at each unloading position, and avoiding the problem that the self-moving device stops working due to triggering the lifting detection. For example, if the self-moving device is a mower, the aggregate area can be a grass collecting area. When stepping on a high grass pile, the mower will trigger the lifting detection mechanism. When detecting that there is abnormal contact between the mower and the ground or the height between the mower and the ground is greater than or equal to a preset height threshold, the mower will automatically stop working for safety. When the grass collecting area includes multiple unloading positions, the mower can unload grass at multiple unloading positions, thereby reducing the overall height of the grass pile, and avoiding the problem that the mower stops working due to triggering the lifting detection mechanism.

[0119] S92, controlling the self-moving device to move to the target unloading position and perform the unloading task.

[0120] In some embodiments of the present application, the processor of the self-moving device controls the self-moving device to move to the target unloading position in the following manner: controlling the self-moving device to move from the device position of the self-moving device to the intersection position of the work area and the communication path along the communication path, and then move from the intersection position to the target unloading position.

[0121] For example, as shown in FIG. 14, it is a schematic diagram II of the communication path provided by an embodiment of the present application. In FIG. 14, the communication path connects the work area and the aggregate area. The self-moving device can reach the intersection position of the work area and the communication path from the device position, and along the communication path, the self-moving device can reach the entrance position of the aggregate area from the intersection position of the work area and the communication path.

[0122] In some embodiments of the present application, the self-moving device can move along the shortest path between the device position and the target unloading position. For example, if the target unloading position is the unloading position 1 in FIG. 12, the self-moving device can move from the device position to the intersection position of the work area and the communication path along the straight line path between the device position and the intersection position of the work area and the communication path, move from the intersection position of the work area and the communication path to the entrance position of the aggregate area along the communication path, and move from the entrance position to the unloading position 1 along the straight line path between the entrance position and the unloading position 1.

[0123] In other embodiments of the present application, the self-moving device can move from the device position to the target unloading position along other paths. For example, if the target unloading position is unloading position 2 in FIG. 13, in order to avoid obstacles and reduce damage to the aesthetics of the lawn in the work area, the self-moving device can first move from the device position to the boundary of the work area, move from the boundary of the work area to the position where the work area intersects with the communication path, move along the communication path from the position where the work area intersects with the communication path to the entrance position of the material collection area, move from the entrance position to the unloading position 2 along the straight path between the entrance position and the unloading position 2. The above examples of the movement path of the self-moving device are only examples, and in actual applications, they are not limited thereto.

[0124] In the present embodiment, since the target unloading position can be determined according to the order from the outer ring to the inner ring, the self-moving device can first unload at the outer ring unloading position and then unload at the inner ring unloading position, thereby avoiding the problem that the self-moving device needs to travel a long distance to avoid obstacles due to the obstruction of the material stacked at the inner ring unloading position, thereby shortening the travel distance of the self-moving device and ensuring the unloading efficiency of the self-moving device.

[0125] In some embodiments of the present application, the self-moving device can perform a self-rotation operation to rotate the discharge port of the material collection device of the self-moving device to a preset direction, and control the material collection device to unload at the target unloading position. The preset direction can be customized, and the present application does not limit it. For example, the preset direction can be the direction of the line between the target unloading position and the center position of the material collection area.

[0126] In the present embodiment, by controlling the discharge port of the material collection device of the self-moving device to rotate to the preset direction, the direction of unloading can be controlled, thereby ensuring the aesthetics and neatness of the stacked material.

[0127] In other embodiments of the present application, the self-moving device can unload at a position adjacent to the target unloading position, wherein the adjacent position can be a position with a distance from the target unloading position less than or equal to a preset value, and the preset value can be customized.

[0128] In the unloading control method of the embodiment, the target unloading position is determined from the multiple unloading positions arranged in the gathering area according to the order from the outer ring to the inner ring, so that the mobile device can unload at the outer ring unloading position first and then unload at the inner ring unloading position, thereby avoiding the problem that the mobile device needs to travel a long distance to avoid obstacles due to the obstruction of the materials stacked at the inner ring unloading position, and thus the travel distance of the mobile device is shortened and the unloading efficiency of the mobile device is ensured. In addition, since the gathering area includes multiple unloading positions, the mobile device can disperse unloading at the multiple unloading positions, thereby reducing the weight, height or volume of the materials stacked at each unloading position and avoiding the problem that the mobile device stops working due to triggering the lifting detection.

[0129] The device position of the mobile device can be used to determine the unloading position group closest to the mobile device as the target unloading position group from the multiple unloading position groups. According to the arrangement that the target unloading position group is prior to the non-target unloading position group, the target unloading position can be determined from the target unloading position group first and then from the non-target unloading position group, so that the mobile device can unload at the target unloading position group first and then unload at the non-target unloading position group. Since the target unloading position group is closer to the mobile device, unloading at the target unloading position group first can improve the unloading efficiency. According to the order from the inner layer to the outer layer, the mobile device can unload at the inner layer unloading position first and then unload at the outer layer unloading position, thereby avoiding the problem that the materials stacked at the outer layer unloading position obstruct the travel of the mobile device, causing the mobile device to be unable to enter the inner layer unloading position to unload. This will be described below in conjunction with FIG. 15.

[0130] As shown in FIG. 15, it is a flowchart four of the unloading control method according to an embodiment of the present application. The order of the steps in the flowchart can be adjusted according to actual requirements, and some steps can be omitted according to different requirements. The unloading control method is applied to a mobile device.

[0131] S151, in response to the unloading instruction, the target unloading position is determined from the multiple unloading positions arranged in the target unloading position group or the non-target unloading position group according to the arrangement that the target unloading position group is prior to the non-target unloading position group and the order from the inner layer to the outer layer.

[0132] In some embodiments of the present application, the unloading instruction can be a command or a signal instructing the mobile device to unload the materials in the gathering device. The materials can be forage, garbage, goods, dust, etc., and the gathering device can be a gathering box, a gathering bag, etc., and the present application does not limit the types of materials and gathering devices.

[0133] The application does not limit the collection timing of the self-moving device. For example, if the self-moving device is a mower, the mower can collect the cut grass into a grass collection box or other grass collection device during the mowing process along the mowing path in the working area. Alternatively, the mower can collect the cut grass in the working area into the grass collection device after the mowing is completed.

[0134] In some embodiments of the application, the self-moving device can automatically trigger the unloading instruction during the collection process, or the self-moving device can receive and trigger the unloading instruction from an external device in communication with the self-moving device. The automatic triggering of the unloading instruction can be in various ways. For example, during the collection process, the self-moving device can trigger the unloading instruction according to a preset time interval, wherein the preset time interval can be customized. Alternatively, during the collection process, if the detector of the self-moving device detects that the material parameter corresponding to the collection device of the self-moving device reaches a preset threshold, the self-moving device can generate and trigger the unloading instruction. The detector includes but is not limited to a visual detector, a pressure detector, a gravity sensor, etc. The material parameter includes but is not limited to at least one of the material volume, the material weight, the material height, etc. The preset threshold can be customized, which is not limited by the application.

[0135] In other embodiments, the unloading instruction can also be triggered by the user. For example, the self-moving device can generate and trigger the unloading instruction in response to the user opening or pressing the unloading switch or other operations. The above examples of triggering or generating methods of the unloading instruction are only examples, and the actual application is not limited thereto.

