Grass discharge method and related apparatus

Abstract

The present application discloses a grass discharge method and a related apparatus. The method is applicable to a grass discharge device, and comprises: acquiring grass collection strip information, the grass collection strip information comprising position information of a plurality of grass collection points on a grass collection strip; upon receiving a grass discharge command, determining a target grass collection point from among the plurality of grass collection points; and, on the basis of position information of the target grass collection point, controlling the grass discharge device to dump grass clippings at the target grass collection point. In this way, a lawn mower can select a grass collection point to perform automatic grass discharge, thereby improving the flexibility of grass discharge and facilitating an increase in grass discharge efficiency.

Description

A method for unloading grass and related device

[0001] The present application claims priority to the Chinese Patent Application No. 2024112807049, filed on September 12, 2024, and titled "A method for unloading grass and related device", and to the Chinese Patent Application No. 2024112902927, filed on September 12, 2024, and titled "A control method for unloading grass and related device", the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the field of garden tools, in particular to a method for unloading grass and related device. BACKGROUND

[0003] Some current grass unloading devices only have the function of cutting grass, and need manual collection and removal of grass clippings to the target position, which is time-consuming and labor-intensive.

[0004] Some grass unloading devices have the functions of cutting grass, collecting grass and unloading grass. When performing automatic grass unloading, the grass unloading device is usually controlled to go to the grass unloading area to dump the grass clippings to the center of the grass unloading area. After performing multiple grass unloading operations, the grass pile will be high. When unloading grass again, the grass unloading device needs to adjust the dumping height, which will affect the grass unloading efficiency. SUMMARY

[0005] The present application discloses a method for unloading grass and related device, which can flexibly unload grass, effectively reduce the lawn debris, and improve the grass unloading efficiency.

[0006] In a first aspect, the present application provides a method for unloading grass, which is applied to a grass unloading device, and the method comprises: acquiring grass collecting belt information, wherein the grass collecting belt information comprises position information of a plurality of grass collecting points on a grass collecting belt; determining a target grass collecting point from the plurality of grass collecting points in response to a grass unloading instruction; and controlling the grass unloading device to dump grass clippings at the target grass collecting point based on position information of the target grass collecting point.

[0007] In the above method, a plurality of grass collecting points are provided on the grass collecting belt. When receiving a grass unloading instruction, the grass unloading device can freely select a grass collecting point for grass unloading, thereby improving the flexibility of grass unloading. In addition, the grass unloading device can be controlled to automatically dump grass clippings at different grass collecting points on the grass collecting belt, thereby fully utilizing the grass unloading space of the grass unloading belt and avoiding the problem that the grass pile will be too high after multiple grass unloading due to dumping grass clippings to a fixed position, which is conducive to improving the grass unloading efficiency.

[0008] With reference to the first aspect, in a possible implementation manner of the first aspect, the determining the target grass collecting point from the plurality of grass collecting points comprises: determining available grass collecting points as candidate grass collecting points from the plurality of grass collecting points, wherein the available grass collecting point is a grass collecting point with a grass unloading space greater than 0; and determining the target grass collecting point from the candidate grass collecting points.

[0009] With reference to the first aspect, in a possible implementation manner of the first aspect, the determining the target grass collecting point from the candidate grass collecting points comprises: obtaining a first priority of the candidate grass collecting points; and determining the candidate grass collecting point with the highest first priority as the target grass collecting point.

[0010] With reference to the first aspect, in a possible implementation manner of the first aspect, the obtaining the first priority of the candidate grass collecting points comprises: traversing position information of all candidate grass collecting points and obtaining a traversal result, the traversal result comprising: whether there is a candidate grass collecting point located outside the work area; and determining the first priority of the candidate grass collecting points according to the traversal result.

[0011] With reference to the first aspect, in a possible implementation manner of the first aspect, when there is no candidate grass collecting point located outside the work area in the traversal result, the first priority of all candidate grass collecting points is equal.

[0012] With reference to the first aspect, in a possible implementation manner of the first aspect, the method further comprises: determining any one of the candidate grass collecting points as the target grass collecting point, or determining the candidate grass collecting point with the maximum grass unloading space as the target grass collecting point according to the grass unloading space of all candidate grass collecting points.

[0013] With reference to the first aspect, in a possible implementation manner of the first aspect, the method further comprises: calculating a first distance between each candidate grass collecting point and the grass unloading device; sorting the calculated first distances in descending order, and determining a second priority of each candidate grass collecting point according to the sorting result, wherein the smaller the first distance of the candidate grass collecting point, the higher the second priority of the candidate grass collecting point; and determining the candidate grass collecting point with the highest second priority as the target grass collecting point.

[0014] With reference to the first aspect, in a possible implementation manner of the first aspect, when there is a candidate grass collecting point located outside the work area in the traversal result, all candidate grass collecting points located outside the work area are determined as a first group of grass collecting points, and candidate grass collecting points located inside the work area are determined as a second group of grass collecting points; wherein the first priority of any candidate grass collecting point in the first group of grass collecting points is greater than the first priority of all candidate grass collecting points in the second group of grass collecting points.

[0015] In a possible implementation manner of the first aspect, the method further includes: obtaining position information of the target set grass point; and marking an obstacle area in the unloading area according to the position information of the target set grass point, wherein the obstacle area includes the target set grass point.

[0016] In a possible implementation manner of the first aspect, when there is no available candidate set grass point in the first group of set grass points, the method further includes: calculating a third distance between each candidate set grass point in the second group of set grass points and the intersection area according to the position information; sorting the calculated third distances in descending order, and determining a respective first priority of each candidate set grass point in the second group of set grass points according to the sorting result, wherein the candidate set grass point with a smaller third distance corresponds to a higher first priority.

[0017] In a possible implementation manner of the first aspect, after the grass clippings are dumped at the target set grass point, the method further includes: obtaining position information of the target set grass point; and marking an obstacle area in the unloading area according to the position information of the target set grass point, wherein the obstacle area includes the target set grass point.

[0018] In a possible implementation manner of the first aspect, the method further includes: obtaining position information of the target set grass point; and marking an obstacle area in the unloading area according to the position information of the target set grass point, wherein the obstacle area includes the target set grass point.

[0019] In a possible implementation manner of the first aspect, the method further includes: obtaining position information of the target set grass point; and marking an obstacle area in the unloading area according to the position information of the target set grass point, wherein the obstacle area includes the target set grass point.