[0136] In some embodiments of the application, the target unloading position group can be determined from a plurality of unloading position groups in the collection area according to the device position of the self-moving device. In the collection area, each unloading position group is distributed in the form of a sector. The non-target unloading position group is other unloading position groups in the plurality of unloading position groups except the target unloading position group. The non-target unloading position group can be multiple, wherein the device position can be the coordinates or coordinate range of the self-moving device when the unloading instruction is triggered or generated or received. The plurality of unloading position groups can be obtained by dividing the collection area by at least two division lines, and the at least two division lines intersect at the same point in the collection area. For example, the target unloading position group can be a plurality of unloading positions in the sector where the line between the device position and the intersection position of the at least two division lines is located. For example, the intersection of the at least two division lines can be the center point of the collection area, and the intersection position can be the coordinates of the center point of the collection area. Alternatively, the intersection position between the at least two division lines can also be other positions in the collection area, which is not limited by the application.

[0137] The aggregate area is an area for storing or stocking materials, and the aggregate area is located within the working area of the self-moving device, so that the self-moving device can enter the aggregate area from any direction.

[0138] If there are multiple candidate aggregate areas, the self-moving device can determine the aggregate area from the multiple candidate aggregate areas according to the distance between the self-moving device and each candidate aggregate area, wherein the distance between the self-moving device and each candidate aggregate area can be the distance between the device position and the center position of the candidate aggregate area. The center position of the candidate aggregate area can be the coordinates of the center point of the candidate aggregate area. For example, the self-moving device can determine the candidate aggregate area closest to the self-moving device from the multiple candidate aggregate areas as the aggregate area.

[0139] The aggregate area can have a corresponding shape, and the present application does not limit the shape of the aggregate area. For example, the aggregate area can be a circular, rectangular, triangular, or other shaped area.

[0140] For example, as shown in FIG. 16, it is a schematic diagram of multiple sectors in the aggregate area provided by an embodiment of the present application. In FIG. 16, the aggregate area is a circular area with a radius of R1 within the working area, and the aggregate area can be divided into four sectors, i.e., a first sector, a second sector, a third sector, and a fourth sector, according to two dividing lines (which can be referred to as two dashed lines in FIG. 16) passing through the center position of the aggregate area.

[0141] The unloading position can be the coordinates or coordinate range of the area or device for storing materials in the aggregate area, and each unloading position can be obtained by the map information of the aggregate area or input by the user. The target unloading position group and the non-target unloading position group can be distributed in a hierarchical form in the corresponding sector. The target unloading position group and the non-target unloading position group can be divided into outer layer unloading positions and inner layer unloading positions from outside to inside, and the outer layer unloading positions can be located on the boundary of the aggregate area or within the boundary of the aggregate area, which is not limited by the present application. The inner layer unloading positions can be one or more layers, and there are at least two unloading positions in each unloading position group, and the distance between the unloading positions and the intersection position is different. The number of layers of the inner layer unloading positions and the number of unloading positions in each layer are not limited by the present application. Any two layers of unloading positions can be divided by a dividing line, and each dividing line can have a corresponding shape, which is not limited by the present application.

[0142] For example, taking the aggregate area shown in FIG. 16 as an example, FIG. 17 is a schematic diagram of the distribution of the plurality of unloading positions in the aggregate area according to an embodiment of the present application. In FIG. 17, the outer layer unloading positions of the first sector include unloading position 17, unloading position 18, unloading position 19, and unloading position 20, the first layer inner layer unloading positions from the outside to the inside include unloading position 5, unloading position 6, and unloading position 7, and the second layer inner layer unloading positions from the outside to the inside include unloading position 1. The outer layer unloading positions of the second sector include unloading position 21, unloading position 22, unloading position 23, and unloading position 24, the first layer inner layer unloading positions from the outside to the inside include unloading position 8, unloading position 9, and unloading position 10, and the second layer inner layer unloading positions from the outside to the inside include unloading position 2. The outer layer unloading positions of the third sector include unloading position 25, unloading position 26, unloading position 27, and unloading position 28, the first layer inner layer unloading positions from the outside to the inside include unloading position 11, unloading position 12, and unloading position 13, and the second layer inner layer unloading positions from the outside to the inside include unloading position 3. The outer layer unloading positions of the fourth sector include unloading position 29, unloading position 30, unloading position 31, and unloading position 32, the first layer inner layer unloading positions from the outside to the inside include unloading position 14, unloading position 15, and unloading position 16, and the second layer inner layer unloading positions from the outside to the inside include unloading position 4. In the plurality of sectors shown in FIG. 17, the boundary of the circular area with a radius of R2 is the boundary line between the outer layer unloading positions and the first layer inner layer unloading positions in each sector, and the boundary of the circular area with a radius of R3 is the boundary line between the first layer inner layer unloading positions and the second layer inner layer unloading positions in each sector, wherein R1 is greater than R2, and R2 is greater than R3. For example, R1 can be 1 m, R2 can be 0.6 m, and R3 can be 0.4 m. In the self-moving device as shown in FIG. 17, the sector in which the line connecting the device position of the self-moving device and the center position of the aggregate area is located is the first sector, and therefore the plurality of unloading positions in the first sector is the target unloading position group, and the plurality of unloading positions in the second sector, the third sector, and the fourth sector are all non-target unloading position groups.

[0143] Each unloading position has a corresponding preset unloading frequency, and the preset unloading frequency corresponding to each unloading position can be the number of times that the self-moving device is allowed to unload at the unloading position. The preset unloading frequency can be determined according to the aggregate parameters of the aggregate device of the self-moving device, which include but are not limited to the volume, the volume, and the height of the aggregate device. For example, for each unloading position, the preset unloading frequency corresponding to the self-moving device with larger aggregate parameters at the unloading position can be greater than the preset unloading frequency corresponding to the self-moving device with smaller aggregate parameters at the unloading position. In other embodiments, the preset unloading frequency can also be customized, and the present application does not limit this.

[0144] In some embodiments of the present application, the distance between adjacent unloading positions in the plurality of unloading positions can be greater than or equal to the length of the self-moving device, so as to reduce the impact of the materials stacked on the adjacent unloading positions on the unloading and / or self-rotation of the self-moving device. For example, if the self-moving device is a mower, the unloading instruction can be a grass unloading instruction, the material collecting area can be a grass collecting area, and the unloading position can be a grass unloading position. If the mower needs to self-rotate before unloading the grass, when the distance between adjacent unloading positions is greater than or equal to the length of the mower, the mower can avoid colliding with the grass stacked on the adjacent unloading positions when self-rotating at a grass unloading position. For example, in the unloading positions shown in FIG. 17, the distance between the unloading position 17 and the unloading position 18 can be greater than the length of at least one self-moving device, and the distance between the unloading position 17 and the unloading position 18 is the distance between the double-headed arrows in FIG. 17. The distance shown in FIG. 17 is only an example.

[0145] In some embodiments of the present application, the determination of the target unloading position includes: the self-moving device searches in each layer of unloading positions in the target unloading position group according to the order from the inner layer to the outer layer until the target unloading position is obtained, and stops searching, wherein the actual unloading times of the target unloading position is less than the corresponding preset unloading times, and if the target unloading position group does not include the target unloading position, searches in each layer of unloading positions in the non-target unloading position group according to the order from the inner layer to the outer layer until the target unloading position is obtained, and stops searching.

[0146] For each unloading position in each layer of unloading positions, batch searching or individual searching can be used for searching. The number of unloading positions for batch searching can be customized. For example, all unloading positions in each layer of unloading positions can be searched at the same time, or two unloading positions can be searched at a time.

[0147] For example, if the actual unloading times of an unloading position is less than the corresponding preset unloading times, the self-moving device can unload at the unloading position, or if the actual unloading times of the unloading position reaches the corresponding preset unloading times, the self-moving device cannot unload at the unloading position.

[0148] In some embodiments of the present application, the actual unloading times of the unloading positions can be counted by using a counter. For example, each unloading position can correspond to a counter, and the counter is used to count the actual unloading times of the corresponding unloading position. By comparing the actual unloading times of a plurality of unloading positions, the target unloading position can be quickly determined.

[0149] When the target unloading position group does not include the target unloading position, if the non-target unloading position groups are multiple, the self-moving device can determine whether the target unloading position is included in the unloading positions arranged in layers in the multiple non-target unloading position groups according to the priorities between the multiple non-target unloading position groups and the order from the inner layer to the outer layer. The priorities between the multiple non-target unloading position groups can be determined according to the distances between each non-target unloading position group and the self-moving device, or can be determined according to the random ordering of the multiple non-target unloading position groups, which is not limited in the present application. The distance between each non-target unloading position group and the self-moving device can be the distance between the center position of each non-target unloading position group and the device position of the self-moving device. For example, in the distances between each non-target unloading position group and the self-moving device, the priority of the non-target unloading position group corresponding to the larger distance can be higher than the priority of the non-target unloading position group corresponding to the smaller distance; or the priority of the non-target unloading position group with a higher order can be higher than the priority of the non-target unloading position group with a lower order. The above examples of the determination method of the target unloading position when the non-target unloading position groups are multiple are only examples, and are not limited in actual applications.

[0150] For example, taking a plurality of unloading positions in the aggregate area shown in FIG. 17 as an example, the target unloading position group is a plurality of unloading positions in the first sector, if in a plurality of non-target unloading position groups, the priority of a plurality of unloading positions in the fourth sector is higher than the priority of a plurality of unloading positions in the second sector, and the priority of a plurality of unloading positions in the second sector is higher than the priority of a plurality of unloading positions in the third sector, the self-moving device can determine whether a plurality of unloading positions in the first sector arranged in layers include an unloading position with actual unloading times less than the corresponding preset unloading times according to the order from the inner layer to the outer layer, stop searching when an unloading position with actual unloading times less than the corresponding preset unloading times is found, and determine whether the found unloading position with actual unloading times less than the corresponding preset unloading times is a target unloading position; if a plurality of unloading positions in the first sector arranged in layers do not include an unloading position with actual unloading times less than the corresponding preset unloading times, the self-moving device can determine whether a plurality of unloading positions in the fourth sector arranged in layers include an unloading position with actual unloading times less than the corresponding preset unloading times according to the order from the inner layer to the outer layer, stop searching when an unloading position with actual unloading times less than the corresponding preset unloading times is found, and determine whether the found unloading position with actual unloading times less than the corresponding preset unloading times is a target unloading position; if a plurality of unloading positions in the fourth sector arranged in layers do not include an unloading position with actual unloading times less than the corresponding preset unloading times, the self-moving device can determine whether a plurality of unloading positions in the second sector arranged in layers include an unloading position with actual unloading times less than the corresponding preset unloading times according to the order from the inner layer to the outer layer, stop searching when an unloading position with actual unloading times less than the corresponding preset unloading times is found, and determine whether the found unloading position with actual unloading times less than the corresponding preset unloading times is a target unloading position; if a plurality of unloading positions in the second sector arranged in layers do not include an unloading position with actual unloading times less than the corresponding preset unloading times, the self-moving device can determine at least one unloading position with actual unloading times less than the corresponding preset unloading times in a plurality of unloading positions in the third sector arranged in layers as a target unloading position according to the order from the inner layer to the outer layer.

[0151] The following will take a plurality of discharge locations in the first sector as an example to illustrate the process of determining whether the plurality of discharge locations in the first sector includes the target discharge location according to the order from the inner layer to the outer layer. The mobile device can determine whether the actual discharge frequency of the discharge location 1 in the inner layer discharge location of the second layer of the first sector is less than the corresponding preset discharge frequency. If the actual discharge frequency of the discharge location 1 is less than the corresponding preset discharge frequency, the search is stopped and the discharge location 1 is determined as the target discharge location. If the actual discharge frequency of the discharge location 1 is not less than the corresponding preset discharge frequency, the mobile device can batch or one by one determine whether the actual discharge frequency of the discharge location 5, the discharge location 6 and the discharge location 7 in the inner layer discharge location of the first layer of the first sector is less than the corresponding preset discharge frequency. When the discharge location with the actual discharge frequency less than the corresponding preset discharge frequency is found, the search is stopped and the discharge location with the actual discharge frequency less than the corresponding preset discharge frequency is determined as the target discharge location. If the discharge location 5, the discharge location 6 and the discharge location 7 do not include the discharge location with the actual discharge frequency less than the corresponding preset discharge frequency, the mobile device can batch or one by one determine whether the actual discharge frequency of the discharge location 17, the discharge location 18, the discharge location 19 and the discharge location 20 in the outer layer discharge location of the first sector is less than the corresponding preset discharge frequency. When the discharge location with the actual discharge frequency less than the corresponding preset discharge frequency is found, the search is stopped and the discharge location with the actual discharge frequency less than the corresponding preset discharge frequency is determined as the target discharge location. If the discharge location 17, the discharge location 18, the discharge location 19 and the discharge location 20 do not include the discharge location with the actual discharge frequency less than the corresponding preset discharge frequency, the mobile device can refer to the above description of determining whether the plurality of discharge locations in the first sector includes the target discharge location according to the order from the inner layer to the outer layer, and determine whether the plurality of discharge locations in the fourth sector includes the target discharge location.

[0152] In the embodiment, the target unloading position group is closer to the mobile device than the non-target unloading position group because the target unloading position group is in the sector formed by the line between the device position of the mobile device and the intersection position of the at least two division lines. Because the material collecting area includes multiple unloading positions, the mobile device can unload materials at multiple unloading positions, thereby reducing the weight, height or volume of the materials at each unloading position and avoiding the problem that the mobile device stops working due to triggering of the height detection mechanism. For example, if the mobile device is a mower, the material collecting area can be a grass collecting area. When the mower steps on a high grass pile, the mower triggers the height detection mechanism. When the height detection mechanism detects that there is abnormal contact between the mower and the ground or the height between the mower and the ground is greater than or equal to a preset height threshold, the mower stops working automatically to ensure safety. When the grass collecting area includes multiple unloading positions, the mower can unload grass at multiple unloading positions, thereby reducing the overall height of the grass pile and avoiding the problem that the mower stops working due to triggering of the height detection mechanism.

[0153] In S152, the mobile device is controlled to move to the target unloading position to perform the unloading task.

[0154] In some embodiments of the present application, because the mobile device can enter the material collecting area from any direction, the mobile device can move from the device position of the mobile device to the target unloading position flexibly, and the present application does not limit the moving path of the mobile device. For example, the mobile device can move to the target unloading position along the shortest path between the device position and the target unloading position. For example, if the target unloading position is unloading position 2 in FIG. 17, as shown in FIG. 18, which is a schematic diagram of a moving path provided in an embodiment of the present application, the mobile device can move from the device position to the unloading position 2 along the straight line path between the device position and the unloading position 2.