[0020] In a possible implementation manner of the first aspect, the method further includes: obtaining position information of the target set grass point; and marking an obstacle area in the unloading area according to the position information of the target set grass point, wherein the obstacle area includes the target set grass point.

[0021] In a possible implementation of the first aspect, the recording of the position information of the grass collecting belt comprises: recording the position information of the grass collecting belt by a positioning module of the grass unloading device.

[0022] In a possible implementation of the first aspect, the acquiring of the grass collecting belt recording instruction comprises: receiving the grass collecting belt recording instruction sent by a client; or generating the grass collecting belt recording instruction based on user inputted setting information.

[0023] In a possible implementation of the first aspect, the distance between two adjacent grass collecting points in the plurality of grass collecting points is greater than the length of the grass unloading device.

[0024] In a possible implementation of the first aspect, the distance between two adjacent grass collecting points in the plurality of grass collecting points is greater than the length of the grass unloading device.

[0025] In a possible implementation of the second aspect, the processing unit is specifically configured to: determine available grass collecting points as candidate grass collecting points from the plurality of grass collecting points, wherein the available grass collecting points are grass collecting points with a grass unloading space greater than 0; and determine the target grass collecting point from the candidate grass collecting points.

[0026] In a possible implementation of the second aspect, the processing unit is specifically configured to: acquire a first priority of the candidate grass collecting points; and determine the candidate grass collecting point with the highest first priority as the target grass collecting point.

[0027] In a possible implementation of the second aspect, the processing unit is specifically configured to: traverse the position information of all candidate grass collecting points and obtain a traversal result, the traversal result comprising: whether there is a candidate grass collecting point located outside the work area; and determine a first priority of the candidate grass collecting points according to the traversal result.

[0028] In a possible implementation of the second aspect, when there is no candidate grass collecting point located outside the work area in the traversal result, the first priorities of all candidate grass collecting points are equal.

[0029] With reference to the second aspect, in a possible implementation of the second aspect, the processing unit is specifically configured to: determine any candidate set grass point in the all candidate set grass points as the target set grass point, or determine a candidate set grass point with the maximum unloadable grass space as the target set grass point according to the unloadable grass spaces of the all candidate set grass points.

[0030] With reference to the second aspect, in a possible implementation of the second aspect, the processing unit is further configured to: calculate a first distance between each candidate set grass point and the unload grass device; sort the calculated first distances in descending order, and determine a second priority of each candidate set grass point according to the sorting result, wherein the smaller the first distance of a candidate set grass point is, the higher the second priority of the candidate set grass point is; and determine the candidate set grass point with the highest second priority as the target set grass point.

[0031] With reference to the second aspect, in a possible implementation of the second aspect, when there is a candidate set grass point located outside the working area in the traversal result, all candidate set grass points located outside the working area are determined as a first group of set grass points, and candidate set grass points located inside the working area are determined as a second group of set grass points; wherein a first priority of any candidate set grass point in the first group of set grass points is higher than a first priority of all candidate set grass points in the second group of set grass points.

[0032] With reference to the second aspect, in a possible implementation of the second aspect, the processing unit is specifically configured to: obtain position information of an intersection region of the set grass belt and the working area; calculate a second distance between each candidate set grass point in the first group of set grass points and the intersection region according to the position information; sort the calculated second distances in descending order, and determine a first priority of each candidate set grass point in the first group of set grass points according to the sorting result, wherein the larger the second distance of a candidate set grass point is, the higher the first priority of the candidate set grass point is.

[0033] With reference to the second aspect, in a possible implementation of the second aspect, the processing unit is specifically configured to: when there is no available candidate set grass point in the first group of set grass points, calculate a third distance between each candidate set grass point in the second group of set grass points and the intersection region according to the position information; sort the calculated third distances in descending order, and determine a first priority of each candidate set grass point in the second group of set grass points according to the sorting result, wherein the smaller the third distance of a candidate set grass point is, the higher the first priority of the candidate set grass point is.

[0034] With reference to the second aspect, in a possible implementation of the second aspect, after the straw clippings are dumped at the target grass collecting point, the acquisition unit is further configured to acquire position information of the target grass collecting point; and the processing unit is further configured to mark an obstacle area in the grass unloading area according to the position information of the target grass collecting point, wherein the obstacle area includes the target grass collecting point.

[0035] With reference to the second aspect, in a possible implementation of the second aspect, the processing unit is specifically configured to: acquire a volume of the straw clippings dumped at the target grass collecting point by the grass unloading device; determine an expansion distance according to the volume of the straw clippings; and perform expansion processing on the target grass collecting point according to the expansion distance to obtain the obstacle area.

[0036] With reference to the second aspect, in a possible implementation of the second aspect, the acquisition unit is specifically configured to acquire a grass collecting belt recording instruction, the grass collecting belt recording instruction including a start position of a grass collecting belt and an end position of the grass collecting belt; and the processing unit is further configured to: in response to the grass collecting belt recording instruction, control the grass unloading device to record position information of the grass collecting belt during travel from the start position to the end position; and obtain grass collecting belt information according to the position information of the grass collecting belt, the grass collecting belt information including position information of a plurality of grass collecting points on the grass collecting belt, and the grass collecting belt information being used to assist the grass unloading device in performing grass unloading.

[0037] With reference to the second aspect, in a possible implementation of the second aspect, the processing unit is specifically configured to: record the position information of the grass collecting belt by a positioning module of the grass unloading device.

[0038] With reference to the second aspect, in a possible implementation of the second aspect, the acquisition unit is specifically configured to: receive the grass collecting belt recording instruction sent by a client; or the processing unit is configured to generate the grass collecting belt recording instruction based on setting information input by a user and received by the acquisition unit.

[0039] With reference to the second aspect, in a possible implementation of the second aspect, the processing unit is specifically configured to: obtain the grass collecting belt information according to the position information of the grass collecting belt and a length of the grass unloading device.

[0040] With reference to the second aspect, in a possible implementation of the second aspect, a distance between two adjacent grass collecting points in the plurality of grass collecting points is greater than a length of the grass unloading device.

[0041] In a third aspect, the present application provides a control device for unloading grass, the control device comprising a processor and a memory, wherein the memory is configured to store program instructions; and the processor is configured to invoke the program instructions in the memory, so that the control device executes the method in the first aspect or any possible implementation manner of the first aspect.

[0042] In a fourth aspect, the present application provides a grass unloading device, comprising the control device in the second aspect or any possible implementation manner of the second aspect, or the control device in the third aspect.

[0043] In a fifth aspect, the present application provides a computer readable storage medium, comprising computer instructions, when the computer instructions are executed by a processor, the method in the first aspect or any possible implementation manner of the first aspect is implemented.

[0044] In a sixth aspect, the present application provides a computer program product, when the computer program product is executed by a processor, the method in the first aspect or any possible embodiment of the first aspect is implemented. The computer program product, for example, can be a software package, when the method provided by the first aspect or any possible design of the first aspect is needed, the computer program product can be downloaded and executed on the processor to implement the method in the first aspect or any possible embodiment of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0046] FIG. 1 is a schematic diagram of a communication system provided by an embodiment of the present application;

[0047] FIG. 2 is a flowchart of a grass unloading method provided by an embodiment of the present application;

[0048] FIG. 3 is a schematic diagram of the position of a grass collecting belt provided by an embodiment of the present application;

[0049] FIG. 4 is a schematic diagram of the position of a grass collecting point on a grass collecting belt provided by an embodiment of the present application;

[0050] FIG. 5 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0051] FIG. 6 is a schematic diagram of the position of a grass collecting point on a grass collecting belt provided by an embodiment of the present application;

[0052] FIG. 7 is a schematic diagram of a method for determining an obstacle region based on target set grass points according to an embodiment of the present application;

[0053] FIG. 8 is a flowchart of a method for generating grass band information according to an embodiment of the present application;

[0054] FIG. 9 is a schematic diagram of a display interface for inputting setting information according to an embodiment of the present application;

[0055] FIG. 10 is a schematic diagram of sampling points on a grass band according to an embodiment of the present application;

[0056] FIG. 11 is a schematic diagram of grass points on a grass band according to an embodiment of the present application;

[0057] FIG. 12 is a schematic diagram of a structure of a control device according to an embodiment of the present application;

[0058] FIG. 13 is a schematic diagram of a structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0060] It can be understood that the terms in the specification and claims of the present application and the above drawings are only for the purpose of describing specific embodiments and are not intended to limit the present application. The terms "first", "second", and the like in the specification and claims of the present application and the above drawings are used to distinguish different objects, not to describe a specific order. Unless the context clearly indicates otherwise, the singular forms "a" and "said" are also intended to include the plural forms. The term "comprising" and any variation thereof is intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device. In addition, the present application can be implemented in various forms, and is not limited to the embodiments described in the embodiments. The purpose of providing the following specific embodiments is to facilitate a clearer and more thorough understanding of the disclosure of the present application, and the words indicating the directions such as up, down, left, right, etc. are only for the position of the shown structure in the corresponding drawings. In the description of the present application, it should be noted that unless otherwise specifically stated and limited, the terms "mounting", "connecting", "connecting", "arranged on" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0061] The subsequent description of the specification is a preferred embodiment for implementing the present application, however the above description is for the purpose of illustrating the general principles of the present application, and is not intended to limit the scope of the present application. The scope of protection of the present application shall be subject to the appended claims.

[0062] Referring to FIG. 1, FIG. 1 is a schematic diagram of a communication system provided by an embodiment of the present application. As shown in FIG. 1, the communication system includes a communication device and a straw unloading device, wherein the straw unloading device and the communication device can communicate in a wireless or wired manner. The straw unloading device is disposed with a control device, and the straw unloading device can communicate with the communication device through the control device.

[0063] Exemplarily, the control device can be a chip, an integrated circuit, etc.

[0064] Exemplarily, the communication device can be a user equipment or a network side device. The user equipment can be a user's mobile phone, tablet, notebook computer, etc. portable mobile device. The network side device can be a server of a straw unloading device control center or a component in the server, which can be a chip, etc. The network side device can be deployed in a cloud environment or an edge environment.

[0065] As an example, a client is deployed on the communication device, and the client is used to implement human-computer interaction. In specific implementation, the client can be implemented in the form of software, an application, a plug-in, or the like, which is run on the user device or the network side device, or can be accessed based on a browser, or can be an application (APP) run on the user device or the network side device.

[0066] Here, the client and the control device can be deployed on different devices, for example, the client is deployed on the communication device, and the control device is deployed in the unloading device. In some schemes, the client and the control device can also be deployed on the same device, for example, the unloading device.

[0067] As an example, the control device of the unloading device can obtain the swath information from the communication device, and the swath information is used to assist the unloading device to perform unloading. For example, the control device can obtain the swath recording instruction from the client to trigger the control device to record the swath. In some schemes, the control device can also generate the swath recording instruction in response to the user operation, in which case, the client and the control device are both deployed in the unloading device. In some schemes, the swath information can be pre-stored locally in the control device.

[0068] It should be noted that FIG. 1 is only an example of a communication system, and does not limit the communication system to be only as shown in FIG. 1. The method provided in the embodiments of the present application can be applied to the above-mentioned communication system. In some schemes, the method provided in the embodiments of the present application can also be applied without the participation of the above-mentioned communication device, which is not limited herein.

[0069] Referring to FIG. 2, FIG. 2 is a flowchart of an unloading method provided in the embodiments of the present application. The method can be applied to the control device, which is deployed in the unloading device shown in FIG. 1. The method includes but is not limited to the following steps S201-S203.

[0070] S201: Obtain swath information, and the swath information includes position information of a plurality of grass collecting points on the swath.

[0071] In an implementation manner, the swath information is obtained by receiving the swath information from the communication device.

[0072] As an example, the control device first sends a swath obtaining request to the communication device; in response to the swath obtaining request, the communication device sends the swath information to the control device, and then the control device receives the swath information from the communication device.

[0073] Here, the communication device can refer to the description of the communication device in the foregoing embodiments of FIG. 1, which is not repeated here.

[0074] In one implementation, the obtaining the swath information comprises: obtaining the swath information from a local storage. As an example, the swath information can be pre-stored locally. In some scenarios, the swath information can also be generated locally by the control device and stored in the storage.

[0075] In another implementation, in the case that the swath information is generated locally by the control device, the obtaining the swath information comprises: firstly, obtaining a swath recording instruction, the swath recording instruction comprising a start position of the swath and an end position of the swath; in response to the swath recording instruction, controlling the unloading device to record position information of the swath during the process of traveling from the start position to the end position; and finally, obtaining the swath information according to the position information of the swath, the swath information being used to assist the unloading device to perform unloading. In this case, step S201 can refer to the description of the following embodiment of FIG. 8.

[0076] Exemplarily, the swath can be a straight line or a curve. Here, the number of swaths contained in the swath information is not limited to one, but can also be multiple.