[0155] In the embodiment, the mobile device moves to the target unloading position along the shortest straight line path, thereby shortening the driving distance and improving the unloading efficiency.

[0156] In other embodiments of the present application, if there are multiple target unloading positions, the mobile device can randomly select one target unloading position from the multiple target unloading positions for unloading, or the mobile device can select the target unloading position farthest from the device position of the mobile device from the multiple target unloading positions for unloading. The above examples of selecting a target unloading position from multiple target unloading positions for unloading are only examples and are not limited in actual applications.

[0157] In some embodiments of the present application, the self-moving device can perform a self-rotation operation to rotate the discharge port of the aggregate device of the self-moving device to a preset direction, and control the aggregate device to unload at the target unloading position. The preset direction can be customized, and the present application does not limit this. For example, the preset direction can be the direction of the line between the target unloading position and the center position of the aggregate area.

[0158] In the present embodiment, by controlling the discharge port of the aggregate device of the self-moving device to rotate to the preset direction, the direction of unloading can be controlled, thereby ensuring the aesthetics and neatness of the stacked materials.

[0159] In other embodiments of the present application, the self-moving device can unload at a position adjacent to the target unloading position, where the adjacent position can be a position with a distance from the target unloading position less than or equal to a preset threshold value, and the preset threshold value can be customized.

[0160] In the unloading control method of the present embodiment, according to the setting that the target unloading position group is prioritized over the non-target unloading position group, the target unloading position can be determined from the target unloading position group first, and then from the non-target unloading position group, so that the self-moving device can unload at the target unloading position group first, and then at the non-target unloading position group. Since the target unloading position group is closer to the self-moving device, unloading at the target unloading position group first can improve the unloading efficiency. According to the order from the inner layer to the outer layer, the self-moving device can unload at the inner layer unloading position first, and then at the outer layer unloading position, thereby avoiding the problem that the materials stacked at the outer layer unloading position block the travel of the self-moving device, causing the self-moving device to be unable to enter the inner layer unloading position for unloading. In addition, since the aggregate area includes multiple unloading positions, the self-moving device can perform dispersed unloading at multiple unloading positions, thereby reducing the weight, height or volume of the materials stacked at each unloading position, and avoiding the problem that the self-moving device stops working due to triggering the lifting detection.

[0161] In some embodiments, by setting each group of unloading locations with a corresponding priority, and determining a target group of unloading locations according to the arrangement order between the priorities of the groups of unloading locations, the possibility of the unloading locations in the periphery and the inner periphery being preferentially selected can be ensured, so that when there are multiple unloading locations in the target group of unloading locations that are available, the unloading location that is closest to the self-moving device among the unloading locations that are available can be preferentially selected as the target unloading location according to the distance between each unloading location and the device location, so that the unloading locations in the periphery and the inner periphery can be dispersedly unloaded, the unloading pressure that may have been concentrated on the unloading locations in the periphery is dispersed, and thus the problem that the self-moving device cannot enter the unloading locations in the inner periphery to unload when the unloading locations that are closest to the self-moving device are selected can be avoided. Preferentially selecting the unloading location that is closest to the self-moving device among the unloading locations that are available as the target unloading location can shorten the travel distance, thereby improving the unloading efficiency. The above will be described in combination with FIG. 19.

[0162] As shown in FIG. 19, it is a flowchart V of the unloading control method provided in an embodiment of the present application. The order of the steps in the flowchart can be adjusted according to actual requirements, and some steps can be omitted according to different requirements. The unloading control method is applied to a self-moving device.

[0163] S1911, in response to an unloading instruction, determining a target group of unloading locations from the groups of unloading locations according to the arrangement order between the priorities of the groups of unloading locations, wherein the target group of unloading locations includes unloading locations that are available.

[0164] In some embodiments of the present application, the unloading instruction can be a command or a signal indicating that the self-moving device unloads the material in the material collecting device. The material can be forage, garbage, goods, dust, etc., and the material collecting device can be a material collecting box, a material collecting bag, etc., and the type of the material and the material collecting device is not limited in the present application.

[0165] The application does not limit the collection timing of the self-moving device. For example, if the self-moving device is a mower, the mower can collect the cut grass into a grass collection device such as a grass box during the process of performing the mowing task along the mowing path in the working area. Alternatively, the mower can collect the cut grass in the working area into the grass collection device after the mowing is completed.

[0166] In some embodiments of the application, the self-moving device can automatically trigger the unloading instruction during the collection process, or the self-moving device can receive and trigger the unloading instruction from an external device in communication with the self-moving device. The automatic triggering of the unloading instruction can be in various ways. For example, during the collection process, the self-moving device can trigger the unloading instruction according to a preset time interval, wherein the preset time interval can be customized. Alternatively, during the collection process, if the detector of the self-moving device detects that the material parameter corresponding to the collection device of the self-moving device reaches a first preset value, the self-moving device can generate and trigger the unloading instruction. The detector includes but is not limited to a visual detector, a pressure detector, a gravity sensor, etc. The material parameter includes but is not limited to at least one of the material volume, the material weight, the material height, etc. The first preset value can be customized, which is not limited by the application.

[0167] In other embodiments, the unloading instruction can also be triggered by the user. For example, the self-moving device can generate and trigger the unloading instruction in response to the user opening or pressing the unloading switch, etc. The above examples of triggering or generating methods of the unloading instruction are only examples, and the actual application is not limited thereto.

[0168] The collection area is an area for storing or storing materials, and the collection area is located within the working area of the self-moving device, so the self-moving device can enter the collection area from any direction.

[0169] If there are multiple candidate collection areas, the self-moving device can determine the collection area from the multiple candidate collection areas according to the distance between the self-moving device and each candidate collection area, wherein the distance between the self-moving device and each candidate collection area can be the distance between the device position of the self-moving device and the center position of the candidate collection area. The device position can be the coordinates or coordinate range of the self-moving device when the unloading instruction is triggered or generated or received. The center position of the candidate collection area can be the coordinates of the center point of the candidate collection area. For example, the self-moving device can determine the candidate collection area closest to the self-moving device from the multiple candidate collection areas as the collection area.

[0170] The collection area can have a corresponding shape, and the application does not limit the shape of the collection area. For example, the collection area can be a circular, rectangular, triangular, etc. shaped area.

[0171] For example, as shown in FIG. 20, it is a schematic diagram three of the aggregate area provided by an embodiment of the present application. In FIG. 20, the aggregate area is a circular area with a radius of R.

[0172] As shown in FIG. 11, it is a schematic diagram of the aggregate area provided by another embodiment of the present application. In FIG. 11, the aggregate area is a rectangular area with a length of L and a width of W.

[0173] The unloading position can be the coordinates or coordinate range of the area or device for storing materials in the aggregate area, and each unloading position can be obtained by the map information of the aggregate area or input by the user. There are at least two unloading positions in the plurality of unloading positions in the aggregate area, and the distance between the two unloading positions and the center position of the aggregate area is different. For example, according to the direction from outside to inside, the plurality of unloading positions in the aggregate area can be divided into peripheral unloading positions and peripheral internal unloading positions. The peripheral unloading position can be an unloading position or a set of unloading positions with a distance from the boundary of the aggregate area less than or equal to a second preset value, and the second preset value can be customized, which is not limited by the present application. The distance between the peripheral unloading position and the center position of the aggregate area is greater than the distance between the peripheral internal unloading position and the center position of the aggregate area. The peripheral unloading position can be located on the boundary of the aggregate area, or can be located inside the boundary of the aggregate area, which is not limited by the present application.

[0174] For example, taking the aggregate area shown in FIG. 20, FIG. 21 is a schematic diagram six of the distribution of the plurality of unloading positions in the aggregate area provided by an embodiment of the present application. In FIG. 21, the unloading position 1, the unloading position 2, …, the unloading position 8 located on the boundary of the aggregate area are peripheral unloading positions, and the unloading position 9, the unloading position 10, the unloading position 11, the unloading position 12, the unloading position 13 and the unloading position 14 are peripheral internal unloading positions.

[0175] For example, taking the aggregate area shown in FIG. 11, FIG. 22 is a schematic diagram seven of the distribution of the plurality of unloading positions in the aggregate area provided by another embodiment of the present application. In FIG. 22, the unloading position 1, the unloading position 2, the unloading position 3, the unloading position 4, the unloading position 5, the unloading position 8, the unloading position 9, the unloading position 12, the unloading position 13, the unloading position 14, the unloading position 15 and the unloading position 16 located on the boundary of the aggregate area are peripheral unloading positions, and the unloading position 6, the unloading position 7, the unloading position 10 and the unloading position 11 are peripheral internal unloading positions.

[0176] Each of the discharge locations has a corresponding preset discharge frequency, which can be the number of times that the self-moving device is allowed to discharge at the discharge location. The preset discharge frequency can be determined according to a material collection parameter of the material collection device of the self-moving device, which includes but is not limited to the volume, the size, and the height of the material collection device. For example, for each of the discharge locations, the preset discharge frequency of the self-moving device corresponding to a larger material collection parameter can be greater than the preset discharge frequency of the self-moving device corresponding to a smaller material collection parameter. In other embodiments, the preset discharge frequency can also be customized, which is not limited in the present application.

[0177] In some embodiments of the present application, the distance between adjacent discharge locations in the plurality of discharge locations in the material collection area can be greater than or equal to the length of the self-moving device, so as to reduce the influence of the materials stacked on the adjacent discharge locations on the discharging and / or self-rotation of the self-moving device. For example, if the self-moving device is a mower, the discharge instruction can be a grass discharging instruction, the material collection area can be a grass collection area, and the discharge location can be a grass discharging location. If the mower needs to self-rotate before discharging the grass, when the distance between adjacent discharge locations is greater than or equal to the length of the mower, the mower can avoid colliding with the grass stacked on the adjacent discharge location when self-rotating at a discharge location. For example, in the discharge locations shown in FIG. 21, the distance between the discharge location 5 and the discharge location 6 can be greater than the length of at least one self-moving device, and the distance between the discharge location 5 and the discharge location 6 is the distance between the double-headed arrows in FIG. 21. The distance shown in FIG. 21 is only an example.

[0178] In some embodiments of the present application, the plurality of discharge location groups can be obtained by grouping the plurality of discharge locations in the material collection area. The grouping of the plurality of discharge locations can be performed according to a preset rule or randomly. For example, the preset rule can be customized, which is not limited in the present application. The above examples of the grouping manner are only examples, and are not limited in actual applications.

[0179] For example, a corresponding priority can be defined for each of the plurality of discharge locations, and the discharge locations with the same priority can be divided into the same group, so as to obtain the plurality of discharge location groups.

[0180] For example, the discharge locations with a distance to the boundary of the material collection area within a first preset interval or the same distance to the boundary of the material collection area can be divided into the same group, and the distances between different discharge location groups and the boundary of the material collection area are different, wherein the first preset interval can be customized.

[0181] For example, the unloading positions with the same distance from the center of the aggregate area or the same distance from the center of the aggregate area or the same distance from the center of the aggregate area in a second preset interval can be divided into the same group, and the distances from the center of the aggregate area of different unloading position groups are different, where the second preset interval can be customized.

[0182] For example, if the aggregate area is a rectangular area connected by a plurality of boundaries, one boundary of the aggregate area can be taken as a reference line, and the unloading positions with the same distance from the reference line or the same distance from the reference line in a third preset interval can be divided into the same group, and the distances from the reference line of different unloading position groups are different, where the third preset interval can be customized.

[0183] For example, if the aggregate area is a rectangular area, a preset number of unloading positions closest to each vertex of the aggregate area can be divided into the same group to obtain the unloading position group corresponding to each vertex, thereby obtaining a plurality of unloading position groups, where the preset number can be customized, which is not limited in the present application. For example, the preset number is 4.

[0184] The above examples of grouping methods are only examples, and are not limited in actual applications.

[0185] In some embodiments of the present application, the priority of each unloading position group can be customized. The self-moving device will not be affected by the material stacked on the unloading position group corresponding to a higher priority when going to the unloading position group corresponding to a lower priority.

[0186] For example, in the above embodiment, if the unloading positions with the same priority are divided into the same group, the priority can be determined as the priority of the unloading position group.

[0187] For example, in the above embodiment, if the grouping is performed according to the distance between each unloading position in the plurality of unloading positions and the boundary of the aggregate area, the priority of the unloading position group can be set to be lower if the distance from the boundary of the aggregate area is closer.

[0188] For example, in the above embodiment, if the grouping is performed according to the distance between each unloading position in the plurality of unloading positions and the center of the aggregate area, the priority of the unloading position group can be set to be higher if the distance from the center of the aggregate area is closer.

[0189] For example, in the above embodiment, if the grouping is performed according to the distance between each unloading position in the plurality of unloading positions and the reference line, the priority of the unloading position group can be set to be higher if the distance from the reference line is closer.

[0190] For example, in the light of the above embodiment, if grouping is performed according to the distance between each of the plurality of discharge locations and the vertex, the priority of each vertex can be predefined, wherein the priority of each vertex is not the same, and the priority of the vertex is determined as the priority of the discharge location group corresponding to the vertex.

[0191] The above example of the setting manner of the priority of each discharge location group is only an example, and in actual application, it is not limited thereto.

[0192] For example, in the discharge location 1, discharge location 2…discharge location 14 in the aggregate area shown in FIG. 21, the discharge location 1, discharge location 2…discharge location 14 can be divided into 3 discharge location groups, the first discharge location group can include discharge location 1, discharge location 2…discharge location 8, the second discharge location group can include discharge location 9, discharge location 10, discharge location 11 and discharge location 12, and the third discharge location group can include discharge location 13 and discharge location 14. Among them, the priority of the first discharge location group to the priority of the third discharge location group can be increased in turn.

[0193] For example, in the discharge location 1, discharge location 2…discharge location 16 in the aggregate area shown in FIG. 22, the discharge location 1, discharge location 2…discharge location 16 can be divided into 4 discharge location groups, the first discharge location group can include discharge location 1, discharge location 2, discharge location 3 and discharge location 4, the second discharge location group includes discharge location 5, discharge location 6, discharge location 7 and discharge location 8, the third discharge location group includes discharge location 9, discharge location 10, discharge location 11 and discharge location 12, and the fourth discharge location group can include discharge location 13, discharge location 14, discharge location 15 and discharge location 16. Among them, the priority of the first discharge location group to the priority of the fourth discharge location group can be decreased in turn.