[0077] Here, the swath can be located within the work area, outside the work area, or intersected with the work area. The work area is specifically the work area of the unloading device for mowing, which refers to the geographical range covered by the unloading device during mowing operation.

[0078] Referring to FIG. 3, FIG. 3 is a schematic diagram of the position of a swath according to an embodiment of the present application. FIG. 3 shows three swaths, namely swath 1, swath 2 and swath 3. As can be seen, swath 1 and swath 3 are curves, and swath 2 is a straight line. Swath 1 is located outside the work area, swath 2 is located within the work area, and swath 3 intersects with the work area, i.e., swath 3 has a part located within the work area and another part located outside the work area.

[0079] Exemplarily, the grass collecting points on the swath can be understood as unloading points, i.e., the placement of grass piles or grass clippings. The number of grass collecting points on different swaths can be the same or different.

[0080] Referring to FIG. 4, FIG. 4 is a schematic diagram of positions of the grass collecting points on the grass collecting belts according to an embodiment of the present application. As can be seen from FIG. 4, there are five grass collecting points on the grass collecting belt 1, namely P1, P2, P3, P4 and P5; there are two grass collecting points on the grass collecting belt 2, namely P6 and P7; and there are three grass collecting points on the grass collecting belt 3, namely P8, P9 and P10. Based on the positional relationship between the grass collecting belts and the working area, the positional relationship between the grass collecting points on the grass collecting belts and the working area can be known. Specifically, since the grass collecting belt 1 is located outside the working area, the grass collecting points P1-P5 on the grass collecting belt 1 are all located outside the working area; since the grass collecting belt 2 is located outside the working area, the grass collecting points P6 and P7 on the grass collecting belt 2 are both located inside the working area; and since the grass collecting belt 3 intersects with the working area, it is indicated that part of the grass collecting points on the grass collecting belt 3 (i.e. the grass collecting point P8) are located inside the working area and another part of the grass collecting points (i.e. the grass collecting points P9 and P10) are located outside the working area. It can be understood that FIG. 4 is only an example of the grass collecting points on the grass collecting belts, and should not be construed as limiting the number of the grass collecting points on the grass collecting belts or the interval between adjacent grass collecting points on the grass collecting belts.

[0081] For example, the distance between two adjacent grass collecting points on the grass collecting belts is greater than the length of the unloading device, wherein the length of the unloading device does not include the length of the unloading frame, and the unloading frame can also be referred to as an unloading basket, an unloading box, etc. In this way, the unloading device can be prevented from colliding with the grass piles placed on other grass collecting points during unloading.

[0082] S202: In response to the unloading instruction, a target grass collecting point is determined from the plurality of grass collecting points.

[0083] For example, the control device first receives the unloading instruction sent by the mowing device. The unloading instruction indicates that the unloading device performs unloading.

[0084] For example, the unloading instruction is transmitted to the control device when any of the following conditions is met:

[0085] The mowing device stops mowing operation;

[0086] The mowing device completes the mowing work of the specified area;

[0087] The weight of the grass collected by the unloading device reaches a first threshold value;

[0088] The opening operation of the unloading key or the unloading switch element by the user is detected; or

[0089] The condition that the user confirms to perform the unloading operation is determined.

[0090] Here, the first threshold value can be set by the user in advance or by default at the factory, which is not limited here.

[0091] In some solutions, the triggering condition for the discharge instruction to be transmitted to the control device can also be that at least one of the volume, height, or other parameters of the grass clippings currently collected by the grass discharge device meets a preset condition.

[0092] In an implementation, the target grass collecting point is determined from the plurality of grass collecting points, including: determining available grass collecting points as candidate grass collecting points from the plurality of grass collecting points, wherein the available grass collecting point is a grass collecting point with a dischargeable grass space greater than 0; and determining the target grass collecting point from the candidate grass collecting points. In this way, the target grass collecting point to which the grass discharge device will go has a dischargeable grass space, which can accommodate the grass clippings dumped by the grass discharge device.

[0093] As an example, the target grass collecting point is determined from the candidate grass collecting points, including: obtaining a first priority of the candidate grass collecting points; and selecting the candidate grass collecting point with the highest first priority as the target grass collecting point. That is, the grass discharge device is preferentially controlled to dump the grass clippings to the candidate grass collecting point with the highest first priority.

[0094] As an example, the first priority of the candidate grass collecting points can be obtained by traversing the position information of all candidate grass collecting points and obtaining a traversal result, the traversal result including: whether there is a candidate grass collecting point located outside the work area; and determining the first priority of each candidate grass collecting point according to the traversal result.

[0095] In an implementation, when there is no candidate grass collecting point located outside the work area in the traversal result, the first priority of all candidate grass collecting points is equal. In other words, when all candidate grass collecting points are located within the work area, the first priority of all candidate grass collecting points is the same. In combination with FIG. 4, the first priority of the three grass collecting points P6, P7, and P8 is the same.

[0096] As an example, when there is no candidate grass collecting point located outside the work area in the traversal result (i.e., when all candidate grass collecting points are located within the work area), any one of the candidate grass collecting points can be selected as the target grass collecting point, or the candidate grass collecting point with the largest dischargeable grass space can be determined as the target grass collecting point from all candidate grass collecting points according to the dischargeable grass space of the candidate grass collecting points.

[0097] As an example, when there is no candidate set point located outside the working area in the traversal result (i.e., all candidate set points are located within the working area), the target set point can be determined in combination with the second priority of the candidate set point. Specifically, a first distance of each candidate set point from the unloading device is calculated; the calculated first distances are sorted in descending order, and the second priority of each candidate set point is determined according to the sorting result, where the smaller the first distance of the candidate set point, the higher the second priority of the candidate set point; and the candidate set point with the highest second priority is taken as the target set point. That is, when all candidate set points are located within the working area, the candidate set point closest to the current position of the unloading device can be selected as the target set point, so that the unloading device can quickly perform unloading.

[0098] Exemplarily, the first distance can be measured in a straight-line distance (Euclidean distance) or a Manhattan distance.

[0099] Referring to FIG. 5, which is a schematic diagram of an application scenario provided by the embodiment, in FIG. 5, it is assumed that based on the traversal result, it is known that there is no candidate set point located outside the working area, and all candidate set points only include set point P6 and set point P7, the current position of the unloading device is position A in FIG. 5, and the second priority of the set point is determined based on the distance between the set point and the current position of the unloading device. It can be known that the distance between set point P6 and position A is smaller than the distance between set point P7 and position A, so the second priority of set point P6 is greater than the second priority of set point P7, and set point P6 is taken as the target set point.