[0194] Alternatively, in the discharge location 1, discharge location 2…discharge location 16 in the aggregate area shown in FIG. 22, the discharge location 9, discharge location 10, discharge location 13 and discharge location 14 can be divided into the first discharge location group, the discharge location 1, discharge location 2, discharge location 5 and discharge location 6 can be divided into the second discharge location group, the discharge location 3, discharge location 4, discharge location 7 and discharge location 8 can be divided into the third discharge location group, and the discharge location 11, discharge location 12, discharge location 15 and discharge location 16 can be divided into the fourth discharge location group. Among them, the priority of the first discharge location group to the priority of the fourth discharge location group can be decreased in turn.

[0195] In some embodiments of the present application, the self-moving device determines the target unloading location group from the plurality of unloading location groups according to the arrangement order between the priorities of the plurality of unloading location groups, which comprises: sequentially searching in the plurality of unloading location groups according to the arrangement order from high to low in the priorities of the plurality of unloading location groups, until the target unloading location group is determined, and the searching is stopped, wherein the actual unloading times of the unloading location in the state of being available is less than the corresponding preset unloading times.

[0196] In the above method, for each unloading location in each unloading location group, batch searching or individual searching can be used. The number of unloading locations in batch searching can be customized. For example, all unloading locations in each unloading location group can be searched at the same time, or two unloading locations can be searched at a time.

[0197] When the state of the unloading location is available, the self-moving device can unload at the unloading location, or when the state of the unloading location is unavailable, the self-moving device cannot unload at the unloading location. The actual unloading times of the unloading location is the number of times the unloading location is unloaded. For example, when the actual unloading times of an unloading location is less than the corresponding preset unloading times, the state of the unloading location is available, or when the actual unloading times of the unloading location reaches the corresponding preset unloading times, the state of the unloading location is unavailable.

[0198] In some embodiments of the present application, the actual unloading times of the unloading location can be counted by a counter. For example, each unloading location can correspond to a counter, and the counter is used to count the actual unloading times of the corresponding unloading location. By comparing the actual unloading times of a plurality of unloading locations, the unloading location in the state of being available can be quickly determined.

[0199] For example, in the light of the multiple unloading positions in the aggregate area shown in FIG. 21, the mobile device can first determine whether the unloading position 13 and the unloading position 14 in the third unloading position group include an unloading position in a usable state, one by one or in batches, and when an unloading position in a usable state is found, the first unloading position group is determined as the target unloading position group. If the unloading position 13 and the unloading position 14 do not include an unloading position in a usable state, the mobile device can determine whether the unloading position 9, the unloading position 10, the unloading position 11 and the unloading position 12 in the second unloading position group include an unloading position in a usable state, one by one or in batches, and when an unloading position in a usable state is found, the second unloading position group is determined as the target unloading position group. If the unloading position 9, the unloading position 10, the unloading position 11 and the unloading position 12 do not include an unloading position in a usable state, the mobile device can determine an unloading position in a usable state from the unloading position 1, the unloading position 2, …, the unloading position 8 in the first unloading position group, one by one or in batches.

[0200] For example, in the light of the multiple unloading positions in the aggregate area shown in FIG. 22, the mobile device can first determine whether the unloading position 1, the unloading position 2, the unloading position 3 and the unloading position 4 in the first unloading position group include an unloading position in a usable state, one by one or in batches, and when an unloading position in a usable state is found, the first unloading position group is determined as the target unloading position group. If the unloading position 1, the unloading position 2, the unloading position 3 and the unloading position 4 do not include an unloading position in a usable state, the mobile device can determine whether the unloading position 5, the unloading position 6, the unloading position 7 and the unloading position 8 in the second unloading position group include an unloading position in a usable state, one by one or in batches, and when an unloading position in a usable state is found, the second unloading position group is determined as the target unloading position group. If the unloading position 5, the unloading position 6, the unloading position 7 and the unloading position 8 do not include an unloading position in a usable state, the mobile device can determine whether the unloading position 9, the unloading position 10, the unloading position 11 and the unloading position 12 in the third unloading position group include an unloading position in a usable state, one by one or in batches, and when an unloading position in a usable state is found, the third unloading position group is determined as the target unloading position group. If the unloading position 9, the unloading position 10, the unloading position 11 and the unloading position 12 do not include an unloading position in a usable state, the mobile device can determine an unloading position in a usable state from the unloading position 13, the unloading position 14, the unloading position 15 and the unloading position 16 in the fourth unloading position group, one by one or in batches.

[0201] In the unloading control method of the embodiment, by setting each unloading position group with a corresponding priority, and determining the target unloading position group according to the arrangement order between the priorities of the multiple unloading position groups, the possibility of the unloading positions in the periphery and the periphery interior being preferentially selected can be ensured. Since the material collecting area includes multiple unloading positions, the self-moving device can perform dispersed unloading at the multiple unloading positions, thereby reducing the weight, height or volume of the material stacked at each unloading position, and avoiding the problem of the self-moving device stopping working due to triggering the lifting detection. For example, if the self-moving device is a mower, the material collecting area can be a grass collecting area. When stepping on a high grass pile, the mower will trigger the lifting detection mechanism. When detecting that there is abnormal contact between the mower and the ground, or the height between the mower and the ground is greater than or equal to a preset height threshold, the mower will automatically stop working for safety. When the grass collecting area includes multiple unloading positions, the mower can perform dispersed unloading at the multiple unloading positions, thereby reducing the overall height of the grass pile, and avoiding the problem of the mower stopping working due to triggering the lifting detection mechanism.

[0202] In S192, if there are multiple unloading positions in the target unloading position group that are in the available state, a target unloading position is determined from the unloading positions in the available state according to the distance between each unloading position in the available state and the device position of the self-moving device.

[0203] In some embodiments of the present application, if there are multiple unloading positions in the target unloading position group that are in the available state, the self-moving device can determine a target unloading position from the unloading positions in the available state according to the distance between each unloading position in the available state and the device position of the self-moving device, including: determining that the unloading position corresponding to the distance less than or equal to a preset threshold or the unloading position corresponding to the smallest distance in the unloading positions in the available state is the target unloading position. The preset value can be customized, and the present application does not limit this. The distance between each unloading position in the available state and the device position of the self-moving device can be Euclidean distance, Manhattan distance, etc., and the present application does not limit the type of distance.

[0204] In the embodiment, since the peripheral and the inside of the peripheral have the possibility of being preferentially selected as the unloading position, when the unloading position in the target unloading position group is in the state of being available and is multiple, the unloading position corresponding to the distance less than or equal to the preset value or the unloading position corresponding to the minimum distance in the unloading position in the state of being available can be preferentially selected as the target unloading position, so that the unloading pressure of the unloading position in the peripheral and the inside of the peripheral can be dispersed, the unloading pressure of the unloading position in the peripheral can be dispersed, and the problem that the self-moving device cannot enter the unloading position in the inside of the peripheral to unload due to the unloading position in the peripheral being excessively used after the unloading position in the peripheral is excessively used can be avoided. Preferentially selecting the unloading position in the state of being available and close to the self-moving device as the target unloading position can shorten the travel distance, thereby improving the unloading efficiency.

[0205] In other embodiments of the present application, if the unloading position in the target unloading position group is in the state of being available and is single, the self-moving device can directly determine the unloading position in the state of being available as the target unloading position.