[0100] In another implementation, when there is a candidate set point located outside the working area in the traversal result, all candidate set points located outside the working area are taken as a first group of set points, and candidate set points located within the working area are taken as a second group of set points; and the first priority of any candidate set point in the first group of set points is greater than the first priority of all candidate set points in the second group of set points. That is, when all candidate set points include both candidate set points located outside the working area and candidate set points located within the working area, the candidate set point located outside the working area is preferentially selected as the target set point, so that the dumped grass clippings can be prevented from interfering with the operation of the unloading device within the working area, and the operation efficiency of the unloading device within the working area is improved.

[0101] As an example, the first priority of the candidate set of grass points can be determined in the following manner: obtaining position information of an intersection region of the set of grass strips and the work area; calculating a second distance between each candidate set of grass points in the first group and the intersection region according to the position information; sorting the calculated second distances in descending order, and determining the first priority of each candidate set of grass points in the first group according to the sorting result, wherein the greater the second distance of a candidate set of grass points, the higher the first priority of the candidate set of grass points. That is, for the set of grass points outside the work area, the set of grass points is selected in order from far to near.

[0102] As an example, the intersection region of the set of grass strips and the work area can be a point or a region. When the intersection region of the set of grass points and the work area is a region, the second distance of the candidate set of grass points to the intersection region can be the distance between the candidate set of grass points and the center point of the intersection region, and the center point of the intersection region can be the geometric center or the center of mass of the intersection region.

[0103] As an example, the second distance can be measured in a straight line distance (Euclidean distance) or Manhattan distance.

[0104] Referring to FIG. 6, FIG. 6 is a schematic diagram of the position of the set of grass points on the set of grass strips according to an embodiment of the present application. In FIG. 6, the set of grass strips 2 is located in the work area, the set of grass strips 3 intersects the work area, the set of grass points on the set of grass strips 2 includes the set of grass points P6 and the set of grass points P7, and the set of grass points on the set of grass strips 3 includes the set of grass points P8, the set of grass points P9 and the set of grass points P10. It can be known that the set of grass points P6, the set of grass points P7 and the set of grass points P8 belong to the set of grass points in the work area, and the set of grass points P9 and the set of grass points P10 belong to the set of grass points outside the work area, i.e., the first group of grass points includes the set of grass points P9 and the set of grass points P10. The intersection region of the set of grass strips 3 and the work area is position B, and for the set of grass points P9 and the set of grass points P10 outside the work area, since the distance between the set of grass points P10 and the position B is greater than the distance between the set of grass points P9 and the position B, the first priority of the set of grass points P10 is greater than the first priority of the set of grass points P9.

[0105] As another example, the first priority of the candidate set of grass points can also be determined in the following manner: when there is no available candidate set of grass points in the first group of grass points, a third distance between each candidate set of grass points in the second group of grass points and the intersection region is calculated according to the position information of the intersection region; the calculated third distances are sorted in descending order, and the first priority of each candidate set of grass points in the second group of grass points is determined according to the sorting result, wherein the smaller the third distance of a candidate set of grass points, the higher the first priority of the candidate set of grass points. In this way, when the set of grass points outside the work area is not available, the set of grass points in the work area is selected in order from outside to inside, which is conducive to improving the work efficiency of the unloading device in the work area.

[0106] As can be known in combination with FIG. 6, the first group of raking points includes raking point P9 and raking point P10, and the second group of raking points includes raking point P6, raking point P7 and raking point P8. When neither raking point P9 nor raking point P10 in the first group of raking points is available, a first priority of each candidate raking point in the first group of raking points is determined according to a ranking result of a distance between each candidate raking point in the first group of raking points and the position B (the intersection region). As can be known from FIG. 6, the distance between raking point P8 and the position B < the distance between raking point P7 and the position B < the distance between raking point P6 and the position B, and thus the first priority of raking point P8 > the first priority of raking point P7 > the first priority of raking point P6.

[0107] S203: Control the grass unloading device to dump grass clippings at the target raking point based on the position information of the target raking point.

[0108] Exemplarily, after the target raking point is determined, the position information of the target raking point is obtained from the raking belt information, and the grass unloading device is controlled to dump grass clippings at the target raking point based on the position information of the target raking point.

[0109] It can be understood that when the target raking point is located in the working area, the grass unloading device can be controlled to navigate to the target raking point from any direction. When the target raking point is located outside the working area, the grass unloading device can be controlled to navigate to the target raking point from any direction, but when there is a connecting passage between the raking belt and the working area, the grass unloading device can be controlled to navigate to the target raking point through the connecting passage.

[0110] In some possible embodiments, after the grass clippings are dumped at the target raking point, the control device can further mark an obstacle region in the grass unloading area according to the position information of the target raking point, where the obstacle region includes the target raking point. It can be understood that the obstacle region is a region that should be avoided by the grass unloading device when driving.

[0111] In an implementation manner, marking the obstacle region in the grass unloading area according to the position information of the target raking point includes: obtaining a volume of grass clippings dumped by the grass unloading device at the target raking point; determining an inflation distance according to the volume of grass clippings; and performing inflation processing on the target raking point according to the inflation distance to obtain the obstacle region.

[0112] Exemplarily, the obstacle region can be a circular region with the target raking point as the center and the inflation distance as the radius.

[0113] Referring to FIG. 7, FIG. 7 is a schematic diagram of determining the obstacle region based on the grass collecting point according to an embodiment of the present application. In FIG. 5, it is assumed that the target grass collecting point is the grass collecting point P6. After the grass residue is dumped at the grass collecting point P6 by the control of the grass unloading device, the volume of the grass residue dumped at the grass collecting point P6 is identified by the visual sensor, and the volume of the grass residue dumped at the grass collecting point P6 is used to determine the inflation distance. The position information of the grass collecting point P6 and the inflation distance are used to determine the obstacle region, i.e. the obstacle region is the circular region shown by the diagonal pattern in FIG. 7. In this way, one grass collecting point is inflated to one obstacle region, which can avoid the grass unloading device from colliding with the grass pile in the obstacle region when the grass unloading device is working in the working region.

[0114] It can be understood that FIG. 7 is only an example of determining the obstacle region based on the grass collecting point, and the shape of the obstacle region is not limited to be circular. In some schemes, the obstacle region can also be represented as a regular figure such as a rectangle or a sector, or can be represented as an irregular figure, which is not limited here.