[0206] S193, controlling the self-moving device to move to the target unloading position and execute the unloading task.

[0207] In some embodiments of the present application, since the self-moving device can enter the material collecting area from any direction, the self-moving device can flexibly move from the device position of the self-moving device to the target unloading position, and the present application does not limit the moving path of the self-moving device. For example, the self-moving device can move along the shortest path between the device position and the target unloading position to the target unloading position. For example, if the target unloading position is the unloading position 1 in FIG. 21, as shown in FIG. 23, which is a schematic diagram of the fourth moving path provided by an embodiment of the present application, the self-moving device can move along the straight line path between the device position and the unloading position 1 to the unloading position 1.

[0208] In some embodiments of the present application, the self-moving device can perform a self-rotation operation, so that the discharge port of the material collecting device of the self-moving device is rotated to a preset direction, and the material collecting device is controlled to unload at the target unloading position. The preset direction can be customized, and the present application does not limit it. For example, the preset direction can be the direction of the line between the target unloading position and the center position of the material collecting area.

[0209] In the embodiment, by controlling the discharge port of the material collecting device of the self-moving device to rotate to the preset direction, the direction of unloading can be controlled, so that the appearance and neatness of the stacked materials can be ensured.

[0210] In other embodiments of the present application, the self-moving device can unload at a position adjacent to the target unloading position, where the adjacent position can be a position having a distance from the target unloading position less than or equal to a third preset value, which can be customized.

[0211] In the unloading control method of the present embodiment, by setting each unloading position group with a corresponding priority, and determining the target unloading position group according to the arrangement order between the priorities of the plurality of unloading position groups, the possibility of the unloading positions in the periphery and the interior of the periphery being preferentially selected can be ensured, so that when there are multiple unloading positions in the target unloading position group that are available, the unloading position corresponding to a distance less than or equal to a preset value or the unloading position corresponding to the smallest distance among the unloading positions that are available is preferentially selected as the target unloading position, thereby enabling dispersed unloading at the unloading positions in the periphery and the interior of the periphery, dispersing the unloading pressure that would otherwise be concentrated at the unloading positions in the periphery, and further avoiding the problem of the self-moving device being unable to enter the unloading positions in the interior of the periphery to unload when the unloading positions closest to the self-moving device are selected each time, resulting in the unloading positions in the periphery being overused and the materials stacked on the unloading positions in the periphery hindering the travel of the self-moving device. Preferentially selecting the unloading position closest to the self-moving device among the unloading positions that are available as the target unloading position can shorten the travel distance, thereby improving the unloading efficiency. In addition, since the material collecting area includes a plurality of unloading positions, the self-moving device can perform dispersed unloading at the plurality of unloading positions, thereby reducing the weight, height, or volume of the materials stacked at each unloading position, and avoiding the problem of the self-moving device stopping work due to triggering the lifting detection.

[0212] As shown in FIG. 24, it is a structural schematic diagram of the self-moving device provided by an embodiment of the present application. In FIG. 24, the self-moving device 1 includes a body and a memory 11, a processor 12, a power supply 13, a sensor 14, a working mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18, and a bus 19 arranged on the body. The processor 12 is coupled to the memory 11, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 through the bus 19.

[0213] The memory 11 can include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The random access memory can be directly readable and writable by the processor 12, and can be used to store executable programs (e.g., machine instructions) of an operating system or other programs that are currently running, and can also be used to store data of users and applications, etc. The random access memory can include static random access memories (SRAMs), dynamic random access memories (DRAMs), synchronous dynamic random access memories (SDRAMs), double data rate synchronous dynamic random access memories (DDR SDRAMs), etc.

[0214] The non-volatile memory can also store executable programs and store data of users and applications, etc., and can be loaded in advance into the random access memory for direct reading and writing by the processor 12. The non-volatile memory can include disk storage devices, flash memories.

[0215] The memory 11 is configured to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include a plurality of instructions which, when executed by the processor 103, can implement the unloading control method performed on the self-moving device 1.

[0216] In other embodiments, the self-moving device 1 further includes an external memory interface for connecting an external memory to achieve the expansion of the storage capacity of the self-moving device 1.

[0217] The processor 12 can include one or more processing units, for example: the processor 12 can include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0218] The processor 12 provides computing and control capabilities, for example, the processor 12 is used to execute a computer program stored in the memory 11 to implement the above-described unloading control method.

[0219] The power supply 13 is used to supply power to the self-moving device. In an embodiment of the present application, the power supply 13 can include any one or more of the following types of power supply devices: a battery, a fuel generator, a solar power module, a wind power module, etc.

[0220] The sensor 14 is used to obtain information for the self-moving device 1, such as obtaining environmental information for the self-moving device 1 and movement information of the self-moving device 1. In an embodiment of the present application, the sensor 14 can include one or more of the following types of sensors: a laser radar, a camera, an infrared sensor, an encoder, etc.

[0221] The working mechanism 15 is used to perform corresponding work tasks, for example, mowing, patrolling, cleaning, and spraying pesticides, etc. In some embodiments of the present application, the working mechanism 15 can include a motor, a transmission mechanism, a cutter head, and a grass collecting box, etc. In some embodiments of the present application, the motor can drive the cutter head to rotate through the transmission mechanism to realize the mowing function. The motor can also control the movement of the cutter blade to adjust the mowing height and mowing area. The grass collecting box can be used to collect fallen leaves and cut grass, etc.

[0222] The communication module 16 is used to realize the communication between the self-moving device and other devices. In an embodiment of the present application, the communication module 16 can interact with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or a combination of the following communication modes: Bluetooth communication, Wi-Fi communication, Near Field Communication (NFC), etc.

[0223] The positioning module 17 is configured to determine the position of the self-moving device. In some embodiments of the present application, the positioning module 17 can include one or more of a Global Positioning System (GPS), an inertial navigation system, a Real-time kinematic (RTK) carrier phase differential system, and the like.

[0224] The driving wheels 18 are configured to enable the self-moving device to move. In some embodiments of the present application, the driving wheels 18 can enable the self-moving device to move according to the control of the processor 12. In some embodiments of the present application, the driving wheels 18 can include a left driving wheel and a right driving wheel.

[0225] The bus 19 is configured to provide a communication channel between the memory 11, the processor 12, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the driving wheels 18 in the self-moving device 1.

[0226] In other embodiments of the present application, the self-moving device 1 can further include a collision avoidance component and a steering component. The collision avoidance component can be configured to prevent the driving wheels 18 from colliding with an obstacle in front of the self-moving device. The steering component can be configured to enable the driving wheels 18 to adjust the driving direction.

[0227] It can be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 can include more or fewer components than those illustrated, or combine certain components, or split certain components, or different arrangement of components. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0228] The embodiments of the present application further provide a computer-readable storage medium, and the computer-readable storage medium stores a computer program. The computer program includes program instructions, and the method implemented by executing the program instructions can refer to the method in each of the above embodiments of the present application.

[0229] The computer-readable storage medium can be an internal storage of the self-moving device or the electronic device, for example, a hard disk or a memory of the self-moving device or the electronic device. The computer-readable storage medium can also be an external storage of the self-moving device or the electronic device, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, and the like.

[0230] In some embodiments, the computer readable storage medium can include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required by at least one function, and the like; and the data storage area can store data created according to the use of the mobile device or the electronic device, and the like.

[0231] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0232] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0233] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A discharge control method characterized by, The method comprises: in response to the unloading instruction, determining a target unloading position from a plurality of unloading positions in the aggregate area; controlling the self-moving device to move to the target unloading position to perform the unloading task.

2. The discharge control method according to claim 1, characterized by, The method further comprises: in response to the unloading instruction, searching for an unloading position in the aggregate area according to the order from high to low of the priority, until an unloading position with a state of being available is obtained, and the searching is stopped, wherein the priority of an unloading position in an outer circle of the plurality of unloading positions is higher than the priority of an unloading position inside the outer circle, and the priority of an unloading position farther away from an entrance position of the aggregate area is higher among the unloading positions inside the outer circle; determining the target unloading position according to the unloading position with the state of being available, and controlling the self-moving device to move to the target unloading position to perform the unloading task.

3. The discharge control method according to claim 2, characterized by, Each unloading position has a corresponding preset unloading frequency, and the actual unloading frequency of the unloading position with the state of being available is less than the corresponding preset unloading frequency.

4. The discharge control method according to claim 2, characterized by, The distance between the entrance position and each unloading position is a straight-line distance or a distance in a preset direction.

5. The discharge control method according to claim 2, characterized by, The aggregate area and the working area of the self-moving device are connected through a communication path, and the manner of controlling the self-moving device to move to the target unloading position comprises: controlling the self-moving device to move along the communication path from a device position of the self-moving device to the entrance position of the aggregate area, and from the entrance position to the target unloading position.

6. The discharge control method according to claim 1, wherein The method further comprises: in response to the unloading instruction, determining the target unloading position from a plurality of unloading positions arranged in a circle in the aggregate area according to the order from the outer circle to the inner circle; controlling the self-moving device to move to the target unloading position to perform the unloading task.

7. The discharge control method according to claim 6, characterized by, Each unloading position has a corresponding preset unloading frequency, and the manner of determining the target unloading position from a plurality of unloading positions arranged in a circle in the aggregate area according to the order from the outer circle to the inner circle comprises: searching for an unloading position in the plurality of unloading positions according to the order from the outer circle to the inner circle, until an unloading position with a state of being available is obtained, and the searching is stopped, wherein the actual unloading frequency of the unloading position with the state of being available is less than the corresponding preset unloading frequency; determining the target unloading position according to the unloading position with the state of being available.

8. The discharge control method according to claim 6, characterized by, The aggregate area and the working area of the self-moving device are connected through a communication path, and the manner of controlling the self-moving device to move to the target unloading position comprises: controlling the self-moving device to move along the communication path from a device position of the self-moving device to an entrance position of the aggregate area, and from the entrance position to the target unloading position.

9. The discharge control method according to Claim 1, wherein The method further comprises: In response to the unloading instruction, a target unloading position is determined from a plurality of unloading positions arranged in layers in a target unloading position group or a non-target unloading position group according to a setting of the target unloading position group in priority to the non-target unloading position group and an order from an inner layer to an outer layer, wherein the target unloading position group is determined from a plurality of unloading position groups in the aggregate area according to a device position of the mobile device, and the non-target unloading position group is a group of unloading positions other than the target unloading position group in the plurality of unloading position groups; and each unloading position group is distributed in a sector form in the aggregate area. The mobile device is controlled to move to the target unloading position to perform the unloading task.

10. The discharge control method according to claim 9, characterized by, Each unloading position has a corresponding preset unloading frequency, and the target unloading position is determined in the following manner: According to the order from the inner layer to the outer layer, each layer of unloading positions in the target unloading position group is searched until the target unloading position is obtained, and the search is stopped, wherein the actual unloading frequency of the target unloading position is less than the corresponding preset unloading frequency; If the target unloading position group does not include the target unloading position, each layer of unloading positions in the non-target unloading position group is searched according to the order from the inner layer to the outer layer until the target unloading position is obtained, and the search is stopped.

11. The discharge control method according to claim 9, characterized by, The plurality of unloading position groups are obtained by dividing the aggregate area by at least two division lines intersecting at the same point in the aggregate area.

12. The discharge control method according to claim 11, characterized by, The target unloading position group is a plurality of unloading positions in a sector in which a line between the device position and the intersection position of the at least two division lines is located.

13. The discharge control method according to claim 12, characterized by, The distance between at least two unloading positions in each unloading position group and the intersection position is different.

14. The discharge control method of claim 1, wherein The method further comprises: In response to the unloading instruction, a target unloading position group is determined from a plurality of unloading position groups according to an arrangement order between priorities of the plurality of unloading position groups, wherein the target unloading position group includes unloading positions in a state of being available, and the plurality of unloading position groups are obtained by grouping a plurality of unloading positions in an aggregate area; If the unloading positions in the state of being available in the target unloading position group are multiple, a target unloading position is determined from the unloading positions in the state of being available according to a distance between each unloading position in the state of being available and a device position of the mobile device; The mobile device is controlled to move to the target unloading position to perform the unloading task.

15. The discharge control method according to claim 14, wherein Each unloading position has a corresponding preset unloading frequency, and the target unloading position is determined in the following manner: According to the arrangement order from high to low in the priorities of the plurality of unloading position groups, each of the plurality of unloading position groups is searched in sequence until the target unloading position group is determined, and the search is stopped, wherein the actual unloading frequency of the unloading position in the state of being available is less than the corresponding preset unloading frequency.

16. The discharge control method of claim 14, wherein The determining the target unloading position from the unloading positions in the state of being available comprises: Determining the unloading position corresponding to the distance less than or equal to a preset threshold or the unloading position corresponding to the minimum distance in the unloading positions in the state of being available as the target unloading position.

17. The discharge control method of claim 14 wherein, If the unloading positions in the state of being available in the target unloading position group are single, the unloading position in the state of being available is the target unloading position.

18. The discharge control method according to claim 2 or 6 or 9 or 14, characterized by, The unloading instruction is a grass unloading instruction, the material collecting area is a grass collecting area, the unloading position is a grass unloading position, and the unloading task is a grass unloading task.

19. The discharge control method according to claim 2 or 7, characterized by, The determining the target unloading position from the unloading positions in the state of being available comprises: If the unloading positions in the state of being available are single, the unloading position in the state of being available is determined as the target unloading position; If the unloading positions in the state of being available are multiple, one unloading position is selected from the unloading positions in the state of being available as the target unloading position.

20. The discharge control method according to claim 2 or 6 or 14, characterized by, At least two unloading positions in the multiple unloading positions have different distances from the center position of the material collecting area.

21. The discharge control method according to claim 2 or 8, characterized by, The method further comprises: Setting a forbidden area at the entrance position, in which the self-moving device is forbidden to perform the unloading task.

22. The discharge control method according to claim 6 or 9 or 14, characterized by, The execution manner of the unloading task comprises: Performing a self-rotation operation so that the discharge port of the material collecting device of the self-moving device rotates to a preset direction, and controlling the material collecting device to unload at the target unloading position.

23. The discharge control method according to claim 9 or 14, characterized by, The distance between adjacent unloading positions in the multiple unloading positions is greater than the length of the self-moving device.

24. A self-moving device, characterized by The self-moving device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to enable the self-moving device to implement the unloading control method according to any one of claims 1 to 23.

25. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor in the self-moving device to implement the unloading control method according to any one of claims 1 to 23.

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