[0115] In some schemes, the control device can locally update the unloadable space of the target grass collecting point each time the volume of the grass residue dumped at the target grass collecting point by the grass unloading device is obtained. When the control device determines that the cumulative value of the volume of the grass residue dumped at the target grass collecting point reaches a preset volume value, the target grass collecting point can also be marked as an unusable grass collecting point.

[0116] In the embodiment of FIG. 2, a plurality of grass collecting points are arranged on the grass collecting belt. When the grass unloading command is received, the grass unloading device can freely select the grass collecting point for grass unloading, which improves the flexibility of grass unloading. In addition, the grass unloading device can be controlled to automatically dump the grass residue at different grass collecting points on the grass collecting belt, which fully utilizes the grass unloading space of the grass unloading belt and avoids the problem that the grass pile is too high after multiple grass unloading due to the grass residue being dumped to a fixed position, which is conducive to improving the grass unloading efficiency.

[0117] Referring to FIG. 8, FIG. 8 is a flowchart of a method for generating grass collecting belt information according to an embodiment of the present application. The method can be applied to the control device in the grass unloading device, for example, the control device in FIG. 1. The method includes but is not limited to the following steps S801-S803.

[0118] S801: Obtain a grass collecting belt recording instruction.

[0119] The grass collecting belt recording instruction includes the start position of the grass collecting belt and the end position of the grass collecting belt.

[0120] Exemplarily, the start position of the grass collecting strip and the end position of the grass collecting strip can be coordinate values obtained based on an arbitrary coordinate system, for example, a three-dimensional coordinate composed of longitude, latitude and altitude in a World Geodetic System 1984 (WGS84), or a three-dimensional coordinate composed of X coordinate, Y coordinate and Z coordinate in a natural coordinate system, or a coordinate in another coordinate system.

[0121] In an implementation manner, the grass collecting strip recording instruction can be obtained by receiving a grass collecting strip recording instruction sent by a client. Here, the client can be deployed on a network side device or a user device, and the client, the network side device and the user device can refer to the descriptions of the corresponding contents in the foregoing embodiment of FIG. 1, which will not be repeated here.

[0122] In an implementation manner, the grass collecting strip recording instruction can be obtained by receiving user input setting information and generating the grass collecting strip recording instruction.

[0123] Exemplarily, the receiving of the user input setting information can include receiving the setting information input by the user through at least one of a touch screen, a button, a keyboard and voice input. The user can be an operator of the grass unloading device, a staff of a control center or the like.

[0124] The following describes the input of the setting information by the user through the touch screen based on FIG. 9. Referring to FIG. 9, FIG. 9 is a schematic diagram of a display interface provided by an embodiment of the present application for inputting setting information. The interface shown in FIG. 9 is a man-machine interaction interface. In FIG. 9, an input box of the start position of the grass collecting strip and an input box of the end position of the grass collecting point are provided, and after the user completes the input of information in the corresponding input box, the user clicks a “confirm” key. In response to this operation, the control device generates the grass collecting strip recording instruction based on the user input setting information.

[0125] The above-described FIG. 9 is only an example of the display interface provided for the user to input the setting information, and the display interface is not limited to the form shown in FIG. 9, but can also be other display interfaces for the user to input the setting information. In some possible embodiments, more information than currently shown can also be displayed in FIG. 9, for example, the position information of the passing point of the grass collecting point can also be added in FIG. 9, or the setting of multiple grass collecting strips can be performed on the interface shown in FIG. 9, which is not limited here.

[0126] By providing the above-described display interface, the user can be supported to specify the start position of the grass collecting strip, the end position of the grass collecting strip and the like, the flexibility of the grass collecting strip setting is increased, and the user experience is also improved.

[0127] S802: In response to the swath recording instruction, the control device controls the position information of the swath to be recorded during the process that the unloading device travels from the start position of the swath to the end position of the swath.

[0128] For example, after receiving the swath recording instruction, the control device plans a swath according to the start position of the swath and the end position of the swath in the swath recording instruction, controls the unloading device to travel along the swath, and records the position information of the swath during the traveling process. That is, the swath is equivalent to a planned traveling path.

[0129] For example, the swath can be a straight line or a curve. The relationship between the swath and the work area can be that the swath is located within the work area, or the swath is located outside the work area, or the swath intersects with the work area.

[0130] In an implementation, the position information of the swath is recorded by a positioning module of the unloading device. The position information of the swath includes the position information of multiple sampling points on the swath.

[0131] For example, the positioning module can be one or more of a Global Positioning System (GPS), an Inertial Navigation System (IMU), a Global Navigation Satellite System (GNSS), an Inertial Measurement Unit (IMU), a visual positioning system, etc.

[0132] During the process that the unloading device travels from the start position of the swath to the end position of the swath, the positioning module can record the position information of the multiple sampling points in real time or at regular intervals. For example, the position information of each sampling point includes at least the latitude and longitude of the sampling point. In some schemes, the position information of each sampling point also includes multiple items of information such as the height of the sampling point, the collection timestamp, the speed of the unloading device at the sampling point, the direction, etc.

[0133] Referring to FIG. 10, FIG. 10 is a schematic diagram of sampling points on a grass collecting belt according to an embodiment of the present application. In FIG. 10, it is assumed that a grass collecting belt is planned based on a starting point A of the grass collecting belt and an ending point B of the grass collecting belt, where the grass collecting belt is located in a work area, and the starting point is A and the ending point is B. During the process of driving the grass unloading device along the grass collecting belt from the starting point A to the ending point B, the position information of a plurality of sampling points is obtained by the positioning module to form the grass collecting belt information. In FIG. 10, each solid circle represents a sampling point. As can be seen, the plurality of sampling points include the starting point A of the grass collecting belt and the ending point B of the grass collecting belt. It can be understood that FIG. 10 is only an example, and the grass collecting belt is not limited to be a curve, and the number of sampling points collected on the grass collecting belt is not limited.

[0134] S803: obtaining grass collecting belt information according to the position information of the grass collecting belt, where the grass collecting belt information includes the position information of a plurality of grass collecting points on the grass collecting belt.

[0135] The grass collecting belt information is used to assist the grass unloading device to perform grass unloading.

[0136] In an implementation, the grass collecting belt information is obtained according to the position information of the grass collecting belt, including: obtaining the grass collecting belt information according to the position information of the grass collecting belt and the length of the grass unloading device.

[0137] The distance between two adjacent grass collecting points in the plurality of grass collecting points is greater than the length of the grass unloading device. Here, the length of the grass unloading device does not include the length of the grass unloading frame, which can also be referred to as a grass unloading basket, a grass unloading box, etc. In this way, the grass unloading device can be prevented from colliding with the grass pile placed on other grass collecting points during the grass unloading process.

[0138] Exemplarily, the plurality of grass collecting points belong to the plurality of sampling points.

[0139] Exemplarily, the plurality of grass collecting points can also be obtained by calculation based on the plurality of sampling points, that is, the curve fitting of the plurality of sampling points is performed according to the position information of the grass collecting belt, and the plurality of grass collecting points are determined based on the fitted curve.

[0140] In a specific implementation, the distance between two grass collecting points can be the straight-line distance between the two grass collecting points. In some schemes, when the grass collecting belt is a curve, the distance between two grass collecting points can also be the arc length between the two grass collecting points.

[0141] Exemplarily, the distance between two adjacent grass collecting points in the plurality of grass collecting points can be the same or different.

[0142] Referring to FIG. 11, FIG. 11 is a schematic diagram of a grass collecting belt and grass collecting points according to an embodiment of the present application. The grass collecting belt shown in FIG. 11 is located in a working area, and the grass collecting belt has five grass collecting points, namely A, P1, P2, P3 and B. As can be seen from FIG. 11, the distance between two adjacent grass collecting points is not the same.

[0143] In some embodiments, the grass collecting belt information is obtained according to the position information of the grass collecting belt, including: obtaining the grass collecting belt information based on a preset number and the position information of the grass collecting belt. The preset number is used to indicate the grass collecting point information contained in the grass collecting belt information.

[0144] For example, the plurality of grass collecting points are obtained by taking points at equal intervals from the plurality of sampling points based on the preset number. Alternatively, curve fitting is performed on the plurality of sampling points according to the position information of the grass collecting belt, and the plurality of grass collecting points are obtained by taking points at equal intervals on the fitted curve based on the preset number. In some embodiments, it is also possible to take points at equal intervals without the need to determine that the distance between two adjacent grass collecting points in the plurality of grass collecting points is greater than a preset value, for example, the length of the unloading device.

[0145] In the embodiment of FIG. 8, the grass collecting belt is recorded by the unloading device, and the grass collecting belt information is obtained based on the position information of the recorded grass collecting belt. The grass collecting belt information contains the position information of the plurality of grass collecting points on the grass collecting belt, and the grass collecting belt information can assist the unloading device to unload grass efficiently. In this way, the setting of the grass collecting points is flexible, and can meet various needs of users.

[0146] Referring to FIG. 12, FIG. 12 is a schematic diagram of a structure of a control device according to an embodiment of the present application. The control device 30 includes an obtaining unit 310 and a processing unit 312. The control device 30 can be implemented by hardware, software or a combination of hardware and software.

[0147] Here, the control device 30 can be a control device in the unloading device described above, wherein the obtaining unit 310 is configured to obtain grass collecting belt information, the grass collecting belt information including position information of a plurality of grass collecting points on a grass collecting belt; and the processing unit 312 is configured to: in response to an unloading instruction, determine a target grass collecting point from the plurality of grass collecting points; and control the unloading device to dump grass clippings to the target grass collecting point based on position information of the target grass collecting point.

[0148] The control device 30 can be used to implement the method described in the embodiment of FIG. 2. In the embodiment of FIG. 2, the obtaining unit 310 can be used to perform S201, and the processing unit 312 can be used to perform S202 and S203. In some embodiments, the control device 30 can also perform the method shown in the embodiment of FIG. 8, and for the sake of brevity of the description, it will not be described here.

[0149] One or more of the various units in the embodiment shown in FIG. 12 above can be implemented in software, hardware, firmware or a combination thereof. The software or firmware includes, but is not limited to, computer program instructions or code, and can be executed by a hardware processor. The hardware includes, but is not limited to, various integrated circuits such as central processing units (CPUs), digital signal processors (DSPs), field-programmable gate arrays (FPGAs), or application-specific integrated circuits (ASICs).

[0150] Referring to FIG. 13, FIG. 13 is a structural schematic diagram of an electronic device provided in an embodiment of the present application. As shown in FIG. 13, the electronic device 40 includes a processor 411, a communication interface 412, a memory 413 and a bus 414. The processor 411, the memory 413 and the communication interface 412 communicate through the bus 414. It should be understood that the number of processors and memories in the electronic device 40 is not limited in the present application.

[0151] The electronic device 40 can be a control device of the aforementioned unloading device, or the control device 30 described above.

[0152] The bus 414 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one line is shown in FIG. 13, but it does not mean that there is only one bus or only one type of bus. The bus 414 can include a path for transmitting information between various components (e.g., the memory 413, the processor 411, the communication interface 412) of the electronic device 40.

[0153] The processor 411 can be constituted by one or more general-purpose processors, such as a central processing unit (CPU) or a combination of a CPU and a hardware chip. The hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0154] The memory 413 is configured to provide a storage space in which data such as an operating system and a computer program can be stored. The memory 413 can be one or a combination of a random access memory (RAM), an erasable programmable read-only memory (EPROM), a read-only memory (ROM), or a compact disc read memory (CD-ROM). The memory 413 can exist independently or be integrated into the processor 411.

[0155] The communication interface 412 can be configured to provide information input or output for the processor 411. Alternatively, the communication interface 412 can be configured to receive data transmitted from the outside and / or transmit data to the outside, and can be a wired link interface including an Ethernet cable, or a wireless link (such as Wi-Fi, Bluetooth, universal wireless transmission, etc.) interface. Alternatively, the communication interface 412 can further include a transmitter (such as a radio frequency transmitter, an antenna, etc.) or a receiver coupled to the interface.

[0156] The processor 411 in the electronic device 40 is configured to read a computer program stored in the memory 413, and execute the foregoing method, such as the method described in the embodiments of FIG. 2 and FIG. 8.

[0157] In a possible design, the electronic device 40 can be one or more modules in an execution subject (such as the control device in the aforementioned straw unloading device) that executes the method shown in FIG. 2, and the processor 411 can be configured to read one or more computer programs stored in the memory, and execute the following operations:

[0158] The grass collecting belt information is acquired by the acquisition unit 310, and the grass collecting belt information includes position information of a plurality of grass collecting points on the grass collecting belt;

[0159] The grass unloading instruction is acquired, and a target grass collecting point is determined from the plurality of grass collecting points in response to the grass unloading instruction;

[0160] The position information of the target grass collecting point is used to control the grass unloading device to dump the grass clippings at the target grass collecting point.

[0161] In various embodiments of the present application, the size of the serial number of the above processes does not mean the order of execution, and the execution order of the processes should be determined according to their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0162] Those of ordinary skill in the art can realize that the various illustrative logical blocks (ILB) and steps described in connection with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0163] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0164] The units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0165] In addition, the functional units in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit.

[0166] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media sets. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD), or semiconductor media (for example, solid state disk) and the like.

[0167] The above describes the embodiments of the present application in detail, and the principles and implementation modes of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed, and the above description should not be understood as limiting the present application.

Claims

1. A method of unloading grass, characterized in that, The method is applied to a straw unloading device, and the method comprises: obtaining information of a straw collecting belt, the information of the straw collecting belt comprising position information of a plurality of straw collecting points on the straw collecting belt; in response to a straw unloading instruction, determining a target straw collecting point from the plurality of straw collecting points; controlling the straw unloading device to dump straw residues at the target straw collecting point based on position information of the target straw collecting point.

2. The method of claim 1, wherein, The determination of the target straw collecting point from the plurality of straw collecting points comprises: determining available straw collecting points as candidate straw collecting points from the plurality of straw collecting points, wherein the available straw collecting points are straw collecting points with a straw unloading space greater than 0; and determining the target straw collecting point from the candidate straw collecting points.

3. The method of claim 2, wherein, The determination of the target straw collecting point from the candidate straw collecting points comprises: obtaining a first priority of the candidate straw collecting points; determining the candidate straw collecting point with the highest first priority as the target straw collecting point.

4. The method of claim 3, wherein, The obtaining of the first priority of the candidate straw collecting points comprises: traversing position information of all candidate straw collecting points and obtaining a traversal result, the traversal result comprising: whether there is a candidate straw collecting point located outside the working area; determining the first priority of the candidate straw collecting points according to the traversal result.

5. The method of claim 4, wherein, When there is no candidate straw collecting point located outside the working area in the traversal result, the first priority of all candidate straw collecting points is equal.

6. The method of claim 5, wherein, The method further comprises: determining any one of the candidate straw collecting points as the target straw collecting point, or determining the candidate straw collecting point with the largest straw unloading space as the target straw collecting point according to the straw unloading spaces of all candidate straw collecting points.

7. The method of claim 5, wherein, The method further comprises: calculating a first distance between each candidate straw collecting point and the straw unloading device; sorting the calculated first distances in descending order, and determining a second priority of each candidate straw collecting point according to the sorting result, wherein the smaller the first distance of a candidate straw collecting point is, the higher the second priority of the candidate straw collecting point is; determining the candidate straw collecting point with the highest second priority as the target straw collecting point.

8. The method of claim 4, wherein, When there is a candidate straw collecting point located outside the working area in the traversal result, all candidate straw collecting points located outside the working area are determined as a first group of straw collecting points, and candidate straw collecting points located inside the working area are determined as a second group of straw collecting points; wherein the first priority of any candidate straw collecting point in the first group of straw collecting points is greater than the first priority of all candidate straw collecting points in the second group of straw collecting points.

9. The method of claim 8, wherein, The determination of the first priority of the candidate straw collecting points according to the traversal result comprises: obtaining position information of an intersection region between the straw collecting belt and the working area; calculating a second distance between each candidate straw collecting point in the first group of straw collecting points and the intersection region according to the position information; sorting the calculated second distances in descending order, and determining a first priority of each candidate straw collecting point in the first group of straw collecting points according to the sorting result, wherein the larger the second distance of a candidate straw collecting point is, the higher the first priority of the candidate straw collecting point is.

10. The method of claim 9, wherein, The determination of the first priority of the candidate straw collecting points according to the traversal result comprises: when no candidate raking point in the first group of raking points is available, calculating a third distance between each candidate raking point in the second group of raking points and the intersection region according to the position information; sorting the calculated third distances in descending order, and determining a first priority of each candidate raking point in the second group of raking points according to the sorting result, wherein the smaller the third distance of a candidate raking point is, the higher the first priority of the candidate raking point is.

11. The method according to claims 1-10, characterized in that, After the grass clippings are dumped at the target raking point, the method further comprises: obtaining position information of the target raking point; marking an obstacle region in the unloading area according to the position information of the target raking point, wherein the obstacle region includes the target raking point.

12. The method of claim 11, wherein, The marking of the obstacle region in the unloading area according to the position information of the target raking point comprises: obtaining a volume of the grass clippings dumped at the target raking point by the unloading device; determining an inflation distance according to the volume of the grass clippings; performing inflation processing on the target raking point according to the inflation distance to obtain the obstacle region.

13. The method of claim 1, wherein, The obtaining of the raking belt information comprises: obtaining a raking belt recording instruction, the raking belt recording instruction including a start position of a raking belt and an end position of the raking belt; in response to the raking belt recording instruction, recording position information of the raking belt during a process of traveling from the start position to the end position; obtaining raking belt information according to the position information of the raking belt, the raking belt information including position information of a plurality of raking points on the raking belt, the raking belt information being used to assist the unloading device in performing unloading.

14. The method of claim 13, wherein, The recording of the position information of the raking belt comprises: recording the position information of the raking belt by a positioning module of the unloading device.

15. The method of claim 13, wherein, The obtaining of the raking belt recording instruction comprises: receiving the raking belt recording instruction sent by a client; or generating the raking belt recording instruction based on setting information input by a user.

16. The method according to any one of claims 13-15, characterized in that, A distance between two adjacent raking points in the plurality of raking points is greater than a length of the unloading device.

17. A device for unloading grass, characterized in that, The device is an unloading device or is included in the unloading device, and the device comprises: an obtaining unit configured to obtain raking belt information, the raking belt information including position information of a plurality of raking points on a raking belt; a processing unit configured to determine a target raking point from the plurality of raking points in response to an unloading instruction; the processing unit is further configured to control the unloading device to dump grass clippings at the target raking point based on position information of the target raking point.

18. A control device characterized by comprising: The control device comprises a processor and a memory, the memory is configured to store instructions, and the processor is configured to execute the instructions stored in the memory to implement the method of any one of claims 1-16.

19. A crop unloading apparatus characterised in that, The unloading device comprises the device of claim 17 or 18.

20. A computer-readable storage medium containing computer instructions, wherein, When the computer instructions are executed by the processor, the method of any one of claims 1-16 is implemented.

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